CN207263924U - A kind of improved power-line patrolling shaft tower modeling laser radar system - Google Patents
A kind of improved power-line patrolling shaft tower modeling laser radar system Download PDFInfo
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- CN207263924U CN207263924U CN201721086318.1U CN201721086318U CN207263924U CN 207263924 U CN207263924 U CN 207263924U CN 201721086318 U CN201721086318 U CN 201721086318U CN 207263924 U CN207263924 U CN 207263924U
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- scanning head
- laser scanning
- electrically connected
- laser
- shaft tower
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Abstract
The utility model discloses a kind of improved power-line patrolling shaft tower modeling laser radar system, including laser scanning head and Lidar sensors, the Lidar sensors include laser scanning head, the side of the laser scanning head is equipped with prism, the laser scanning head is electrically connected with storage control unit module, the input terminal of the laser scanning head is electrically connected with the output terminal of power module, and the input terminal of the laser scanning head is electrically connected with the output terminal of POS modules.The improved power-line patrolling shaft tower modeling laser radar system of the utility model, it is vertically-mounted by the way that the equipment being horizontally mounted in the past is changed to, it can be very good to eliminate and beat skyborne useless point, the utilization ratio of increase point cloud, the facade effect of shaft tower is strengthened, flight can once ensure that there is laser point cloud in three faces, vertical beat to aerial point cloud was effectively utilized in the past, and front and rear cloud has been beaten twice, can be used for self-check data precision, point cloud density is effectively increased, and feature is more obvious.
Description
Technical field
Laser radar field is the utility model is related to, is specially a kind of improved power-line patrolling shaft tower modeling laser radar
System.
Background technology
The laser radar scanning direction of existing UAV flight is all perpendicular, be mainly used for power line safety away from
From detection, if such laser radar point cloud will be used for three-dimensional modeling, point cloud is diluter on shaft tower, and positive effect is not very
Good, only portion top surface data and unilateral number are preferable, and the deficiency shown according to the modeling data that becomes more meticulous, shaft tower point cloud effect shows inadequate
Completely, it is unfavorable for modeling, the integrality effect of electric force pole tower is bad, and existing unmanned plane laser radar is mostly used for mapping neck
Domain, is generally not required laser radar to tilt operation, so laser radar is generally placed straight down, laser ranging scope is had
The performance of effect, the safe distance that minority is used for power line detect, it is desirable to which on the one hand unmanned aerial vehicle onboard laser radar meets that electric power patrols
Line dangerous spot detects, and on the other hand needs three-dimensional modeling, at this time needs more side point clouds of electric force pole tower, existing technology
It cannot meet the latter.
Utility model content
The purpose of this utility model is to provide a kind of improved power-line patrolling shaft tower modeling laser radar system, possess
The advantages of point cloud density increase, solve the problems of the prior art.
To achieve the above object, the utility model provides following technical solution：
A kind of improved power-line patrolling shaft tower modeling laser radar system, including laser scanning head and Lidar sensors,
The Lidar sensors include laser scanning head, and the side of the laser scanning head is equipped with prism, and the laser scanning head is with depositing
Store up control unit module to be electrically connected, the input terminal of the laser scanning head is electrically connected with the output terminal of power module, described to swash
The input terminal of optical scanning head is electrically connected with the output terminal of POS modules, the output terminal of the power module and the input terminal of POS modules
It is electrically connected, the output terminal of the power module is electrically connected with the input terminal of storage control unit module, the storage control unit
Module is electrically connected with POS modules, and the POS modules include GPS module and IMU modules, the GPS module and IMU modules electricity
Property connection.
Preferably, for each revolution, the scanning plane of laser scanning head is a cone to the prism, and laser scanning head
Positioned at the vertex of cone.
Preferably, the output terminal of the GPS module is electrically connected with the input terminal of laser scanning head, the output terminal of IMU modules
It is electrically connected with the input terminal of laser scanning head.
Preferably, the input terminal of the GPS module is electrically connected with the output terminal of power module, the input terminal of IMU modules with
The output terminal of power module is electrically connected.
Compared with prior art, the beneficial effects of the utility model are as follows：
The improved power-line patrolling shaft tower modeling laser radar system of the utility model, by adjusting laser reflecting prism
Angle so that laser rays and vertical angle have downward angle, ensure that laser radar laterally has certain effective viewing field angle, are using
When, it is only necessary to the rotating prism of laser internal is replaced, operation is relatively easy, other internal structure external structures are almost unchanged, it is only necessary to protect
The angle that card laser projects is not blocked by oneself mechanism, vertically-mounted by the way that the equipment being horizontally mounted in the past is changed to, can
Skyborne useless point, the utilization ratio of increase point cloud are beaten with good elimination, the facade effect of shaft tower is strengthened, flight one
Secondary to ensure that there is laser point cloud in three faces, vertical beat to aerial point cloud was effectively utilized in the past, and front and rear cloud has been beaten twice,
It can be used for self-check data precision, point cloud density is effectively increased, and feature is more obvious.
Brief description of the drawings
Fig. 1 is the fundamental diagram of the utility model；
Fig. 2 is the scanning theory figure of the utility model；
Fig. 3 is the GPS schematic diagrames one of the utility model；
Fig. 4 is the GPS schematic diagrames two of the utility model；
Fig. 5 is the IMU schematic diagrames of the utility model；
Fig. 6 is the Lidar sensor schematics of the utility model.
In figure：1POS modules, 2GPS modules, 3IMU modules, 4 laser scanning heads, 5 power modules, 6 storage control unit moulds
Block, 7 prisms, 8Lidar sensors.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained, shall fall within the protection scope of the present invention.
- 6 are please referred to Fig.1, a kind of improved power-line patrolling shaft tower models laser radar system, including laser scanning head 4
With Lidar sensors 8, Lidar is to utilize GPSGlobal Position System and IMUInertial Measurement
Unit, inertial measuring unit airborne lidar, the data measured by it are digital surface model (Digital Surface
Model, DSM) discrete point represent, contain space three-dimensional information and laser intensity information in data, Lidar sensors 8 are launched
Laser pulse energy partly penetrate the woods and block, directly acquire high-precision three-dimensional earth's surface terrain data, Lidar sensors 8 wrap
Include laser scanning head 4, the side of laser scanning head 4 is equipped with prism 7, prism 7 for each revolution, the scanning plane of laser scanning head 4
For a cone, and laser scanning head 4 is located at the vertex of cone, the shape and angle of adjustment full transmitting prism 7 so that anti-
Penetrate prism 7 to reflect, the angle of adjustment laser reflecting prism 7 so that laser rays has downward angle with vertical angle, ensures to swash
Optical radar laterally has certain effective viewing field angle, when in use, it is only necessary to replaces the rotating prism 7 of laser internal, operation is opposite
Easily, other internal structure external structures are almost unchanged, it is only necessary to ensure that the angle that laser projects is not blocked by oneself mechanism, pass through
The equipment being horizontally mounted in the past is changed to vertically-mounted, can be very good to eliminate and beat skyborne useless point, the profit of cloud is put in increase
With efficiency, laser scanning head 4 is electrically connected with storage control unit module 6, input terminal and the power module 5 of laser scanning head 4
Output terminal be electrically connected, the input terminal of laser scanning head 4 is electrically connected with the output terminal of POS modules 1, the output terminal of power module 5
It is electrically connected with the input terminal of POS modules 1, POS Physical Optics-based Shaped Reflector and
Phased Array Design Tool are reflector antenna Shape design and phasing matrix optimization software based on PO, Neng Gougen
Single, double or multiple reflection surface antenna is assigned according to equivalence wave cover figure Contoured Beam Coverage set in advance
Shape shaping, the output terminal of power module 5 are electrically connected with the input terminal of storage control unit module 6, storage control unit module
6 are electrically connected with POS modules 1, and POS modules 1 include GPS module 2 and IMU modules 3, and GPS module 2 utilizes GPS positioning satellite,
Positioned and navigated in real time in global range, GPS is to develop the one kind established by U.S. Department of Defense to have comprehensive, whole day
Time, all the period of time, high-precision satellite navigation system, can be provided for Global Subscriber low cost, high accuracy three-dimensional position, speed and
The navigation informations such as accurate timing, IMU are high-precision Inertial Measurement Unit, are to measure object three-axis attitude angle or angular speed and add
The device of speed, inertial measuring unit IMU have threeAcceleration transducerWith threeAngular-rate sensorComposition, accelerometer are used
To experience component of acceleration of the aircraft relative to ground vertical line,Velocity sensorFor experiencing the angle information of aircraft, GPS module 2
Output terminal be electrically connected with the input terminal of laser scanning head 4, the input terminal of the output terminal and laser scanning head 4 of IMU modules 3 is electrically connected
Connect, using existing laser radar system, including laser scanning head 4, the high-precision integrated navigation system of GPS module 2 and IMU modules 3
System, main improvement are some new application demands for power-line patrolling, do some adjustment to device structure, laser during installation
The radar anglec of rotation is straight down so that the shaft tower information of the equipment collection after adjustment is more complete, and obtained data details effect is more
Entirely, shaft tower modeling and shaft tower detail analysis based on three-dimensional laser point cloud are more suitable for, GPS module 2 and IMU modules 3 electrically connect
Connect, IMU modules 3 routinely are all that precision is relatively low in azimuth, and pitch angle and roll angle have higher precision, IMU modules 3
With three axis positioning functions, measurement accuracy is very high in the short time, and data acquiring frequency reaches 100Hz-200Hz, and GPS module 2
There is very high plane precision in long range, without accumulated error, overall new definition precision is preferable, so we are doing unmanned plane
It is as far as possible that IMU modules 3 is horizontal positioned when airborne laser radar, such IMU modules 3 and 2 integrated navigation system of GPS module
Reach optimum efficiency, when laser radar has an angle with testee, there is good facade effect, laser has boat
Former and later two visual angles on line direction, can see preceding facade and rear facade clearly, and there's almost no and get to aerial point so that all obtain
It is effective to utilize, a cloud density is added, we give full play to the optimum state of IMU modules 3 and 2 integrated navigation of GPS module, with
The best angle of laser scanning head 4 is combined, some adjustment are done in the inside installation to whole laser radar system, mainly will
4 rotating prism 7 of laser scanning head adjusts certain angle, recommends 30-60 degree, then places laser scanning head 4 vertically, prism 7
Every revolution, the scanning plane of laser scanning head 4 is a cone, and laser scanning head 4 has more in the vertex of cone, shaft tower
More facade point clouds, can become apparent from accurately reacting the detailed information such as shaft tower and facade, particularly facade information, Neng Gouwei
Three-dimensional modeling and feature extraction provide more complete data accurately, increase point cloud utilization ratio, increase the effective density of point cloud,
The input terminal of GPS module 2 is electrically connected with the output terminal of power module 5, the input terminal of IMU modules 3 and the output terminal of power module 5
It is electrically connected, the improved power-line patrolling shaft tower modeling laser radar system of the utility model, by adjusting laser reflecting prism 7
Angle so that laser rays and vertical angle have downward angle, ensure that laser radar laterally has certain effective viewing field angle, are using
When, it is only necessary to the rotating prism 7 of laser internal is replaced, operation is relatively easy, other internal structure external structures are almost unchanged, it is only necessary to protect
The angle that card laser projects is not blocked by oneself mechanism, vertically-mounted by the way that the equipment being horizontally mounted in the past is changed to, can
Skyborne useless point, the utilization ratio of increase point cloud are beaten with good elimination, the facade effect of shaft tower is strengthened, flight one
Secondary to ensure that there is laser point cloud in three faces, vertical beat to aerial point cloud was effectively utilized in the past, and front and rear cloud has been beaten twice,
It can be used for self-check data precision, point cloud density is effectively increased, and feature is more obvious.
In summary：The improved power-line patrolling shaft tower modeling laser radar system of the utility model, by adjusting laser
The angle of device reflecting prism 7 so that laser rays and vertical angle have downward angle, ensure that laser radar laterally has and certain effectively regard
Rink corner, when in use, it is only necessary to replace the rotating prism 7 of laser internal, operation is relatively easy, other internal structure external structures are hardly
Become, it is only necessary to ensure that the angle that laser projects is not blocked by oneself mechanism, by the way that the equipment being horizontally mounted in the past is changed to
It is vertically-mounted, it can be very good to eliminate and beat skyborne useless point, the utilization ratio of increase point cloud, the facade effect of shaft tower obtains
Strengthen, flight can once ensure that there is laser point cloud in three faces, and vertical beat to aerial point cloud was effectively utilized in the past, front and rear point
Cloud has been beaten twice, can be used for self-check data precision, and point cloud density is effectively increased, and feature is more obvious.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from the principle of the utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (4)
1. a kind of improved power-line patrolling shaft tower modeling laser radar system, including laser scanning head (4) and Lidar sensors
(8), it is characterised in that：The Lidar sensors (8) include laser scanning head (4), and the side of the laser scanning head (4) is set
There is prism (7), the laser scanning head (4) is electrically connected with storage control unit module (6), the laser scanning head (4)
Input terminal is electrically connected with the output terminal of power module (5), the input terminal of the laser scanning head (4) and the output of POS modules (1)
End is electrically connected, and the output terminal of the power module (5) is electrically connected with the input terminal of POS modules (1), the power module (5)
Output terminal is electrically connected with the input terminal of storage control unit module (6), the storage control unit module (6) and POS modules (1)
It is electrically connected, the POS modules (1) include GPS module (2) and IMU modules (3), the GPS module (2) and IMU modules (3)
It is electrically connected.
A kind of 2. improved power-line patrolling shaft tower modeling laser radar system according to claim 1, it is characterised in that：
For each revolution, the scanning plane of laser scanning head (4) is a cone to the prism (7), and laser scanning head (4) is positioned at circle
The vertex of cone.
A kind of 3. improved power-line patrolling shaft tower modeling laser radar system according to claim 1, it is characterised in that：
The output terminal of the GPS module (2) is electrically connected with the input terminal of laser scanning head (4), the output terminal and laser of IMU modules (3)
The input terminal of probe (4) is electrically connected.
A kind of 4. improved power-line patrolling shaft tower modeling laser radar system according to claim 1, it is characterised in that：
The input terminal of the GPS module (2) is electrically connected with the output terminal of power module (5), input terminal and the power supply mould of IMU modules (3)
The output terminal of block (5) is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721086318.1U CN207263924U (en) | 2017-08-28 | 2017-08-28 | A kind of improved power-line patrolling shaft tower modeling laser radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721086318.1U CN207263924U (en) | 2017-08-28 | 2017-08-28 | A kind of improved power-line patrolling shaft tower modeling laser radar system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207263924U true CN207263924U (en) | 2018-04-20 |
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| CN201721086318.1U Active CN207263924U (en) | 2017-08-28 | 2017-08-28 | A kind of improved power-line patrolling shaft tower modeling laser radar system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109559528A (en) * | 2019-01-18 | 2019-04-02 | 吉林大学 | It is a kind of based on 3D laser radar from perception interactive formula traffic-control unit |
| CN109872352A (en) * | 2018-12-29 | 2019-06-11 | 中国科学院遥感与数字地球研究所 | Power-line patrolling LiDAR data autoegistration method based on shaft tower characteristic point |
| CN111670385A (en) * | 2019-01-07 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Data processing method, detection device, data processing device and movable platform |
| 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 |
| CN112968526A (en) * | 2021-03-17 | 2021-06-15 | 杭州惠嘉信息科技有限公司 | Microclimate online monitoring device for high-voltage transmission line |
-
2017
- 2017-08-28 CN CN201721086318.1U patent/CN207263924U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109872352A (en) * | 2018-12-29 | 2019-06-11 | 中国科学院遥感与数字地球研究所 | Power-line patrolling LiDAR data autoegistration method based on shaft tower characteristic point |
| CN109872352B (en) * | 2018-12-29 | 2021-02-12 | 中国科学院遥感与数字地球研究所 | Automatic registration method for power line inspection LiDAR data based on tower feature points |
| CN111670385A (en) * | 2019-01-07 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Data processing method, detection device, data processing device and movable platform |
| CN109559528A (en) * | 2019-01-18 | 2019-04-02 | 吉林大学 | It is a kind of based on 3D laser radar from perception interactive formula traffic-control unit |
| CN109559528B (en) * | 2019-01-18 | 2023-03-21 | 吉林大学 | Self-perception interactive traffic signal control device based on 3D laser radar |
| 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 |
| CN112968526A (en) * | 2021-03-17 | 2021-06-15 | 杭州惠嘉信息科技有限公司 | Microclimate online monitoring device for high-voltage transmission line |
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