CN202600150U - Intelligent low-altitude remote sensing surveying and mapping system - Google Patents
Intelligent low-altitude remote sensing surveying and mapping system Download PDFInfo
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- CN202600150U CN202600150U CN 201220223837 CN201220223837U CN202600150U CN 202600150 U CN202600150 U CN 202600150U CN 201220223837 CN201220223837 CN 201220223837 CN 201220223837 U CN201220223837 U CN 201220223837U CN 202600150 U CN202600150 U CN 202600150U
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Abstract
The utility model relates to the field of remote sensing surveying and mapping, in particular to an intelligent low-altitude remote sensing surveying and mapping system which can improve intelligentization degree of low-altitude remote sensing surveying and mapping. The intelligent low-altitude remote sensing surveying and mapping system comprises an automatic flying device and an airborne laser radar device installed on the automatic flying device. The automatic flying device comprises an automatic flight control unit. The airborne laser radar device comprises a scanner, a navigation positioning structure and a control and data recording structure, and the scanner, the navigation positioning structure and the control and data recording structure are integrated in a box body. The automatic flight control unit starts the automatic flying device, controls the automatic flying device to fly according to a set flight course, and transmits detected first positioning data to the control and data recording structure. The control and data recording structure receives the detected first positioning data and starts the scanner according to the first positioning data. A laser launching point of the scanner and the center position of a coordinate of the navigation positioning structure maintain relative stationary. The navigation positioning structure is used for positioning and transmits detected second positioning data to the control and data recording structure.
Description
Technical field
The utility model relates to the remote sensing survey field, is specifically related to a kind of intelligent low-altitude remote sensing mapping system.
Background technology
Normal similar fortune-5 transporter or other Mini Tele-Copters of using of prior art carries the remote sensing mapping of airborne laser radar system completion to the field, low latitude.In whole process, can't use unmanned plane and dirigible, the while, existing airborne laser radar system needed the omnidistance aboard control of staff, and intelligent degree is not high.
The utility model content
The utility model provides a kind of intelligent low-altitude remote sensing mapping system, can improve the intelligent degree of low-altitude remote sensing mapping.
The utility model provides a kind of intelligent low-altitude remote sensing mapping system, comprising:
Automatic aircraft be installed in the airborne laser radar device on this automatic aircraft, said automatic aircraft comprises and flies to control device automatically;
Said airborne laser radar device comprises and is integrated in scanner, navigator fix structure, control and a data recording structure in the casing;
Wherein, Said fly automatically to control device starts and the control automatic aircraft according to the airline operation of setting; Saidly fly to control device automatically detected first locator data is sent to said control and data recording structure, said control and data recording structure receive and start said scanner according to said first locator data;
Said navigator fix structure mark has the coordinate center; It is static relatively that the said coordinate center of the laser emission point of said scanner and said navigator fix structure keeps; Said navigator fix structure is used to position, and detected second locator data is sent to said control and data recording structure.
In each embodiment of the utility model, preferably, said navigator fix structure comprises Inertial Measurement Unit (IMU), and said IMU subscript is marked with the coordinate center; It is static relatively that the said coordinate center of the laser emission point position of said scanner and said IMU keeps.
In each embodiment of the utility model, preferably, said navigator fix structure further comprises:
GPS (GPS), it comprises gps antenna;
It is static relatively that the said coordinate center of said gps antenna and said IMU keeps.
In each embodiment of the utility model, preferably, said airborne laser radar device further comprises:
Camera, it is integrated in the said casing, and it is static relatively that the said coordinate center of the projection centre of said camera and said IMU keeps;
Said camera is connected with said control and data recording structure, and said control and data recording structure start said camera according to said first locator data.
In each embodiment of the utility model, preferably, said camera has identical field angle with said scanner.
In each embodiment of the utility model, preferably, said scanner is connected with said navigator fix structural rigidity; And/or
Said control and data recording structure are sent the place enabled instruction according to said first locator data to said scanner, and the enabled instruction of said place comprises location coordinates.
In each embodiment of the utility model, preferably, said camera is connected with said navigator fix structural rigidity; And/or
Said control and data recording structure are sent the place enabled instruction according to said first locator data to said camera, and the enabled instruction of said place comprises location coordinates.
In each embodiment of the utility model, preferably, said automatic aircraft comprises unmanned plane or dirigible.
In each embodiment of the utility model, preferably, described intelligent low-altitude remote sensing mapping system further comprises:
Ground controller and the information interactive device that is installed in the automatic aircraft place;
Saidly fly to control device automatically and through said information interactive device the flying quality of said automatic aircraft is sent to said ground controller, said ground controller is monitored said flying quality.
In each embodiment of the utility model; Preferably, any one or more in the photo the laser data of said second locator data, said scanner scanning, said camera taken through said information interactive device of said control and data recording structure are sent to said ground controller;
Said ground controller is to any one or more data storage and the data processing of carrying out in the photo of the laser data of said second locator data, said scanner scanning, the shooting of said camera.
The intelligent low-altitude remote sensing mapping system that each embodiment through the utility model provides, can bring following at least a beneficial effect:
1. improve the intelligent degree of low-altitude remote sensing mapping.The utility model can use automatic aircraft (for example unmanned plane or dirigible) to carry the airborne laser radar device, does not need the pilot to control aircraft or dirigible etc. again.Simultaneously, control in the airborne laser radar device that the utility model provides and data recording structure can according to automatic aircraft fly automatically control the device enabling signal gated sweep appearance that device sends and the startup of camera, do not need again the people for controlling yet.
2. plant factor is high.Because the flying platform that carries is unmanned plane or dirigible, can be than low-latitude flying, the spendable chance of equipment increases, and under common weather condition, as long as cloud layer is not less than 200 meters, just can realize flying.
3. data precision is high, laser point density is big.Because height and speed that depopulated helicopter and dirigible can fly can be very low, very slow, equipment can get access to the very big data of laser point density, meets or exceeds more than 100 like every square metre of laser point, and laser point is close more, and data end result precision is high more.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art; Below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art; Obviously, the accompanying drawing in below describing only is some embodiment of the utility model, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other embodiment and accompanying drawing thereof according to these accompanying drawing illustrated embodiments.
Fig. 1 is the synoptic diagram of a kind of embodiment of the utility model.
Fig. 2 is the synoptic diagram of the another kind of embodiment of the utility model.
Embodiment
Below will combine accompanying drawing that the technical scheme of each embodiment of the utility model is carried out clear, complete description, obviously, described embodiment only is a part of embodiment of the utility model, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are resulting all other embodiment under the prerequisite of not making creative work, all belong to the scope that the utility model is protected.
The utility model provides a kind of intelligent low-altitude remote sensing mapping system, comprising:
Automatic aircraft be installed in the airborne laser radar device on this automatic aircraft, said automatic aircraft comprises and flies to control device automatically;
Said airborne laser radar device comprises and is integrated in scanner, navigator fix structure, control and a data recording structure in the casing;
Wherein, Said fly automatically to control device starts and the control automatic aircraft according to the airline operation of setting; Saidly fly to control device automatically detected first locator data is sent to said control and data recording structure, said control and data recording structure receive and start said scanner according to said first locator data;
Said navigator fix structure mark has the coordinate center; It is static relatively that the said coordinate center of the laser emission point of said scanner and said navigator fix structure keeps; Said navigator fix structure is used to position, and detected second locator data is sent to said control and data recording structure.
The intelligent low-altitude remote sensing mapping system that the utility model provides is that the airborne laser radar device is carried on the automatic aircraft platform, need not manual operation, can fly automatically and completion remote sensing mapping automatically when flight.Automatic aircraft can fly in the field, low latitude, because distance objective is nearer, can access the higher surveying and mapping data of precision.Automatic aircraft can be selected unmanned plane or dirigible etc.
Automatic aircraft is provided with and flies to control device automatically, flies to control device automatically and starts automatic aircraft and control it according to predetermined airline operation.This prebriefed pattern is by artificial setting, and is kept in advance and flies automatically to control in the device.Automatically fly to control device and will position simultaneously, and the elements of a fix of detected objective are sent to control and data recording structure, control and data recording structure start scanner according to this elements of a fix control objective are scanned.
Airborne laser radar device in the utility model is integrated in scanner, navigator fix structure, control and data recording structure etc. in the casing, and is as shown in Figure 2, is integrated with each structure in the casing 205.Need not a large amount of heavier cables between each structure and connect, only need very short connecting line to connect and get final product, the volume of system is little, in light weight, can be beneficial to automatic aircrafts such as carrying dirigible and unmanned plane.The airborne laser radar device can be installed in the bottom of automatic aircraft, is convenient to when flight, scan and take.
Scanner is used for the ground region of fixed time and assigned address is scanned; Scanner can use drum type scanner or sweep optical square; Also can use relay lens formula scanner or rotating prism formula scanner, also can use other scanners of client's appointment.Scanner is connected with control and data recording structure, and accepts the enabling signal that this control and data recording structure are sent, and this enabling signal can be time enabling signal or place enabling signal.
The navigator fix structure is used to position, and the elements of a fix that obtain are attached in the data processing in later stage.For the data of accurately locating and making scanning and the elements of a fix that obtain accurately mate, the coordinate center maintenance that marks on the laser emission point position that make scanner and the navigator fix structure is static relatively.Preferably, scanner is connected with the navigator fix structural rigidity, can guarantees that this is static relatively.The structural coordinate of navigator fix center marks during fabrication in advance, the convenient use, and this coordinate center can be the initial coordinate of the setting at navigator fix structural focus place.
Preferably, the navigator fix structure comprises Inertial Measurement Unit IMU, and Inertial Measurement Unit IMU is the device of Measuring Object three-axis attitude angle (or angular speed) and acceleration.General, three the gyroscope and the accelerometer of three directions can be housed in the IMU, come angular velocity and the acceleration of Measuring Object in three dimensions, and calculate the attitude of object with this.In order to improve reliability, can also be equipped with more sensor for each axle.Generally speaking IMU will be installed on the center of gravity of testee.IMU is used in the equipment that need carry out motion control mostly, in automobile and robot.Also be used in and carry out the occasion that accurate displacement is calculated with attitude, like the inertial navigation set of submarine, aircraft, guided missile and spacecraft etc.For the ease of using, on IMU, mark the coordinate center during manufacturing in advance.
In order accurately to locate and the data of scanning and the elements of a fix that obtain accurately to be mated, make the laser emission point position of scanner and IMU upward keep static relatively in the coordinate center of mark.Preferably, scanner is connected with the navigator fix structural rigidity, can guarantees that this is static relatively.
Control and data recording structure are total controls, and scanner is connected with it respectively with the navigator fix structure.The navigator fix structure will be sent to the elements of a fix at the target place that obtains control and data recording structure.Control and data recording structure scan according to the elements of a fix gated sweep appearance of flight control system transmission automatically.The elements of a fix are the place enabled instruction, and scanner will scan at this elements of a fix place.Control and data recording structure also can further be connected with ground controller, carry out data interaction.
In each embodiment of the utility model, preferably, said navigator fix structure further comprises:
Global position system GPS, it comprises gps antenna;
It is static relatively that the said coordinate center of said gps antenna and said IMU keeps.
The navigator fix structure also can further comprise global position system GPS, to locate more accurately.In order accurately to locate and the data of scanning and the elements of a fix that obtain accurately to be mated, the coordinate center that make gps antenna and IMU go up mark keeps static relatively.Preferably, GPS is connected with the navigator fix structural rigidity, can guarantees that this is static relatively.GPS is exactly through accepting satellite-signal, the terminal that positions or navigate, and acknowledge(ment) signal just must be used antenna.
The information that GPS and IMU accept is delivered to the computer processor that carries, and sends in the middle of control and the data recording structure through computer processor again, comprises original gps data and IMU data, and stores and supply the Data Post use.Control and data recording structure are set the IMU/GPS parameter, and send the instruction beginning or finish the GPS/IMU function.
Control and data recording structure read the information of sending from scanner and IMU and GPS, and two Line Charts of treated generation reflect laser ranging and echo number percent; Simultaneously; Control and data recording structure show the locating information of GPS, comprise gps time and longitude and latitude, show the attitude information of IMU; Comprise orientation, pitching, lift-over angle, show number and last photograph taking time that camera is taken pictures.In addition, the function performance situation of the ruuning situation of control and data recording structure monitoring total system and each assembly.
Preferably, GPS and IMU are integrated in the box body, make structure compact more; Perhaps, GPS independently is arranged in the different box bodys with IMU, is convenient to install and use higher GPS of precision and IMU.
In each embodiment of the utility model, preferably, said airborne laser radar device further comprises:
Camera, it is integrated in the said casing, and it is static relatively that the said coordinate center of the projection centre of said camera and said IMU keeps;
Said camera is connected with said control and data recording structure, and said control and data recording structure start said camera according to said first locator data.
In each embodiment of the utility model, preferably, said camera has identical field angle with said scanner.
For the target to scanning writes down and the data comparison, also camera can be set further, taken pictures in the zone of scanning.Take photo also can become files such as DOM, expanding application scope in post-production.
Control and data recording structure are taken pictures according to the elements of a fix control camera of flight control system transmission automatically.The elements of a fix are the place enabled instruction, mutually confidentially take pictures at this elements of a fix place.
For make camera take photo more accurately have more with reference to property, the coordinate center of the projection centre of camera and IMU being gone up mark keeps static relatively.Preferably, camera is connected with the navigator fix structural rigidity, can guarantees that this is static relatively.
In order to keep the light-duty characteristic of whole radar system, can camera also be integrated in the casing.
Better for the matching effect that makes camera and scanner, select to use camera and scanner with identical or close field angle, the zone that makes bat get and scan is approaching.
In each embodiment of the utility model, preferably, said scanner is connected with said navigator fix structural rigidity; And/or
Said control and data recording structure are sent the place enabled instruction according to said first locator data to said scanner, and the enabled instruction of said place comprises location coordinates.
In each embodiment of the utility model, preferably, said camera is connected with said navigator fix structural rigidity; And/or
Said control and data recording structure are sent the place enabled instruction according to said first locator data to said camera, and the enabled instruction of said place comprises location coordinates.
In each embodiment of the utility model, preferably, said automatic aircraft comprises unmanned plane or dirigible.
In each embodiment of the utility model, preferably, described intelligent low-altitude remote sensing mapping system further comprises:
Ground controller and the information interactive device that is installed in the automatic aircraft place;
Saidly fly to control device automatically and through said information interactive device the flying quality of said automatic aircraft is sent to said ground controller, said ground controller is monitored said flying quality.
In each embodiment of the utility model; Preferably, any one or more in the photo the laser data of said second locator data, said scanner scanning, said camera taken through said information interactive device of said control and data recording structure are sent to said ground controller;
Said ground controller is to any one or more data storage and the data processing of carrying out in the photo of the laser data of said second locator data, said scanner scanning, the shooting of said camera.
Ground controller is used for automatic aircraft and airborne laser radar device are monitored.Information interactive device is used for the data of automatic aircraft and airborne laser radar device and ground controller are carried out data interaction.
Automatically fly to control device and through information interactive device the flying quality of automatic aircraft is sent to ground controller, ground controller is monitored flying quality, and carries out data change when needed.
The photo that second locator data that control and data recording structure can be obtained the navigator fix structure through information interactive device when needed, the laser data of scanner scanning, camera are taken is sent to ground controller, preferably, can transmit in real time.Ground controller carries out data storage and data processing to this second locator data, laser data, photo when needed, and data processing comprises detection and analyzes.Simultaneously, ground controller also may command start and stop automatic aircraft and the airborne laser radar device is monitored.
In an embodiment of the utility model as shown in Figure 1, intelligent low-altitude remote sensing mapping system comprises automatic aircraft 101, airborne laser radar device 102 and ground controller 103, and wherein, automatic aircraft uses unmanned plane.Automatic aircraft 101 is according to the airline operation of setting; And in flight course; Send detected first locator data to airborne laser radar device 102; Control in the airborne laser radar device 102 and data recording structure are sent the place enabling signal according to first locator data to scanner, send the place enabling signal to camera, and the airborne laser radar device begins scanning and takes.Automatic aircraft 101 sends to ground controller 103 with first locator data, and airborne laser radar device 102 is sent to ground controller 103 with laser data and the photo of shooting of scanning, and ground controller is checked laser data and photo and analyzed.
In an embodiment of the utility model as shown in Figure 2, dirigible is carried in this airborne laser radar system.Be integrated with scanner 201, camera 202, navigator fix structure 203, control and data recording structure 204 in the casing 205.Navigator fix structure 203 comprises IMU and the GPS that relative displacement is constant, and IMU and GPS all have the initial coordinate of setting.Scanner 201, camera 202 all are rigidly connected with navigator fix structure 203, and it is static relatively that the Laser emission center of scanner and the coordinate center of IMU keep, and it is static relatively that the coordinate center of the projection centre of camera and IMU keeps.Scanner has identical field angle with camera.Control and data recording structure 204 are sent the location coordinates signal to scanner 201, this location coordinates place scanning that scanner is being set.Control and data recording structure 204 are sent the location coordinates signal to camera 202, and camera is taken at this location coordinates place that sets.Scanner is noted gps time, range finding and the scanning angle of scanning in scanning process, send signal to GPS when camera is taken pictures, and GPS notes the gps time of this photo.The flying automatically of dirigible controlled device 206 control dirigibles according to the airline operation of setting; And to control and detected first locator data of data recording structure 204 transmissions; Control in the airborne laser radar device and data recording structure 204 are sent the place enabling signal according to first locator data to scanner; Send the place enabling signal to camera, the airborne laser radar device begins scanning and takes.
The intelligent low-altitude remote sensing mapping system that each embodiment through the utility model provides, can bring following at least a beneficial effect:
1. improve the intelligent degree of low-altitude remote sensing mapping.The utility model can use automatic aircraft (for example unmanned plane or dirigible) to carry the airborne laser radar device, does not need the pilot to control aircraft or dirigible etc. again.Simultaneously, control in the airborne laser radar device that the utility model provides and data recording structure can according to automatic aircraft fly automatically control the device enabling signal gated sweep appearance that device sends and the startup of camera, do not need again the people for controlling yet.
2. plant factor is high.Because the flying platform that carries is unmanned plane or dirigible, can be than low-latitude flying, the spendable chance of equipment increases, and under common weather condition, as long as cloud layer is not less than 200 meters, just can realize flying.
3. data precision is high, laser point density is big.Because height and speed that depopulated helicopter and dirigible can fly can be very low, very slow, equipment can get access to the very big data of laser point density, meets or exceeds more than 100 like every square metre of laser point, and laser point is close more, and data end result precision is high more.
The various embodiment that the utility model provides can make up with any-mode as required each other, and the technical scheme that obtains through this combination is also in the scope of the utility model.
Obviously, those skilled in the art can carry out various changes and modification to the utility model and not break away from the spirit and the scope of the utility model.Like this, belong within the scope of the utility model claim and equivalent technologies thereof if these of the utility model are revised with modification, then the utility model also comprises these changes and modification interior.
Claims (10)
1. an intelligent low-altitude remote sensing mapping system is characterized in that, comprising:
Automatic aircraft be installed in the airborne laser radar device on this automatic aircraft, said automatic aircraft comprises and flies to control device automatically;
Said airborne laser radar device comprises and is integrated in scanner, navigator fix structure, control and a data recording structure in the casing;
Wherein, Said fly automatically to control device starts and the control automatic aircraft according to the airline operation of setting; Saidly fly to control device automatically detected first locator data is sent to said control and data recording structure, said control and data recording structure receive and start said scanner according to said first locator data;
Said navigator fix structure mark has the coordinate center; It is static relatively that the said coordinate center of the laser emission point of said scanner and said navigator fix structure keeps; Said navigator fix structure is used to position, and detected second locator data is sent to said control and data recording structure.
2. intelligent low-altitude remote sensing mapping system as claimed in claim 1 is characterized in that said navigator fix structure comprises Inertial Measurement Unit IMU, and said IMU subscript is marked with the coordinate center; It is static relatively that the said coordinate center of the laser emission point position of said scanner and said IMU keeps.
3. intelligent low-altitude remote sensing mapping system as claimed in claim 2 is characterized in that, said navigator fix structure further comprises:
Global position system GPS, it comprises gps antenna;
It is static relatively that the said coordinate center of said gps antenna and said IMU keeps.
4. intelligent low-altitude remote sensing mapping system as claimed in claim 2 is characterized in that, said airborne laser radar device further comprises:
Camera, it is integrated in the said casing, and it is static relatively that the said coordinate center of the projection centre of said camera and said IMU keeps;
Said camera is connected with said control and data recording structure, and said control and data recording structure start said camera according to said first locator data.
5. intelligent low-altitude remote sensing mapping system as claimed in claim 4 is characterized in that said camera has identical field angle with said scanner.
6. intelligent low-altitude remote sensing mapping system as claimed in claim 1 is characterized in that,
Said scanner is connected with said navigator fix structural rigidity; And/or
Said control and data recording structure are sent the place enabled instruction according to said first locator data to said scanner, and the enabled instruction of said place comprises location coordinates.
7. intelligent low-altitude remote sensing mapping system as claimed in claim 4 is characterized in that,
Said camera is connected with said navigator fix structural rigidity; And/or
Said control and data recording structure are sent the place enabled instruction according to said first locator data to said camera, and the enabled instruction of said place comprises location coordinates.
8. intelligent low-altitude remote sensing mapping system as claimed in claim 1 is characterized in that said automatic aircraft comprises unmanned plane or dirigible.
9. like each described intelligent low-altitude remote sensing mapping system of claim 1-8, it is characterized in that, further comprise:
Ground controller and the information interactive device that is installed in the automatic aircraft place;
Saidly fly to control device automatically and through said information interactive device the flying quality of said automatic aircraft is sent to said ground controller, said ground controller is monitored said flying quality.
10. intelligent low-altitude remote sensing mapping system as claimed in claim 9 is characterized in that,
Any one or more in the photo that said control and data recording structure are taken the laser data of said second locator data, said scanner scanning, said camera through said information interactive device are sent to said ground controller;
Said ground controller is to any one or more data storage and the data processing of carrying out in the photo of the laser data of said second locator data, said scanner scanning, the shooting of said camera.
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| CN 201220223837 CN202600150U (en) | 2012-05-17 | 2012-05-17 | Intelligent low-altitude remote sensing surveying and mapping system |
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| CN107167814A (en) * | 2017-04-12 | 2017-09-15 | 深圳市速腾聚创科技有限公司 | Airborne telemetering system |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN107703512A (en) * | 2017-11-08 | 2018-02-16 | 北京数字绿土科技有限公司 | Airborne mapping equipment, unmanned plane and airborne mapping system |
| CN110554369A (en) * | 2018-05-30 | 2019-12-10 | 贵州迈普空间信息技术有限公司 | Aerial photography system based on multi-angle oblique photography and laser radar |
| JP2020143990A (en) * | 2019-03-06 | 2020-09-10 | 三菱電機株式会社 | Mobile body measuring device |
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