CN206627632U - A kind of laser head intelligent space alignment system - Google Patents
A kind of laser head intelligent space alignment system Download PDFInfo
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- CN206627632U CN206627632U CN201720356710.7U CN201720356710U CN206627632U CN 206627632 U CN206627632 U CN 206627632U CN 201720356710 U CN201720356710 U CN 201720356710U CN 206627632 U CN206627632 U CN 206627632U
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Abstract
The utility model discloses a kind of laser head intelligent space alignment system, including apart from acquisition subsystem, angle control subsystem and mark subsystem, the linear transducer array for including being made up of laser ranging probe apart from acquisition subsystem, linear transducer array follows mark subsystem, and the range information from same direction linear transducer array with mark subsystem is monitored, each laser ranging probe collects independent range information respectively；Angle control subsystem is adjusted the distance the level angle and luffing angle of acquisition subsystem, is made apart from acquisition subsystem alignment mark subsystem；Mark subsystem receives apart from amendment locking operation of the acquisition subsystem to locating tab assembly operation, and fit angle control subsystem to provide registration signal apart from acquisition subsystem.The system utilizes laser ranging, can realize large-range measuring and be accurately positioned, while improve the antijamming capability of equipment.
Description
Technical field
Technical field of measurement and test is the utility model is related to, especially a kind of laser head intelligent space alignment system.
Background technology
In existing wireless telecommunications distance-measuring equipment, mainly by three, ground wireless signal transmitting-receiving point and an aerial wireless communication
Four parts of number transmitting-receiving point form.Its cardinal principle is the critical dimensions using radio wave, and measure several transmitting-receiving points when
Between, calculate the range information of each transmitting-receiving point.Then calculated by bringing into, draw the relative position information of aerial transmitting-receiving point.
Problems with and shortcoming be present when for big-bang testing and positioning measurement in above-mentioned technology：
（1）Prior art measurement accuracy is relatively low, and subject matter is that the technology of hardware composition part is limited, can be because hardware
The space orientation for causing mobile object not in time of reaction is inaccurate, while is influenceed that by radio wave interference use can be increased
The limitation in place.It can be measured in radio wave actual use because hardware reason causes to be accurately positioned and do not reach actual requirement
Precision is not being met；
（2）The use of prior art is more inconvenient, and prior art, which needs four transceiver modules to run simultaneously, could realize sky
Between position positioning, it is corresponding start to lay in measurement, reclaim equipment need multiple spot to lay, multiple spot recovery it is inconvenient for use；
（3）The fatal defects of prior art are that the communication of usable radio ripple measures the range information of each transmitting-receiving point, by
Be limited to the error of hardware device, measurement accuracy can not meet the needs of accurate mapping, space orientation do not reach required for it is accurate
Value.And in wireless signal transmission, can be because the phenomenon that synchronizing moving brings measurement signal to lose that is unable to of dual-mode antenna occurs.
Utility model content
For problem above and defect, the utility model provides a kind of laser head intelligent space alignment system, the system
Using laser ranging, large-range measuring can be realized and be accurately positioned, while improve the antijamming capability of equipment, further lifting
Measurement accuracy.
In order to solve the above technical problems, technical solution adopted in the utility model is：A kind of laser head intelligent space
Alignment system, it is characterised in that including apart from acquisition subsystem, angle control subsystem and mark subsystem, wherein：It is described away from
The linear transducer array for including being made up of laser ranging probe from acquisition subsystem, linear transducer array follows mark subsystem, and monitors and
From the range information of same direction linear transducer array and mark subsystem, each laser ranging probe collects independent distance letter respectively
Breath；The angle control subsystem is adjusted the distance the level angle and luffing angle of acquisition subsystem, is made apart from acquisition subsystem pair
Fiducial mark remembers subsystem；The mark subsystem is the controllable collection mark of remote location, and mark subsystem is distance collection subsystem
System provides registration signal, and receives apart from acquisition subsystem to locating tab assembly operation, and the amendment of fit angle control subsystem
Lock operation.
Make further supplement to such scheme, it is described to include laser ranging probe and upper surface point apart from acquisition subsystem
It is furnished with the laser probe support plate of laser ranging probe, the arrangement of laser ranging probe parallel equidistant.
Make further supplement to such scheme, the laser ranging probe arrangement mode is quadrangle rectangular array or hexagonal
Shape honey-comb shape array is arranged in parallel.
Make further supplement to such scheme, the angle control subsystem includes being located in laser probe support plate lower surface
Portion's pitching rotating shaft, laser probe support plate can be fixed on vertical support around pitching axis of rotation, pitching rotating shaft both ends, vertical support
Horizontal revolving stage surface is fixed on, horizontal revolving stage is connected with support tripod by horizontal rotating shaft；Also include luffing angle sensor,
Horizontal angle sensor, pitching motor, horizontal drive motor and controller, wherein luffing angle sensor are fixed on pitching
In rotating shaft, pitching rotating shaft is driven by pitching motor, and horizontal angle sensor is fixed on horizontal revolving stage, and vertical support leads to
Cross the driving rotation of horizontal drive motor, controller control pitching motor and horizontal drive motor speed and start and stop, the angle of pitch
Degree sensor and horizontal angle sensor gather the rotational angle of laser probe support plate and horizontal revolving stage respectively, and numeric feedback
To controller.
Make further supplement to such scheme, the mark subsystem includes aircraft and hung on below aircraft
High body of light, wherein aircraft can receive the positional information apart from acquisition subsystem, and feedback position signal to angle controls subsystem
System, high body of light are driven by the aircraft of long-distance remote control.
To such scheme make further supplement, include control management subsystem, it is described control manage subsystem respectively with
Connected apart from acquisition subsystem, angle control subsystem, display measurement distance, deviation angle, and calculate, record, sharing mark
The coordinate data of subsystem.
It is using beneficial effect caused by above-mentioned technical proposal：
（1）Using the laser ranging probe of distribution in the utility model, angle control is carried out to laser ranging probe, coordinated
The high body of light of position can be moved freely, forms laser head intelligent space alignment system, the system obtains antijamming capability
To steady deduction, while the precision of measurement distance can be made to grade；
（2）The utility model is arranged at laser probe support plate using laser ranging probe distribution, by controlling laser probe
The luffing angle and the anglec of rotation of support plate, realize and freely follow the trail of laser ranging probe bloom body technique, while solve to lay
The problem of trouble, the realization of locking can be corrected automatically, above ground portion is only needed a datum mark, when reduction is laid
Long, operation is more succinct, it is only necessary to automatic locking after aiming at once；
（3）Mark subsystem in the utility model drives high body of light using aircraft, so as to reduce the negative of Aerial parts
Carry, reduce energy consumption for aircraft loads loss of weight, while the system Aerial parts only need a bloom spheroid, it is not necessary to which electronics is set
Standby equipment, the load weight of airborne vehicle is effectively reduced, increase effective endurance of airborne vehicle.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is system composition frame diagram of the present utility model；
Fig. 2 is apart from acquisition subsystem and the structural representation of angle control subsystem in the utility model；
Fig. 3 is the structural representation that subsystem is marked in the utility model；
Fig. 4 is the transport stream signal journey figure of angle control subsystem in the utility model；
Fig. 5 is apart from acquisition subsystem position correction schematic diagram in the utility model；
Fig. 6 is the head amendment schematic diagram in the utility model；
In figure：1st, laser ranging probe, 2, laser probe support plate, 3, pitching rotating shaft, 4, vertical support, 5, horizontal revolving stage,
6th, horizontal rotating shaft, 7, tripod；8th, luffing angle sensor, 9, horizontal angle sensor, 10, pitching motor, 11, horizontal
Motor, 12, controller, 13, aircraft, 14, high body of light.
Embodiment
Embodiment one：
Accompanying drawing 1 is the composition block schematic illustration of laser head intelligent space alignment system, and head is that a kind of outdoor mapping is set
It is standby, laser scanning head is arranged on tripod, laser is fixed on scanning head, by adjusting the anglec of rotation of head,
Mapping operations can be carried out under special angle.Laser head intelligent space alignment system in the utility model is adopted including distance
Subsystem, angle control subsystem, mark subsystem and control management subsystem, mark subsystem is received apart from acquisition subsystem
The information of system, the information transmission received is to management subsystem is controlled, during receive information, it is necessary to according to mark subsystem
Position, by the adjustment of angle control subsystem apart from the direction of acquisition subsystem, make apart from acquisition subsystem and mark subsystem
System is aligned, while adjustment information manages subsystem judgement and calculating by controlling, and adjustment is sent to angle towards angle
Control subsystem.To sum up, information is being formed between acquisition subsystem, angle control subsystem and control management subsystem
Circulation, is progressively adjusted apart from acquisition subsystem direction, it is aligned all the time with mark subsystem, while is carried out according to alignment position
Demarcation, realize the intelligent space positioning function of laser head.
Accompanying drawing 2 is included apart from acquisition subsystem and angle control subsystem, wherein including laser apart from acquisition subsystem
The laser probe support plate 2 of laser ranging probe 1, the parallel equidistant of laser ranging probe 1 row is distributed with range finding probe 1 and upper surface
Row, form linear transducer array.Linear transducer array follows mark subsystem, and monitors from same direction linear transducer array and mark subsystem
Range information, each laser ranging probe 1 collects independent range information respectively.
Angle control subsystem in accompanying drawing 2 is adjusted the distance the level angle and luffing angle of acquisition subsystem, adopts distance
Subsystem alignment mark subsystem；Its concrete structure includes, located at pitching rotating shaft 3 in the middle part of the lower surface of laser probe support plate 2, swashing
Light probe support plate 2 can rotate around pitching rotating shaft 3, and the both ends of pitching rotating shaft 3 are fixed on vertical support 4, and vertical support 4 is fixed on water
The surface of flat turn platform 5, horizontal revolving stage 5 are connected with support tripod 7 by horizontal rotating shaft 6.
In order to control the motion of structure division in above-mentioned angle control subsystem, luffing angle sensor 8, water are also provided with
Flat angular transducer 9, pitching motor 10, horizontal drive motor 11 and controller 12, as shown in Figure 4, the wherein angle of pitch
Degree sensor 8 is fixed in pitching rotating shaft 3, and pitching rotating shaft 3 is driven by pitching motor 10, and horizontal angle sensor 9 is solid
Due on horizontal revolving stage 5, vertical support 4 drives rotation by horizontal drive motor 11, and controller 12 controls pitching motor
10 and the rotating speed of horizontal drive motor 11 and start and stop, luffing angle sensor 8 and horizontal angle sensor 9 gather laser probe respectively
The rotational angle of support plate 2 and horizontal revolving stage 5, and numeric feedback to controller 12.So, in pitching motor 10, pitching
Closed-loop control system between angular transducer 8 and controller 12, equally in horizontal drive motor 11, the and of horizontal angle sensor 9
Closed-loop control system is also formed between controller 12.Two closed-loop control system independent operatings, to the direction of laser probe support plate 2
Accurately adjusted, realize laser ranging probe to mark subsystem high accuracy, efficient tracking, and total group
Into simple, control is easy to implement, and holistic cost is controllable.
Above-mentioned mark subsystem is the controllable collection mark of remote location, and mark subsystem is to be carried apart from acquisition subsystem
For registration signal, and receive apart from amendment locking of the acquisition subsystem to locating tab assembly operation, and fit angle control subsystem
Operation.It is in fig. 3 the structure composition figure of mark subsystem, mark subsystem includes aircraft 13 and hangs on aircraft
The high body of light 14 of 13 lower sections, wherein aircraft 13 can receive the positional information apart from acquisition subsystem, and feedback position signal is extremely
Angle control subsystem, high body of light 14 are driven by the aircraft 13 of long-distance remote control, and it is main to use as aerial mark part
To strengthen the measurement accuracy of laser probe.High body of light 14 is using minute surface total reflection spherical body.
The system also include control management subsystem, control management subsystem respectively with apart from acquisition subsystem, angle control
Subsystem connects, display measurement distance, deviation angle, and calculates, records, sharing the coordinate data of mark subsystem.
Include data transfer mould apart from acquisition subsystem, angle control subsystem and control management subsystem above-mentioned
Block and power supply module, wherein data transmission module realize the datacycle transmission between three subsystems, and power supply module is each
Subsystem is individually powered, and ensures normal work.
The system utilizes laser ranging, realizes large-range measuring and is accurately positioned, and it mainly includes position and locks and determine
Two processes of spatial information, its operation principle are as follows：
（1）The implementation process of position locking：Aerial height is directed at using the laser array center of laser ranging probe composition
After body of light, all probes of laser array can all monitor range information at that time, and center probe can monitor nearest distance letter
Breath, is judged as being directed at high body of light；When bloom spheroid starts to move, the laser probe in laser array will synchronize prison
Survey.When a direction monitors minimum distance, feedback data manages subsystem to control.Control management subsystem is counted
Calculate, obtained level angle and pitching corner is sent to angle control subsystem, according to the data point reuse laser array of feedback
Direction, the center of laser array is realigned bloom spheroid, complete amendment operation；
（2）Determine the implementation process of spatial information：When it needs to be determined that a certain moment spatial information when, control pipe can be passed through
Reason subsystem directly intercepts distance and angle correction at that time, and relative tertiary location information is calculated by function.
According to two above-mentioned processes, develop and carry out sterically defined side using laser head intelligent space alignment system
Method, its step are as follows：
The coordinate for being fixed on and subsystem being marked on space object is obtained as follows（X、Y、Z）：
Step S1：Apart from acquisition subsystem alignment mark subsystem, detect that closest approach distance is L；
Step S2：After alignment collection is completed apart from acquisition subsystem, the range finding probe level side of nearest point data is obtained
It is to distance arrays centre distancen, vertical direction distance arrays centre distance isk；
Step S3：Control management subsystem is according to the offset distance data of transmission, calculated level angle correctionθ, repair vertically
Positive-angleγ,θ=arctan（n/L）,γ=arctan(k/L), as shown in Figure 6；
Step S4：Angle control subsystem is according to the angle correction data of transmission, the motor rotation of driving horizontal driveα, drive
Dynamic vertical motor rotatesβ, complete locking operation；
Step S5：Control management subsystem is according to range data L, the deviation angle being collected intoαWithβ, mark is calculated
Remember the spatial positional information of subsystem（X、Y、Z）,
。
Embodiment two：
On the basic mountain of embodiment one, do one to arrangement mode of the laser ranging probe 1 on laser probe support plate 2
The design of step, the arrangement mode of laser ranging probe 1 are that quadrangle rectangular array or hexagonal cell shape array parallel arrange, and are formed
Laser array.Laser array monitors and comes from unidirectional range information simultaneously, and each laser ranging probe 1 is collected independent respectively
Range information.
, it is necessary to carry out position locking during monitoring, the probe of quadrangle rectangular array as shown in Figure 5,
Wherein state（1）To detect high body of light original state, when high body of light is poised for battle laser array center, four laser of array center
Range finding probe can detect identical（In error range）Range information, then it is assumed that high body of light has been aligned and taken aim at this moment
It is accurate；State（2）In be situation that high body of light shifts, i.e., shifted in the high body of light being aimed（It is mobile）When, laser battle array
Row can be because the variation change of the skew generation data of high body of light, the central point corresponding to array will change, now swash
Optical arrays will beam back data and be re-calibrated to angle control subsystem and control management subsystem；Angle control subsystem can root
According to the offset information of collection, it is that the central point of laser array is directed at high body of light again, completes locking operation, such as state（3）It is shown.
It is subsequently returned to state（1）Initial aiming state.For the probe of hexagonal cell shape array, it is aligned and locking process
It is same as described above, just do not repeat herein.
In summary, the utility model in specific application, by taking the space orientation of aircraft as an example：Aircraft 13 is in the air
Quick mobile, it is witness marker thing that aircraft 13, which carries high body of light 14,.At steady state, laser ranging array is aligned and positioned
High body of light 14.Laser ranging array sends measurement data in real time, and after system detection results, the rotation of the axial direction of issue head two refers to
Order, the angle of pitch of bottom clouds terrace system and horizontal Angle Position are adjusted, make the ranging array center registration mark thing of upper load.It is real
When feedback regulation, realize the locking operation under space vehicle dynamic environment.When aircraft 13 needs at a time positioning operation,
Inscribed when exporting this laser ranging array range data and this when inscribe head angle correction.By trigonometric function, calculate
The spatial positional information in reference frame is inscribed when going out this, realizes positioning operation.
Claims (6)
1. a kind of laser head intelligent space alignment system, it is characterised in that including apart from acquisition subsystem, angle control subsystem
System and mark subsystem, wherein：
It is described to include apart from acquisition subsystem by laser ranging probe（1）The linear transducer array of composition, linear transducer array follow mark
System, and monitor the range information from same direction linear transducer array with mark subsystem, each laser ranging probe（1）Respectively
Collect independent range information；
The angle control subsystem is adjusted the distance the level angle and luffing angle of acquisition subsystem, is made apart from acquisition subsystem pair
Fiducial mark remembers subsystem；
The mark subsystem is the controllable collection mark of remote location, marks subsystem to provide alignment apart from acquisition subsystem
Signal, and receive apart from amendment locking operation of the acquisition subsystem to locating tab assembly operation, and fit angle control subsystem.
A kind of 2. laser head intelligent space alignment system according to claim 1, it is characterised in that the distance collection
Subsystem includes laser ranging probe（1）And laser ranging probe is distributed with upper surface（1）Laser probe support plate（2）, swash
Ligh-ranging is popped one's head in（1）Parallel equidistant arranges.
A kind of 3. laser head intelligent space alignment system according to claim 2, it is characterised in that the laser ranging
Probe（1）Arrangement mode is that quadrangle rectangular array or hexagonal cell shape array parallel arrange.
A kind of 4. laser head intelligent space alignment system according to claim 2, it is characterised in that the angle control
Subsystem includes being located at laser probe support plate（2）Pitching rotating shaft in the middle part of lower surface（3）, laser probe support plate（2）It can turn around pitching
Axle（3）Rotate, pitching rotating shaft（3）Vertical support is fixed at both ends（4）On, vertical support（4）It is fixed on horizontal revolving stage（5）Table
Face, horizontal revolving stage（5）With support tripod（7）Pass through horizontal rotating shaft（6）Connection；Also include luffing angle sensor（8）, it is horizontal
Angular transducer（9）, pitching motor（10）, horizontal drive motor（11）And controller（12）, wherein luffing angle sense
Device（8）It is fixed on pitching rotating shaft（3）On, pitching rotating shaft（3）Pass through pitching motor（10）Driving, horizontal angle sensor
（9）It is fixed on horizontal revolving stage（5）On, vertical support（4）Pass through horizontal drive motor（11）Driving rotation, controller（12）Control
Pitching motor（10）With horizontal drive motor（11）Rotating speed and start and stop, luffing angle sensor（8）Sensed with level angle
Device（9）Laser probe support plate is gathered respectively（2）And horizontal revolving stage（5）Rotational angle, and numeric feedback to controller（12）.
A kind of 5. laser head intelligent space alignment system according to claim 1, it is characterised in that the mark subsystem
System includes aircraft（13）And hang on aircraft（13）The high body of light of lower section（14）, wherein aircraft（13）Distance can be received
The positional information of acquisition subsystem, and feedback position signal is to angle control subsystem, high body of light（14）Pass through long-distance remote control
Aircraft（13）Drive.
6. a kind of laser head intelligent space alignment system according to claim 1, it is characterised in that also including control pipe
Manage subsystem, it is described control management subsystem be connected respectively with apart from acquisition subsystem, angle control subsystem, display measure away from
From, deviation angle, and calculate, record, sharing the coordinate data of mark subsystem.
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| CN201720356710.7U CN206627632U (en) | 2017-04-07 | 2017-04-07 | A kind of laser head intelligent space alignment system |
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| CN201720356710.7U CN206627632U (en) | 2017-04-07 | 2017-04-07 | A kind of laser head intelligent space alignment system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842229A (en) * | 2017-04-07 | 2017-06-13 | 赵�怡 | A kind of laser head intelligent space alignment system and space-location method |
| CN109140579A (en) * | 2018-07-25 | 2019-01-04 | 浙江工业大学 | The rotary heating device and method for collecting ranging, surveying mild heat one |
| CN112586487A (en) * | 2020-10-19 | 2021-04-02 | 国网山东省电力公司济宁市任城区供电公司 | Electric tower inspection bird repelling device and method |
| CN113369221A (en) * | 2021-05-31 | 2021-09-10 | 深圳市中安维科技有限公司 | Cleaning system and cleaning method for railway insulator |
| CN113587811A (en) * | 2021-07-24 | 2021-11-02 | 中交四公局（北京)公路试验检测科技有限公司 | Bridge measuring point positioning method, control device, system and medium |
-
2017
- 2017-04-07 CN CN201720356710.7U patent/CN206627632U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842229A (en) * | 2017-04-07 | 2017-06-13 | 赵�怡 | A kind of laser head intelligent space alignment system and space-location method |
| CN109140579A (en) * | 2018-07-25 | 2019-01-04 | 浙江工业大学 | The rotary heating device and method for collecting ranging, surveying mild heat one |
| CN109140579B (en) * | 2018-07-25 | 2021-05-04 | 浙江工业大学 | Rotary heating device and method integrating ranging, temperature measuring and heating |
| CN112586487A (en) * | 2020-10-19 | 2021-04-02 | 国网山东省电力公司济宁市任城区供电公司 | Electric tower inspection bird repelling device and method |
| CN113369221A (en) * | 2021-05-31 | 2021-09-10 | 深圳市中安维科技有限公司 | Cleaning system and cleaning method for railway insulator |
| CN113587811A (en) * | 2021-07-24 | 2021-11-02 | 中交四公局（北京)公路试验检测科技有限公司 | Bridge measuring point positioning method, control device, system and medium |
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