CN204228153U - Directed laser scanning system - Google Patents
Directed laser scanning system Download PDFInfo
- Publication number
- CN204228153U CN204228153U CN201420762195.9U CN201420762195U CN204228153U CN 204228153 U CN204228153 U CN 204228153U CN 201420762195 U CN201420762195 U CN 201420762195U CN 204228153 U CN204228153 U CN 204228153U
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- range sensor
- laser range
- laser
- light wave
- wave reflection
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Abstract
The utility model provides a kind of directed laser scanning system, comprising: increase steady The Cloud Terrace, laser range sensor, clapp oscillator and light wave reflection face; Wherein, described laser range sensor is fixedly installed on the steady The Cloud Terrace of described increasing; Described light wave reflection face is arranged at the transmitting light path of described laser range sensor, and, the transmitting light path of described light wave reflection face and described laser range sensor has the angle of setting, the reflects laser of target area to target area, and is reflexed to described laser range sensor by the laser reflection that described light wave reflection face is used for laser range sensor to send; Described clapp oscillator is connected with described light wave reflection face, and for driving described light wave reflection surface vibration, thus the laser that described laser range sensor is launched carries out the deflection in certain limit under the effect in described light wave reflection face.Effectively can solve and cause due to the impact of various parameter error laser range sensor cannot to the problem of object ranging.
Description
Technical field
The utility model belongs to laser ranging and laser scanner technique field, is specifically related to a kind of directed laser scanning system.
Background technology
Unmanned plane has that cost is low, multitask, maneuverability is good, cost performance is high and the feature such as low electromagnetic, at present, has been widely used in military field and civil field.
In the various application of unmanned plane, the primary problem solved is: unmanned plane needs to have to carry out pinpoint ability to the target of ground static or movement.
In prior art, the following positioning system of main employing realizes the location to target:
Unmanned aerial vehicle platform installs The Cloud Terrace, The Cloud Terrace fixedly mounts laser range sensor, The Cloud Terrace is connected with CD-ROM drive motor and attitude-measuring sensor; When needs are to a certain target localization, control CD-ROM drive motor and rotate, under CD-ROM drive motor drives, The Cloud Terrace is rotated, thus laser range sensor is rotated, reach and make the scopodromic object of laser range sensor; Then, after lock onto target, laser range sensor is by the mode of the objective emission laser to locking, obtain the ranging information of target, again in conjunction with the The Cloud Terrace attitude information that attitude-measuring sensor measurement obtains, target azimuth information can be calculated, reach the object to target localization.
But the subject matter that above-mentioned positioning system exists is:
First, in target localization, unmanned plane is state of flight, and therefore, fuselage is in hunting state by airflow influence, thus causes The Cloud Terrace to vibrate, and then makes laser range sensor there are small vibrations; Both made to take the steady measure of certain increasing to The Cloud Terrace, The Cloud Terrace still can be made to there is small oscillatory; Secondly, in rotary course, there is rotation error in CD-ROM drive motor, and attitude-measuring sensor itself has certain measuring error; Above-mentioned various factors causes following result jointly: when using The Cloud Terrace lock onto target, inevitable existence certain visual angle error, when this visual angle error is larger (as more than 3 degree), or when target is far away (as reaching 1000 meters), for the target (as vehicle) of ground reduced size, the light wave that laser range sensor is launched can depart from target completely, thus is difficult to find range to target, and causing finally cannot to target localization.
Utility model content
For the defect that prior art exists, the utility model provides a kind of directed laser scanning system, can effectively solve to cause laser range sensor cannot to the problem of object ranging due to the impact of various parameter error.
The technical solution adopted in the utility model is as follows:
The utility model provides a kind of directed laser scanning system, comprising: increase steady The Cloud Terrace, laser range sensor, clapp oscillator and light wave reflection face;
Wherein, described laser range sensor is fixedly installed on the steady The Cloud Terrace of described increasing;
Described light wave reflection face is arranged at the transmitting light path of described laser range sensor, and, the transmitting light path of described light wave reflection face and described laser range sensor has the angle of setting, the reflects laser of target area to target area, and is reflexed to described laser range sensor by the laser reflection that described light wave reflection face is used for laser range sensor to send;
Described clapp oscillator is connected with described light wave reflection face, and for driving described light wave reflection surface vibration, thus the laser that described laser range sensor is launched carries out the deflection in certain limit under the effect in described light wave reflection face.
Preferably, also comprise: scan angle suppresses window; Described scan angle suppresses window to be arranged at described light wave reflection in the face of laser that described laser range sensor sends to carry out the reflected light path that reflects, the emission of light or the reflection ray that exceed setting value or incident angle for suppressing emission angle and exceed setting value.
Preferably, also comprise: image or video capture device; Described image or video capture device are fixed on the steady The Cloud Terrace of described increasing; Further, described light wave reflection face is under non-vibration state, if the reflection spot that the laser that described laser range sensor sends carries out reflecting is O1, if described scan angle suppresses the window center point of window to be O2; Then: the collection direction of described image or video capture device is parallel with the direction of straight line O1-O2.
Preferably, also comprise: digital picture wireless transmission mobile terminal, controller, the first radio transmitting device, the second radio transmitting device, ground monitoring terminal, The Cloud Terrace attitude-measuring sensor and The Cloud Terrace attitude-adjusting system;
Wherein, one end of described controller is connected with described The Cloud Terrace attitude-measuring sensor, described The Cloud Terrace attitude-adjusting system and described laser range sensor respectively, and the other end of described controller is connected to described first radio transmitting device; Described image or video capture device are connected to described first radio transmitting device by described digital picture wireless transmission mobile terminal; Described first radio transmitting device is also connected to described ground monitoring terminal by described second radio transmitting device.
The directed laser scanning system that the utility model provides has the following advantages: by installing the light wave reflection face of vibration in the Laser emission light path of laser range sensor, make the light wave of laser range sensor in certain angle scope (as 3 degree to the 5 degree) interscan of locking direction, thus effectively solve in prior art and cause due to various parameter error impact laser range sensor cannot to the problem of object ranging.In addition, the utility model also has ingenious and simple, the low cost and other advantages of structure.
Accompanying drawing explanation
The structural representation of the directed laser scanning system that Fig. 1 provides for the utility model; Wherein, 1 represents light wave reflection face, and 2 represent scan angle suppresses window, 3 representative image or video capture device.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail:
Composition graphs 1, the utility model provides a kind of directed laser scanning system, comprising: increase steady The Cloud Terrace, laser range sensor, clapp oscillator and light wave reflection face; Wherein, increase steady The Cloud Terrace and can select three-axis stability augmentation The Cloud Terrace, there is self attitude measurement and triaxial orientation controlling functions.
Wherein, laser range sensor is fixedly installed on and increases on steady The Cloud Terrace;
Light wave reflection face is arranged at the transmitting light path of laser range sensor, and, the transmitting light path of light wave reflection face and laser range sensor has the angle of setting, the reflects laser of target area to target area, and is reflexed to laser range sensor by the laser reflection that light wave reflection face is used for laser range sensor to send;
Clapp oscillator is connected with light wave reflection face, and for driving light wave reflection surface vibration, thus the laser that laser range sensor is launched carries out the quick deflection in certain limit under the effect in light wave reflection face.
Also comprise: scan angle suppresses window; Scan angle suppress window to be arranged at laser that light wave reflection sends in the face of laser range sensor carries out the reflected light path reflected, the emission of light or the reflection ray that exceed setting value or incident angle for suppressing emission angle and exceed setting value.
Concrete, the principle of work of said apparatus is: after control laser range sensor aims at the mark, the light wave that laser range sensor is launched points to target area through the reflection of light wave reflection deflecting facet, because light wave reflection face is under the drive of clapp oscillator, the dither of a small angle range can be produced, thus range finding light wave can be deflected at small angle range, realize the scanning among a small circle of locked target thus; Suppress window by scanning, block emission angle excessive, or the light that incident angle is excessive, the region that laser sensor is measured only concentrates on target area.Due to the scanning that laser range sensor carries out among a small circle to locked target, therefore, effectively can solve in prior art and cause due to various parameter error impact laser range sensor cannot to the problem of object ranging.
When said apparatus is applied to unmanned aerial vehicle platform, by coordinating with other equipment, can realize the pinpoint object of target, concrete, also comprise: image or video capture device; Image or video capture device are fixed on and increase on steady The Cloud Terrace; Further, light wave reflection face is under non-vibration state, if the reflection spot that the laser that laser range sensor sends carries out reflecting is O1, if scan angle suppresses the window center point of window to be O2; Then: the collection direction of image or video capture device is parallel with the direction of straight line O1-O2, to obtain best tracking and monitoring effect.
Also comprise: digital picture wireless transmission mobile terminal, controller, the first radio transmitting device, the second radio transmitting device, ground monitoring terminal, The Cloud Terrace attitude-measuring sensor and The Cloud Terrace attitude-adjusting system;
Wherein, one end of controller is connected with The Cloud Terrace attitude-measuring sensor, The Cloud Terrace attitude-adjusting system and laser range sensor respectively, and the other end of controller is connected to the first radio transmitting device; Image or video capture device are connected to the first radio transmitting device by digital picture wireless transmission mobile terminal; First radio transmitting device is also connected to ground monitoring terminal by the second radio transmitting device.
Its principle of work is:
(1) in ground monitoring terminal, the target image sent by image or video capture device or video information, adopt automatic or automanual mode, first on image, target to be determined is locked, calculate its orientation in present position in the picture according to it again, by ground monitoring terminal by radio transmitting device to controller sending controling instruction; Control the target after accurately pointing to locking
(2) controller controls to increase the rotation of steady The Cloud Terrace, and then the target after making laser range sensor accurately point to locking, then, opens laser range sensor, makes laser range sensor carry out directional scanning range finding to target, obtain range information;
(3) The Cloud Terrace attitude-measuring sensor measures The Cloud Terrace current pose information, and with range information common transport to ground monitoring terminal.Ground monitoring terminal utilizes three-dimensional point cloud filtering processing module accurately to estimate the position at target place, is then sent to output terminal display.In addition, the positional information obtained, in conjunction with satellite navigation and positioning equipment and attitude measurement equipment, can realize the accurate location to target.
The directed laser scanning system that the utility model provides has the following advantages: by installing the light wave reflection face of vibration in the Laser emission light path of laser range sensor, make the light wave of laser range sensor in certain angle scope (as 3 degree to the 5 degree) interscan of locking direction, thus effectively solve in prior art and cause due to various parameter error impact laser range sensor cannot to the problem of object ranging.In addition, the utility model also has ingenious and simple, the low cost and other advantages of structure.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.
Claims (4)
1. a directed laser scanning system, is characterized in that, comprising: increase steady The Cloud Terrace, laser range sensor, clapp oscillator and light wave reflection face;
Wherein, described laser range sensor is fixedly installed on the steady The Cloud Terrace of described increasing;
Described light wave reflection face is arranged at the transmitting light path of described laser range sensor, and, the transmitting light path of described light wave reflection face and described laser range sensor has the angle of setting, the reflects laser of target area to target area, and is reflexed to described laser range sensor by the laser reflection that described light wave reflection face is used for laser range sensor to send;
Described clapp oscillator is connected with described light wave reflection face, and for driving described light wave reflection surface vibration, thus the laser that described laser range sensor is launched carries out the deflection in certain limit under the effect in described light wave reflection face.
2. directed laser scanning system according to claim 1, is characterized in that, also comprise: scan angle suppresses window; Described scan angle suppresses window to be arranged at described light wave reflection in the face of laser that described laser range sensor sends to carry out the reflected light path that reflects, the emission of light or the reflection ray that exceed setting value or incident angle for suppressing emission angle and exceed setting value.
3. directed laser scanning system according to claim 2, is characterized in that, also comprise: image or video capture device; Described image or video capture device are fixed on the steady The Cloud Terrace of described increasing; Further, described light wave reflection face is under non-vibration state, if the reflection spot that the laser that described laser range sensor sends carries out reflecting is O1, if described scan angle suppresses the window center point of window to be O2; Then: the collection direction of described image or video capture device is parallel with the direction of straight line O1-O2.
4. directed laser scanning system according to claim 3, it is characterized in that, also comprise: digital picture wireless transmission mobile terminal, controller, the first radio transmitting device, the second radio transmitting device, ground monitoring terminal, The Cloud Terrace attitude-measuring sensor and The Cloud Terrace attitude-adjusting system;
Wherein, one end of described controller is connected with described The Cloud Terrace attitude-measuring sensor, described The Cloud Terrace attitude-adjusting system and described laser range sensor respectively, and the other end of described controller is connected to described first radio transmitting device; Described image or video capture device are connected to described first radio transmitting device by described digital picture wireless transmission mobile terminal; Described first radio transmitting device is also connected to described ground monitoring terminal by described second radio transmitting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420762195.9U CN204228153U (en) | 2014-12-05 | 2014-12-05 | Directed laser scanning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420762195.9U CN204228153U (en) | 2014-12-05 | 2014-12-05 | Directed laser scanning system |
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| Publication Number | Publication Date |
|---|---|
| CN204228153U true CN204228153U (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420762195.9U Expired - Fee Related CN204228153U (en) | 2014-12-05 | 2014-12-05 | Directed laser scanning system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105578410A (en) * | 2015-12-18 | 2016-05-11 | 苏州贝多环保技术有限公司 | Novel unmanned plane |
| CN107031855A (en) * | 2016-12-23 | 2017-08-11 | 中国电子科技集团公司第三十四研究所 | The installation regulating system and application method of a kind of laser communication terminal on board the aircraft |
| WO2022198663A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市大疆创新科技有限公司 | Load stabilization device and control method therefor, movable platform, and load device |
-
2014
- 2014-12-05 CN CN201420762195.9U patent/CN204228153U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105578410A (en) * | 2015-12-18 | 2016-05-11 | 苏州贝多环保技术有限公司 | Novel unmanned plane |
| CN107031855A (en) * | 2016-12-23 | 2017-08-11 | 中国电子科技集团公司第三十四研究所 | The installation regulating system and application method of a kind of laser communication terminal on board the aircraft |
| WO2022198663A1 (en) * | 2021-03-26 | 2022-09-29 | 深圳市大疆创新科技有限公司 | Load stabilization device and control method therefor, movable platform, and load device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150325 Termination date: 20151205 |
|
| EXPY | Termination of patent right or utility model |