CN207216023U - A kind of forestry plant three-dimensional point cloud measures laser radar system - Google Patents
A kind of forestry plant three-dimensional point cloud measures laser radar system Download PDFInfo
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- CN207216023U CN207216023U CN201720232033.8U CN201720232033U CN207216023U CN 207216023 U CN207216023 U CN 207216023U CN 201720232033 U CN201720232033 U CN 201720232033U CN 207216023 U CN207216023 U CN 207216023U
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- laser
- light source
- point cloud
- dimensional point
- forestry plant
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Abstract
The utility model discloses a kind of forestry plant three-dimensional point cloud to measure laser radar system, including photodetector, optical imaging lens, cycle counter, LASER Light Source, LASER Light Source be located at measured object upper vertical send continuous laser irradiation testee back reflection be imaged to optical imaging lens, then by photodetector, photodetector is connected with LASER Light Source by cycle counter, to synchronous modulation Laser emission.The utility model realizes that forestry plant three-dimensional point cloud measures, and using continuous ray laser Radar Technology, solving the technology can not realize that line scans, the problem of being only capable of carrying out simple scan to the object on transmitting laser beam；This method is simple in construction, stably without complicated Design of Digital Circuit, and detection range is remote.
Description
Technical field
The utility model belongs to tree crown scanning field, more particularly to a kind of forestry plant three-dimensional point cloud measurement laser radar system
System.
Background technology
In order to realize the measurement to forestry Reducing sugar, multiple technologies be combined be development of remote sensing trend.
Three-dimensional point cloud e measurement technology has been widely used for forestry plant field of detecting.Current forestry plant three-dimensional point cloud e measurement technology
General to use laser radar technique, for laser radar typically using time-of-flight method (TOF) is calculated, this method has higher precision
The advantages that, but to reach high-precision distance measurement resolution ratio, it is necessary to very high sample rate.Such as the light velocity is 3*10^8m/
S, the acquisition rate that the spatial resolution of one meter of detection needs is 100MHz or so.Therefore complicated circuit design is needed.
There is a kind of continuous ray laser radar also using the method for imaging, but the light beam that can only launch LASER Light Source enters
Row imaging
The system can be achieved on line scanning also using the method for imaging, and whole two-dimentional smooth surface is imaged, so as to
The measurement to forestry plant three-D profile range information is realized, this method scan efficiency is high, simple and stable structure, detection range
Far, more than 100 meters.
Utility model content
1st, the purpose of this utility model.
Traditional three-dimensional point cloud typically typically uses pulse laser using the method for calculating the light flight time, light source, uses
Avalanche photodide (APD) or photomultiplier (PMT) receive reflected light as photo-detector.This method needs to design
Complicated digital circuit.
2nd, technical scheme used by the utility model.
The utility model proposes a kind of forestry plant three-dimensional point cloud to measure laser radar system, including photodetector,
Optical imaging lens, cycle counter, LASER Light Source, LASER Light Source are located at measured object upper vertical and send continuous laser irradiation quilt
Survey object back reflection to be imaged to optical imaging lens, then by photodetector, photodetector passes through circulation with LASER Light Source
Counter is connected, to synchronous modulation Laser emission.
In further embodiment, in addition to cylinder microscope group is located at the lower section of LASER Light Source, and LASER Light Source passes through
Set of cylindrical lenses sends continuous laser irradiation testee.
In further embodiment, in addition to light source switch control circuit control LASER Light Source switch.
In further embodiment, described cylinder microscope group is laser alignment original paper, and laser is former through laser alignment
Part sends line source.
In further embodiment, in addition to embedded system, harddisk memory, the signal warp of detector record
Harddisk memory is arrived in storage after crossing embedded system processing.
The utility model proposes a kind of forestry plant three-dimensional point cloud to measure laser radar method, comprises the following steps：
(1) forestry plant three-dimensional point cloud measurement laser radar system is fixed on unmanned plane, by unmanned aerial vehicle control system
Open LASER Light Source；
(2) laser that LASER Light Source is sent, the ground earthward incident from high-altitude that by laser alignment original paper is converted to line source
The three-D profile of face forestry plant can produce reflected light signal；
(3) reflected light signal produced by is collected after optical image unit is imaged by laser pick-off unit；
(4) photodetector is connected with LASER Light Source by cycle counter, to synchronous modulation Laser emission.Modulation
LASER Light Source pattern between bright dark phase works, when LASER Light Source is lighted, detector record measured target detectable signal；LASER Light Source
During extinguishing, the tested background signal of detector record；
(5) signal of detector record is stored in harddisk memory after embedded system is handled.
In further embodiment, by the way of a kind of scanning of push-broom type.
3rd, the beneficial effects of the utility model.
(1) laser light incident hot spot is converted to line source by the utility model using cylinder microscope group, to realize that push-broom type line is swept
Retouch (Push Broom).
(2) the utility model compares traditional point cloud measuring system, and detection method is succinctly flexible, and detection range is remote, in height
The empty point cloud measurement to forestry plant is significant.
To sum up, the utility model realizes that forestry plant three-dimensional point cloud measures, and using continuous ray laser Radar Technology, solves
The technology can not realize that line scans, the problem of being only capable of carrying out simple scan to the object on transmitting laser beam；This method is without multiple
Miscellaneous Design of Digital Circuit, simple in construction, stably, detection range is remote.
Brief description of the drawings
Fig. 1 is the structural representation of high light spectrum image-forming range laser radar device.1- photodetectors (CCD/ in figure
CMOS), 2- cylinders microscope group, 3- receiving telescopes, 4- cycle counters (subsidiary laser driven power supply), 5- LASER Light Sources, 6- are embedding
Embedded system, 7- harddisk memories
The digital simulation figure that Fig. 2 photodetectors (CCD/CMOS) receive.
Embodiment
Embodiment 1
As shown in figure 1, a kind of forestry plant three-dimensional point cloud measurement laser radar system of the present embodiment, including 1 photodetection
Device (CCD/CMOS), 2 cylinder microscope groups, 3 optical imaging lens, 4 cycle counters, 5 LASER Light Sources.
The utility model proposes forestry plant three-dimensional point cloud measure laser radar system, including laser emission element, light
Learn imaging unit, photoelectric detection unit, data collection and analysis unit；Described laser emission element passes through optical image unit list
Member is connected with photoelectric detection unit；Described data collection and analysis unit is connected with photoemission unit and photoelectric detection unit.
Wherein, laser emission element includes continuous laser source (Laser diode), laser alignment original paper, laser controlling
Circuit, the continuous laser that the laser alignment original paper is sent using LASER Light Source described in cylinder microscope group are changed into after laser alignment original paper
For line source from high-altitude vertical incidence to forestry plant direction, the plane of incidence is a triangle, can make full use of visual field, now exist
The scattered light intensity that air in light path is occurred be can be ignored, and line source incides to be reflected on forestry plant profile,
The reflected light can be optically imaged cell imaging, and imaging is collected by photoelectric detection unit.Specifically, optical image unit is
One image-forming objective lens, plane where the lens have an inclination angle with plane where incident laser, and two planes intersect at straight line；
Photoelectric detection unit is two-dimensional array CCD/CMOS, the area array CCD is connected with the data collection and analysis unit, i.e., by with
Notebook computer, which is connected to record, receives the echo-signal that area array CCD is collected into, and plane where the area array CCD swashs with lens and incidence
Plane where light intersects at same straight line, equally tilts the relation satisfaction sand of an angle, inclined angle and intersecting straight lines
Nurse law of imagery (Scheimpflug).The area array CCD receive for launch smooth surface imaging.
Embodiment 2
Forestry plant three-dimensional point cloud measurement laser radar system uses following imaging distance-finding method described in the present embodiment：By
The continuous laser source of laser emission element is sent vertically downward from high-altitude, and laser is sent through laser alignment original paper becomes line source
Inject in atmospheric environment, reflected signal, produced reflected light letter can occur for laser when the forestry plant on ground appears in light path
Number cell imaging is optically imaged, obtain forestry plant profile information.Optical signal is acquired by photoelectric detection unit again；
Finally, it is connected by data collection and analysis unit with computer, can be obtained pair using Sharpe law of imagery (Scheimpflug)
The different distance in light path and its intensity signal are answered so as to realize that forestry plant three-dimensional point cloud detects.
Specifically, comprise the following steps：
(1) forestry plant three-dimensional point cloud measurement laser radar system is fixed on unmanned plane, by unmanned aerial vehicle control system
Open LASER Light Source.
(2) laser that LASER Light Source 5 is sent, the ground earthward incident from high-altitude that by laser alignment original paper is converted to line source
The three-D profile of face forestry plant can produce reflected light signal.
(3) reflected light signal produced by is collected after optical image unit is imaged by laser pick-off unit.
(4) photodetector 1 is connected with LASER Light Source 5 by cycle counter 4, to synchronous modulation Laser emission.
LASER Light Source pattern between bright dark phase is modulated to work, when LASER Light Source is lighted, detector record measured target detectable signal；Laser
When light source extinguishes, the tested background signal of detector record.
(5) signal of detector record storage after the processing of embedded system 6 is arrived in harddisk memory 7.
In the present embodiment, 1 photodetector (CCD/CMOS), 2 cylinder microscope groups, 3 optical imaging lens, 4 cycle counters,
The harddisk memory of 5 LASER Light Source, 6 embedded system 7 is existing matured product or can processed, and utilizes these existing products
Or the function that processing original paper has, system described in the present embodiment of structure, compare traditional point cloud measuring system, detection method letter
Clean flexibly detection range is remote, and in high-altitude, the point cloud measurement to forestry plant is significant.
Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (5)
1. a kind of forestry plant three-dimensional point cloud measures laser radar system, it is characterised in that：Including photodetector（1）, optics
Imaging len（3）, cycle counter（4）, LASER Light Source（5）, LASER Light Source（5）Sent positioned at measured object upper vertical continuous sharp
Light irradiation testee back reflection is to optical imaging lens（3）, then by photodetector（1）Imaging, photodetector（1）With
LASER Light Source（5）Pass through cycle counter（4）It is connected, to synchronous modulation Laser emission.
2. forestry plant three-dimensional point cloud according to claim 1 measures laser radar system, it is characterised in that：Also include post
Face microscope group（2）Positioned at LASER Light Source（5）Lower section, LASER Light Source（5）It is tested that continuous laser irradiation is sent by set of cylindrical lenses
Object.
3. forestry plant three-dimensional point cloud according to claim 1 measures laser radar system, it is characterised in that：Also include light
Source switch control circuit controls LASER Light Source（5）Switch.
4. forestry plant three-dimensional point cloud according to claim 2 measures laser radar system, it is characterised in that：Described post
Face microscope group（2）For laser alignment original paper, laser sends line source through laser alignment original paper.
5. forestry plant three-dimensional point cloud according to claim 1 measures laser radar system, it is characterised in that：Also include embedding
Embedded system（6）, harddisk memory（7）, detector record signal pass through embedded system（6）Storage is deposited to hard disk after processing
Reservoir（7）.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720232033.8U CN207216023U (en) | 2017-03-10 | 2017-03-10 | A kind of forestry plant three-dimensional point cloud measures laser radar system |
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| CN201720232033.8U CN207216023U (en) | 2017-03-10 | 2017-03-10 | A kind of forestry plant three-dimensional point cloud measures laser radar system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106908804A (en) * | 2017-03-10 | 2017-06-30 | 苏州四百克拉光电科技有限公司 | A kind of forestry plant three-dimensional point cloud measures laser radar system and method |
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2017
- 2017-03-10 CN CN201720232033.8U patent/CN207216023U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106908804A (en) * | 2017-03-10 | 2017-06-30 | 苏州四百克拉光电科技有限公司 | A kind of forestry plant three-dimensional point cloud measures laser radar system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200103 Address after: 511458 No.106, Fengze East Road, Nansha District, Guangzhou City, Guangdong Province (self compiled Building 1) x1301-b9390 (cluster registration) (JM) Patentee after: Guangzhou Guanghe Optical Technology Co., Ltd Address before: 8, building 215500, building 1, Tongji Science and Technology Plaza, 333 Lake Road, Changshu hi tech Industrial Development Zone, Jiangsu, Suzhou, 805 Patentee before: Suzhou four hundred carat Photoelectric Technology Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20210310 |