CN207817212U - A kind of machine-carried type laser radar 3-D measuring apparatus - Google Patents
A kind of machine-carried type laser radar 3-D measuring apparatus Download PDFInfo
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- CN207817212U CN207817212U CN201721728223.5U CN201721728223U CN207817212U CN 207817212 U CN207817212 U CN 207817212U CN 201721728223 U CN201721728223 U CN 201721728223U CN 207817212 U CN207817212 U CN 207817212U
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Abstract
The utility model provides a kind of machine-carried type laser radar 3-D measuring apparatus, including at least two main framings, laser scanner, inertial measuring unit, computer, navigation device and filming apparatus, lighting can be realized in structure, and it can be to avoid being damaged by collision, and laser scanner and filming apparatus setting can be influenced into operation at both ends to avoid mutual.The application integrated level is high, ensure that 3-D measuring apparatus overall structure is beautiful, and facilitates and be equipped on miniature, small aircraft,, three-dimensional measurement precision height flexible with application, the advantage for obtaining transmission line of electricity spatial positional information, it can be used for the acquisition of the three-dimensional point cloud of transmission line of electricity, provide basic data for the threedimensional model of transmission line of electricity, and further headroom investigation, shaft tower tilt investigation etc..
Description
Technical field
The utility model is related to 3-D measuring apparatus technical field more particularly to a kind of machine-carried type laser radar three-dimensional measurements
Equipment.
Background technology
Laser radar (LiDAR) system is that one kind melting laser ranging, global positioning system, inertial navigation system technology and height
Resolution digital image technology for the active of quick obtaining ground and ground target three-dimensional high spatial resolution
Observation system.Within the past ten years, airborne laser radar technology exists as a kind of method accurately and fast obtaining earth's surface three-dimensional information
World Developed Countries have been universally accepted, and are had in numerous areas such as Geography monitor, environmental monitoring, three-dimension tidal currents wide
Development prospect and application demand.
Power industry power grid operation maintenance management department needs to patrol the periodic power circuit of overhead transmission line progress
The variation of circuit operation conditions and ambient enviroment is grasped in inspection in time, finds the hidden danger and line facility defect that jeopardize line security,
It proposes specific maintenance opinion, to eliminate defect in time, generation of preventing accident, or failure is limited in minimum zone, to protect
Demonstrate,prove electric line safety and power system stability.In such as power line corridor if power line and trees, building atural object away from
From《Protection of electric power facility regulations》Within the scope of the safe distance of middle defined, then great consequence and danger are very likely resulted in
Evil, such as conducting wire cause large-area power-cuts to trees, building electric discharge so as to cause switch trip.If grasping transmission of electricity not in time
The situation of line and the hidden danger that eliminates danger can bring more serious threat to power department.
Utility model content
The purpose of this utility model is that in view of the above shortcomings of the prior art, a kind of machine-carried type laser radar three is provided
Measuring apparatus is tieed up, can precisely obtain the spatial information data of overhead transmission line, and can be carried out by these remotely-sensed datas
The defect recognition of transmission line of electricity.
To achieve the above object, the utility model uses following technical solution：
The utility model provides a kind of machine-carried type laser radar 3-D measuring apparatus, including：
At least two main framings, the main framing interval and it is parallel be arranged, the main framing includes first end,
Two ends and the host cavity being formed between the first end and the second end；
Laser scanner is arranged in one end of the main framing, and is connected in the first end；
Inertial measuring unit is arranged in the host cavity；
Computer is arranged in the host cavity, and the computer includes circuit board；
Navigation device is arranged in the host cavity, and on the circuit board；
Filming apparatus is arranged the other end in the main framing, and is connected in the second end.
Further, further include cooling fin, be arranged in the host cavity, and close to the computer.
Further, the cooling fin is located between the computer and the laser scanner.
Further, the inertial measuring unit is located between the cooling fin and the main framing.
Further, further include fixed plate, be connected with the main framing, the inertial measuring unit passes through the fixed plate
It is fixedly connected with the main framing.
Further, company is fixed by least two positioning pins between the inertial measuring unit and the fixed plate
It connects.
Further, further include skeleton link block, the skeleton link block is mutually locked with the second end respectively.
Further, further include camera connecting plate, be set to the second end, the filming apparatus is connected by the camera
Plate is connected with the second end.
Further, further include power module, be set in the host cavity and close to the main framing.
Further, further include main casing, the main casing coordinates the main framing setting, and matches with the laser scanner
Conjunction forms main cavity, and main chamber body is for accommodating the laser scanner, the inertial measuring unit, the computer and institute
State navigation device.
The beneficial effects of the utility model are：Line data-logging result is obtained in the case that current electric grid line length is huge
Time or long, therefore power circuit polling is badly in need of one kind can either improve routing inspection efficiency, and can realize inspection result
Automation output, the detection inclined technological means of shaft tower, and machine-carried type laser radar 3-D measuring apparatus can just solve this
A problem；
The machine-carried type laser radar 3-D measuring apparatus, by by laser scanner, inertial measuring unit, computer, lead
Boat device and filming apparatus progress are miniature integrated, carry out receiving connection using main framing, lighting can be realized in structure, and
And the accurate devices such as inertial measuring unit, computer and navigation device are carried out protection receiving by main framing, it can be to avoid being collided
Damage, and by laser scanner and filming apparatus setting at both ends can influence operation to avoid mutual, and the application can be compared with
It is scanned and shoots on a large scale, avoid being interfered by self structures such as inertial measuring unit, computer and navigation devices.This Shen
Please integrated level it is high, ensure that 3-D measuring apparatus overall structure is beautiful, and facilitate and be equipped on miniature, small aircraft, have
Have using flexible, three-dimensional measurement precision is high, obtain the following landform of vegetation, independent navigation, gets higher the advantages such as flight, can be used for mound
The high-precision three-dimensional mapping on mound, mountain area.
Description of the drawings
Fig. 1 is a kind of one of structural schematic diagram of machine-carried type laser radar 3-D measuring apparatus；
Fig. 2 is a kind of second structural representation of machine-carried type laser radar 3-D measuring apparatus.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with the accompanying drawings and implement
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only explaining this
Utility model is not used to limit the utility model.
Referring to Fig. 1, the machine-carried type laser radar 3-D measuring apparatus of the present embodiment includes but not limited to that laser is swept
Retouch instrument 1, main framing 2, inertial measuring unit 4, computer 5, navigation device 6 and filming apparatus 7.
It should be noted that the laser radar 3-D measuring apparatus of the present embodiment can by small aircraft, it is medium-sized fly
Row device is carried, it is preferable that the machine-carried type laser radar 3-D measuring apparatus of the present embodiment is that weight is below small at 7 kilograms
Type rank, the application can be measured using small aircraft with the motion scan for carrying out special area.
Wherein, the present embodiment includes at least two main framings 2, and balanced arrangement is arranged between the main framing 2, the main bone
Frame 2 includes first end, second end and the host cavity being formed between first end and second end.It is formed on the main framing 2
At least one enhancing position of bone, for increasing its structural strength.
The first end at least two main framings 2 is arranged in laser scanner 1, and is connected with the first end
It connects.Wherein, it can be fixedly connected, can also further be led to by way of threaded stud between laser scanner 1 and main framing 2
The mode for crossing welding fastens.At work, the laser scanner 1 can obtain ground object by emitting and receiving laser pulse
Body vertical direction coordinate information, and record scanned object vertical direction spatial coordinated information, it should be noted that the present embodiment
Use 500 meters of effective measurement distance, measurement accuracy for the laser scanner 1 of Centimeter Level, the coordinate information that writing scan is arrived can
With in storage to computer 5.
Inertial measuring unit 4 is arranged in the host cavity of the main framing 2.The inertial measuring unit 4 of the present embodiment
The inertia sensitive elements such as gyroscope or accelerometer can be utilized, for measuring acceleration of the aircraft relative to ground motion in real time
Degree, the transient posture parameter for obtaining aircraft, with position and the terrestrial gravitation field parameters etc. for determining aircraft.At work, institute
It states 4 record-setting flight device state of flight of inertial measuring unit and stores into computer 5.
Computer 5 is arranged in the host cavity of the main framing 2, and the computer 5 includes circuit board.In this reality
Apply in example, be electrically connected between computer 5 and laser scanner 1, inertial measuring unit 4, and handle laser scanner 1,
Parameter, the information of the upload of inertial measuring unit 4.
Navigation device 6 is arranged in the host cavity of the main framing 2, and positioned at the circuit of the computer 5
On plate.At work, navigation device 6 can obtain the real-time position information of itself, and upload in computer 5.
Filming apparatus 7 is set to the second end of the main framing 2 and is connected with the second end.The present embodiment
Filming apparatus 7 high-definition digital camera may be used, the high definition image of ground object can be obtained, and photograph in kind is provided and is carried out
Reference.
In a wherein specific implementation mode, the computer 5 of present embodiment can be embedded computer, the navigation
GPS may be used in device 6, and high-resolution digital camera may be used in the filming apparatus 7.
For example, the camera lens of the high-resolution digital camera can be by being connected to described the second of the main framing 2
Two semi-circular brackets in the fixed plate at end are fixed, and described two semi-circular brackets are bolted below limiting plate,
Ensure that camera focus is changeless when camera work.The high-resolution digital camera can be common civilian digital phase
Machine obtains the true color image of terrain and its features, the high-resolution when airborne boat flies by way of the exposure of timing/spacing
Digital camera uses fixed-focus mode.
Wherein, the laser scanner 1 can be by actively emitting laser and receiving reflected light when airborne boat flies
Mode obtain the three-dimensional coordinate information of terrain and its features, the laser scanner 1 can round-the-clock obtain terrain and its features three-dimensional and sit
Mark is not rung by solar irradiation projection.
The inertial measuring unit 4 measures the posture at miniature laser radar three-dimensional plotting board each moment when boat flies
Angle.
GPS in the embedded computer is used to measure miniature laser thunder when airborne boat flies
Space coordinate up to three-dimensional mapping device at each moment, the GPS measurement data and the inertia measurement
4 measurement data of device mutually merges, and corrects the accumulated error after each comfortable long-play.
GPS in the embedded computer can only receive a kind of satellite navigation and positioning signal
Such as GPS, the Big Dipper, a variety of satellite navigation and positioning signals can also be received.
The machine weight of the application selects different laser scanners 1, high-resolution number between 3kg~6.5kg
Code camera and inertial measuring unit 4, the carried micro laser radar three-dimensional measuring apparatus vary in weight.
It is worth noting that, the machine-carried type laser radar 3-D measuring apparatus of the present embodiment, the parameter of laser radar are set
Set the functional mode that " key setting " may be used so that the use of laser radar is simple, quick, reliable, and operating personnel are not required to
It wants professional training to can be used, conveniently promotes the use of, improves the market competitiveness.
The machine-carried type laser radar 3-D measuring apparatus of the present embodiment, by by laser scanner 1, inertial measuring unit 4,
Computer 5, navigation device 6 and filming apparatus 7 carry out miniature integrated, and receiving connection is carried out using main framing 2, can in structure
Realize lighting, and the accurate devices such as inertial measuring unit 4, computer 5 and navigation device 6 are carried out protection receipts by main framing 2
Hold, it can be to avoid being damaged by collision, and laser scanner 1 and filming apparatus 7 are arranged at both ends, it can be to avoid mutual shadow
Operation is rung, and can be scanned and shoot to a wide range, is avoided by inertial measuring unit 4, computer 5 and navigation device
The self structures such as 6 interfere.The application integrated level is high, ensures that 3-D measuring apparatus overall structure is beautiful, and facilitate and be equipped on
On miniature, small aircraft, have using flexible, three-dimensional measurement precision is high, the following landform of acquisition vegetation, independent navigation, gets higher
The advantages such as flight, can be used for the high-precision three-dimensional mapping in hills, mountain area.
Above describe the overall architectures of the application machine-carried type laser radar 3-D measuring apparatus, in concrete structure, institute
It can also includes cooling fin 8 to state machine-carried type laser radar 3-D measuring apparatus, and the host cavity in the main framing 2 is arranged
It is interior, and be arranged close to the computer 5.In the present embodiment, the material of cooling fin 8 can be copper or aluminium alloy, can utilize
The thermal conductive resin of copper, or using cheap, the light-weight advantage of aluminium alloy, it is of course also possible to use radiating in aluminium alloy
Embedded copper coin etc. on the pedestal of piece 8.
In a preferred embodiment, the cooling fin 8 can be located in the computer 5 and the laser scanner 1 it
Between.In this manner, it can mutually be transmitted to avoid the temperature between the laser scanner 1 and the computer 5 and mutual
It influences.Furthermore, the inertial measuring unit 4 is located between the cooling fin 8 and the main framing 2.
It should be noted that the machine-carried type laser radar 3-D measuring apparatus can also include fixed plate 3, with the master
The connection setting of skeleton 2, the inertial measuring unit 4 are fixedly connected by the fixed plate 3 with the main framing 2.By such
Mode can further consolidate the inertial measuring unit 4, prevent from loosening.
Specifically, being fixed by least two positioning pins between the inertial measuring unit 4 and the fixed plate 3
Connection.
Further to consolidate the skeleton structure that main framing 2 is built, the machine-carried type laser radar 3-D measuring apparatus may be used also
To include skeleton link block 21, the skeleton link block 21 is connected with the second end of two main framings 2 lock respectively
It is fixed.
Similarly, the machine-carried type laser radar 3-D measuring apparatus can also include camera connecting plate 9, be set to two institutes
The second end of main framing 2 is stated, the filming apparatus 7 passes through described in the camera connecting plate 9 realization and the main framing 2
Second end is connected.
In other embodiments, the machine-carried type laser radar 3-D measuring apparatus can also include power module 10, if
It is placed in the host cavity of the main framing 2 and close to the main framing 2.Wherein it is possible to the position neighbouring in power module 10
In addition setting cooling fin, radiator fan etc. are set, is not limited thereto.
By above-mentioned multiple embodiments, the structural strength of laser radar 3-D measuring apparatus can be significantly improved.
Further referring to Fig. 2, in the present embodiment, the machine-carried type laser radar 3-D measuring apparatus can also include
Main casing, the main casing coordinates the main framing 2 to be arranged, and cooperatively forms main cavity, the master with the laser scanner 1
Cavity is for accommodating the laser scanner 1, the inertial measuring unit 4, the computer 5 and the navigation device 6.
Specifically, the main casing can be by left side shell 11, top shell 12, right side shell 13, rear side shell 14
It is combined with each other and is formed with bottom shell 15, and be sealed by sealing technique, avoid the laser scanning to being located therein
Instrument 1, the inertial measuring unit 4, the computer 5 and the navigation device 6 are interfered and are influenced.
It cannot make out from above-mentioned multiple embodiments, the scanning of the application machine-carried type laser radar 3-D measuring apparatus integrated laser
Instrument 1, inertial measuring unit 4, filming apparatus 7, computer 5, navigation device 6 make carrying platform with aircraft, realize and move in one
Dynamic scanning survey.Conveniently moving when the machine-carried type laser radar 3-D measuring apparatus structure fineness of the application, light weight, work,
The advantages that field operation is convenient, high certainty of measurement, accurate flight course control is especially suitable for complex mountainous terrain and its features high-precision and surveys
Amount, such as polling transmission line, construction of ropeway section survey etc., also are adapted for zonule and quickly measure.
The embodiment of the utility model above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the utility model patent range therefore be interpreted as.It should be pointed out that for the ordinary skill of this field
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (7)
1. a kind of machine-carried type laser radar 3-D measuring apparatus, which is characterized in that including：
At least two main framings, the main framing interval and it is parallel be arranged, the main framing includes first end, second end
And it is formed in the host cavity between the first end and the second end；
Laser scanner is arranged in one end of the main framing, and is connected in the first end；
Inertial measuring unit is arranged in the host cavity；
Computer is arranged in the host cavity, and the computer includes circuit board；
Navigation device is arranged in the host cavity, and on the circuit board；
Filming apparatus is arranged the other end in the main framing, and is connected in the second end；
Further include cooling fin, is arranged in the host cavity, and close to the computer；
The cooling fin is located between the computer and the laser scanner；
The inertial measuring unit is located between the cooling fin and the main framing；
The laser scanner and the filming apparatus are separately positioned on the both ends of the main framing.
2. a kind of machine-carried type laser radar 3-D measuring apparatus according to claim 1, it is characterised in that：Further include fixing
Plate is connected with the main framing, and the inertial measuring unit is fixedly connected by the fixed plate with the main framing.
3. a kind of machine-carried type laser radar 3-D measuring apparatus according to claim 2, it is characterised in that：The inertia is surveyed
It is fixedly connected by least two positioning pins between amount device and the fixed plate.
4. a kind of machine-carried type laser radar 3-D measuring apparatus according to claim 1, it is characterised in that：It further include skeleton
Link block, the skeleton link block are mutually locked with the second end respectively.
5. a kind of machine-carried type laser radar 3-D measuring apparatus according to claim 1, it is characterised in that：It further include camera
Connecting plate, is set to the second end, and the filming apparatus is connected by the camera connecting plate with the second end.
6. a kind of machine-carried type laser radar 3-D measuring apparatus according to claim 1, it is characterised in that：It further include power supply
Module is set in the host cavity and close to the main framing.
7. a kind of machine-carried type laser radar 3-D measuring apparatus according to claim 1, it is characterised in that：It further include main casing
Body, the main casing coordinates the main framing setting, and cooperatively forms main cavity with the laser scanner, and main chamber body is used
In the receiving laser scanner, the inertial measuring unit, the computer and the navigation device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721728223.5U CN207817212U (en) | 2017-12-13 | 2017-12-13 | A kind of machine-carried type laser radar 3-D measuring apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721728223.5U CN207817212U (en) | 2017-12-13 | 2017-12-13 | A kind of machine-carried type laser radar 3-D measuring apparatus |
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| CN207817212U true CN207817212U (en) | 2018-09-04 |
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ID=63332015
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108008410A (en) * | 2017-12-13 | 2018-05-08 | 国家电网公司 | A kind of machine-carried type laser radar 3-D measuring apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108008410A (en) * | 2017-12-13 | 2018-05-08 | 国家电网公司 | A kind of machine-carried type laser radar 3-D measuring apparatus |
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