CN206096439U - Light minicomputer carries laser radar for scanning measuring device - Google Patents
Light minicomputer carries laser radar for scanning measuring device Download PDFInfo
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- CN206096439U CN206096439U CN201621053014.0U CN201621053014U CN206096439U CN 206096439 U CN206096439 U CN 206096439U CN 201621053014 U CN201621053014 U CN 201621053014U CN 206096439 U CN206096439 U CN 206096439U
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- laser radar
- mounting platform
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- measuring apparatus
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Abstract
The utility model relates to a light minicomputer carries laser radar for scanning measuring device. Include: laser radar for scanning appearance, mounting platform, calculating unit, CCD digital camera, wherein: the laser radar for scanning appearance pass through laser sectional fixture install in on the mounting platform, CCD digital camera pass through camera sectional fixture install in on the mounting platform, integrated on the mounting platform have calculating unit and be used to lead the system, calculating unit connects respectively and is used to lead system and CCD digital camera, laser radar for scanning appearance, the mounting platform outside is covered with system's dustcoat, laser radar for scanning appearance, calculating unit, CCD digital camera are located inside system's dustcoat. The integrated warpout of the device carries laser radar for scanning appearance, POS system (GPSIMU), high resolution CCD digital camera, computer, can satisfy simultaneously small, the quality is light, with low costs, the data precision high, the requirement of running cost low grade.
Description
Technical field
This utility model is related to lidar measurement device, belongs to laser radar remote sensing survey field, and in particular to a kind of
Small-sized airborne laser radar scanning and measuring apparatus.
Background technology
Airborne laser radar measuring system is a kind of collection laser ranging (LS), global positioning system (GPS) and inertial navigation
Three kinds of technologies of system (INS) in the system of one, for obtaining cloud data and generating accurate dimensional topography (DEM).With biography
System aerial survey is compared, and it has, and round-the-clock, acquisition speed is fast, measure data precision is high, low cost and automaticity height etc.
Advantage.In general, high resolution CCD digital camera devices are also integrated with airborne laser radar measuring system, are swashed in collection
Image data is obtained while light cloud data.Because the description of laser point cloud data and image data to target has many mutual
Both data combinations can be provided the spatial information of more horn of plenty by benefit property.
The airborne laser radar measuring system that currently there are, most volume is larger, heavier-weight.It is this airborne sharp
Optical radar measuring system needs to be mounted on big aircraft (such as someone's helicopter, five aircrafts of fortune) and measures, and is flown using these
Machine carries out various explorations carrying laser radar, and expensive and flight cost is high, and flies for weather, landing site etc. fly
Row environmental requirement is higher, and the motility of data acquisition is relatively low, and customer group is mainly engaged in the public affairs of mapping and Remote Sensing
Department and mechanism, are unfavorable for promoting the use of for airborne laser radar e measurement technology.
This utility model people for more than airborne laser radar measuring system in the market not enough, utility model one
Small-sized airborne laser radar scanning and measuring apparatus are planted, the device is integrated with airborne laser radar scanner, POS system (GPS/
IMU), high resolution CCD digital camera, computer etc., with integrated level height, light weight, data precision is high, operating cost is low,
Using limiting less, Operation and Maintenance is simple, fast assembling-disassembling, the features such as be convenient for carrying.
Utility model content
Volume of this utility model mainly existing for solution prior art is larger, heavier-weight, for weather, landing field
The flight environment of vehicle such as ground require higher, and the motility of data acquisition is relatively low, and the technical problem such as expensive, it is proposed that a kind of light
Minitype airborne Laser Radar Scanning measurement apparatus.The device be integrated with airborne laser radar scanner, POS system (GPS/IMU),
High resolution CCD digital camera, computer etc., can simultaneously meet that small volume, light weight, low cost, data precision are high, run into
This is low, using limiting few etc. requirement.
What above-mentioned technical problem of the present utility model was mainly addressed by following technical proposals：
A kind of small-sized airborne laser radar scanning and measuring apparatus, including：Laser radar scanner, mounting platform, calculating
Unit, CCD digital cameras, wherein：The laser radar scanner is installed on the mounting platform by laser installs fixture,
The CCD digital cameras are installed on the mounting platform by camera installs fixture；
Be integrated with computing unit and inertial navigation system on the mounting platform, the computing unit connect respectively inertial navigation system with
CCD digital cameras, laser radar scanner；
System enclosure, the laser radar scanner, computing unit, CCD digital cameras are covered with outside the mounting platform
Inside the system enclosure.
Optimization, above-mentioned a kind of small-sized airborne laser radar scanning and measuring apparatus, the side of the mounting platform sets
It is equipped with power interface, SMA interfaces, external trigger shift knob, computer switch button, USB interface, camera switch button.
Optimization, above-mentioned a kind of small-sized airborne laser radar scanning and measuring apparatus, the system enclosure top is arranged
Arc 3D printing cover plate.
Optimization, above-mentioned a kind of small-sized airborne laser radar scanning and measuring apparatus are provided with the mounting platform
Inertial navigation system, the inertial navigation system is provided with well system carry fixture, and the system carry fixture is connected by screw locking device
It is connected on the inertial navigation system.
Optimization, above-mentioned a kind of small-sized airborne laser radar scanning and measuring apparatus, the system enclosure bottom is arranged
There is quality of rubber materials equipment support foot rest.
Therefore, this utility model has the advantage that：
(1) this utility model small volume, light weight, only need to be mounted on light-duty unmanned aerial vehicle platform just can measure, right
Less demanding in flight environment of vehicle such as weather, spatial domain, landing sites, the motility of data acquisition is higher.
(2) using aluminum frame and local 3D printing shell, aluminum frame is processed this utility model using aluminium sheet, respectively
It is reliably connected between plate, non-bearing and appearance member part are formed with 3D printing, and equipment is significantly reduced on the premise of proof strength
Weight.
(3) this utility model data precision is high, is integrated with high-precision POS system (GPS/IMU), can obtain system accurate
True position and attitude information.
(4) this utility model integrated level is high, airborne laser radar scanner, POS system (GPS/IMU), CCD digital cameras
And high-performance board computer etc. is highly integrated, encapsulation.
(5) this utility model non-calibrating, very high integrity design, each sensor relative position all fixed, dispatch from the factory through
Without the need for demarcating can work again after demarcation.
(6) this utility model is easily transported, and without the need for immobilization carrier, is convenient for carrying transport to remote place operation.
(7) this utility model is easy to assemble, integrated design, can simply and easily fast assembling-disassembling.
Description of the drawings
Fig. 1 shows the front view of small-sized airborne laser radar scanning and measuring apparatus of the present utility model；
Fig. 2 shows the side view of small-sized airborne laser radar scanning and measuring apparatus of the present utility model；
Fig. 3 shows the cut-away view of small-sized airborne laser radar scanning and measuring apparatus of the present utility model；
Fig. 4 shows the annexation of each part of small-sized airborne laser radar scanning and measuring apparatus of the present utility model
Figure.
Specific embodiment
Below by embodiment, and accompanying drawing is combined, the technical solution of the utility model is described in further detail.Figure
In, laser radar scanner 1, laser installs fixture 2, mounting platform 3, computing unit 4, power interface 5, SMA interfaces 6, outside
Trigger switch button 7, computer switch button 8, USB interface 9, camera switch button 10, screw locking device 11, system carry
Fixture 12, integral type handle 13, inertial navigation system 14, CCD digital cameras 15, camera installs fixture 16, system enclosure 17, equipment
Kickstand 18,3D printing cover plate 19.
Embodiment：
As Figure 1-3, the small-sized airborne laser radar scanning and measuring apparatus mainly include laser radar scanner 1,
Laser installs fixture 2, mounting platform 3, computing unit 4, power interface 5, SMA interfaces 6, external trigger shift knob 7, computer
Shift knob 8, USB interface 9, camera switch button 10, screw locking device 11, system carry fixture 12, integral type handle 13,
Inertial navigation system 14, CCD digital cameras 15, camera installs fixture 16, system enclosure 17, equipment support foot rest 18,3D printing cover plate
19。
Wherein, laser radar scanner 1 integrally uses positioning finger setting, screw to fix by laser installs fixture 2 and system.
Laser radar scanner 1 accesses power interface 5 and powers by external power source.
Wherein, computing unit 4 is integrated on mounting platform 3, is accessed power interface 5 by external power source and is powered.
Wherein, inertial navigation system 14 is integrated on mounting platform 3, is accessed power interface 5 by external power source and is powered.
Wherein, SMA interfaces 6 are gps signal interface, can external gps antenna.
Wherein, USB interface 9 is for gathered data derivation.
Wherein, external trigger shift knob 7 is corresponding with simulative serial port, with control laser radar scanner 1, inertial navigation system
14 and CCD digital cameras 15 start to gather, terminate collection, three functions of shutting down computer.
Wherein, the control of computer switch button 8 power supply of computing unit 4.
Wherein, the control of camera switch button 10 camera power supply.
Wherein, system carry fixture 12 is fixed on integral type and carries by screw locking device 11 using hinge type retaining mechanism
On handss 13, for realizing the carry with flying platform.
Wherein, there are escape, easy disassembly in the spiral of screw locking device 11.
Wherein, CCD digital cameras 15 are located by connecting with camera installs fixture 16, and CCD digital cameras 15 are disposed vertically downward.
Wherein, camera installs fixture 16 with system integrally with finger setting is positioned, fix by screw.
Wherein, system enclosure 17 is processed using aluminium sheet, is reliably connected between each plate, and structural strength is high.
Wherein, equipment support foot rest 18 adopts quality of rubber materials, uses as the bracing frame of whole system.
Wherein, 3D printing cover plate 19 adopts 3D printing file printing, and equipment is significantly reduced on the premise of proof strength
Weight.
Mutual communication between each unit of the present utility model is as shown in Figure 4.After said structure, airborne laser radar
The method that scanner passes through high-rate laser scanning survey, using the principle of laser ranging, record testee surface is intensive in a large number
The information such as three-dimensional coordinate, reflectance and the texture put, thus quickly rebuild out threedimensional model and line, face, body of measured target etc.
Various map data；POS system (GPS/IMU) is used to obtaining equipment per flashy locus and attitude and for whole
System provides accurate time reference, and system utilizes the accurate time reference of POS system (GPS/IMU) offer and by POS systems
System (GPS/IMU) is connected with the communication between airborne laser radar scanner, CCD digital cameras, computer, it is ensured that data acquisition
The time consistency of operation, realizes showing under unified time reference, merges, analyzes cloud data, image data and space
Position and attitude data, it is ensured that the data precision of system is high；High resolution CCD digital camera is used to obtain the colored number of corresponding ground
Code image, being combined with laser point cloud data can provide the spatial information of more horn of plenty；Computer is used for realizing airborne laser thunder
Up to functions such as scanner, POS system (GPS/IMU), the data acquisition of CCD digital cameras and storages.
When equipment is started working, acquisition is assigned to computer by external control signal, computer receives collection
Further acquisition is sent to into POS system (GPS/IMU), airborne laser radar scanner and CCD digital cameras after order.
The acquisition that POS system (GPS/IMU) reception computer is assigned carries out data acquisition, and the GPS/IMU data of collection are returned
Pass to computer and preserve.Meanwhile, accurate time signal is sent to airborne laser radar scanning by POS system (GPS/IMU)
Instrument, allows airborne laser radar scanner to obtain correct time.Airborne laser radar scanner receives the collection that computer is assigned
Order carries out data acquisition, and the cloud data of collection is returned to into computer and is preserved.CCD digital cameras receive life of taking pictures
Take pictures after order and be sent to POS system (GPS/IMU) to obtain time labelling by photographing signals.
Specific embodiment described herein is only explanation for example to this utility model spirit.This utility model institute
Category those skilled in the art can make various modifications to described specific embodiment or supplement or using similar
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Although more having used laser radar scanner 1, laser installs fixture 2, mounting platform 3, computing unit herein
4th, power interface 5, SMA interfaces 6, external trigger shift knob 7, computer switch button 8, USB interface 9, camera switch button
10th, screw locking device 11, system carry fixture 12, integral type handle 13, inertial navigation system 14, CCD digital cameras 15, camera peace
The terms such as clamps 16, system enclosure 17, equipment support foot rest 18,3D printing cover plate 19, but be not precluded from using other terms
Probability.It is used for the purpose of more easily describing and explaining essence of the present utility model using these terms；They are explained
All it is contrary with this utility model spirit into any additional restriction.
Claims (5)
1. a kind of small-sized airborne laser radar scanning and measuring apparatus, it is characterised in that include：Laser radar scanner (1), peace
Assembling platform (3), computing unit (4), CCD digital cameras (15), wherein：The laser radar scanner (1) is installed by laser
Fixture (2) is installed on the mounting platform (3), and the CCD digital cameras (15) are installed on by camera installs fixture (16)
On the mounting platform (3)；
Computing unit (4) and inertial navigation system (14) are integrated with the mounting platform (3), the computing unit (4) connects respectively
Inertial navigation system (14) and CCD digital cameras (15), laser radar scanner (1)；
System enclosure (17), the laser radar scanner (1), computing unit (4), CCD are covered with outside the mounting platform (3)
Digital camera (15) is internal positioned at the system enclosure (17).
2. a kind of small-sized airborne laser radar scanning and measuring apparatus according to claim 1, it is characterised in that the peace
The side of assembling platform (3) is provided with power interface (5), SMA interfaces (6), external trigger shift knob (7), computer switch and presses
Button (8), USB interface (9), camera switch button (10).
3. a kind of small-sized airborne laser radar scanning and measuring apparatus according to claim 1, it is characterised in that the system
System outer housing (17) top arranges arc 3D printing cover plate (19).
4. a kind of small-sized airborne laser radar scanning and measuring apparatus according to claim 1, it is characterised in that the peace
Inertial navigation system (14) is provided with assembling platform (3), the inertial navigation system (14) is provided with well system carry fixture (12), the system
System carry fixture (12) is connected on the inertial navigation system (14) by screw locking device (11).
5. a kind of small-sized airborne laser radar scanning and measuring apparatus according to claim 1, it is characterised in that the system
System outer housing (17) bottom is provided with quality of rubber materials equipment support foot rest (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621053014.0U CN206096439U (en) | 2016-09-13 | 2016-09-13 | Light minicomputer carries laser radar for scanning measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621053014.0U CN206096439U (en) | 2016-09-13 | 2016-09-13 | Light minicomputer carries laser radar for scanning measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206096439U true CN206096439U (en) | 2017-04-12 |
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ID=58476893
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|---|---|---|---|
| CN201621053014.0U Active CN206096439U (en) | 2016-09-13 | 2016-09-13 | Light minicomputer carries laser radar for scanning measuring device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688184A (en) * | 2017-07-24 | 2018-02-13 | 宗晖（上海）机器人有限公司 | A kind of localization method and system |
| CN107748370A (en) * | 2017-10-25 | 2018-03-02 | 深圳天眼激光科技有限公司 | Carried micro laser radar three-dimensional mapping device |
| CN107764202A (en) * | 2017-10-25 | 2018-03-06 | 深圳天眼激光科技有限公司 | Airborne medium-sized laser radar three-dimensional mapping device |
| 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 |
| CN108919238A (en) * | 2018-07-18 | 2018-11-30 | 浙江大学 | A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit |
| CN109975789A (en) * | 2019-05-05 | 2019-07-05 | 武汉珞珈新空科技有限公司 | A kind of small-sized airborne laser thunder scanning survey mobile base |
| CN110861592A (en) * | 2019-11-27 | 2020-03-06 | 南京航空航天大学 | Vehicle-mounted mobile measurement acquisition device |
| CN112946689A (en) * | 2021-03-08 | 2021-06-11 | 苏州岭纬智能科技有限公司 | Integrated laser radar system and detection method thereof |
-
2016
- 2016-09-13 CN CN201621053014.0U patent/CN206096439U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107688184A (en) * | 2017-07-24 | 2018-02-13 | 宗晖（上海）机器人有限公司 | A kind of localization method and 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 |
| CN107748370A (en) * | 2017-10-25 | 2018-03-02 | 深圳天眼激光科技有限公司 | Carried micro laser radar three-dimensional mapping device |
| CN107764202A (en) * | 2017-10-25 | 2018-03-06 | 深圳天眼激光科技有限公司 | Airborne medium-sized laser radar three-dimensional mapping device |
| CN108919238A (en) * | 2018-07-18 | 2018-11-30 | 浙江大学 | A kind of bearing calibration of rotary laser radar data and system based on Inertial Measurement Unit |
| CN108919238B (en) * | 2018-07-18 | 2023-10-27 | 浙江大学 | Inertial measurement unit-based rotary laser radar data correction method and system |
| CN109975789A (en) * | 2019-05-05 | 2019-07-05 | 武汉珞珈新空科技有限公司 | A kind of small-sized airborne laser thunder scanning survey mobile base |
| CN109975789B (en) * | 2019-05-05 | 2023-04-25 | 武汉珞珈新空科技有限公司 | Light and small-sized airborne laser radar scanning measurement mobile base |
| CN110861592A (en) * | 2019-11-27 | 2020-03-06 | 南京航空航天大学 | Vehicle-mounted mobile measurement acquisition device |
| CN112946689A (en) * | 2021-03-08 | 2021-06-11 | 苏州岭纬智能科技有限公司 | Integrated laser radar system and detection method thereof |
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Effective date of registration: 20230505 Address after: 2-3/F, Building A, Huadian Smart Science and Technology Innovation Park, No. 6, Huanglong East Road, Guandong Street, Donghu New Technology Development Zone, Wuhan, Hubei Province, 430000 Patentee after: WUHAN RGSPACE TECHNOLOGY CO.,LTD. Patentee after: WUHAN University Address before: Room 1018, 2nd Floor, Unit A, Building 2, Huagong Science and Technology Park Innovation Enterprise Base, Donghu New Technology Development Zone, Wuhan City, Hubei Province, 430200 Patentee before: WUHAN RGSPACE TECHNOLOGY CO.,LTD. |