CN207894377U - Airborne medium-sized laser radar three-dimensional mapping device - Google Patents
Airborne medium-sized laser radar three-dimensional mapping device Download PDFInfo
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- CN207894377U CN207894377U CN201721387815.5U CN201721387815U CN207894377U CN 207894377 U CN207894377 U CN 207894377U CN 201721387815 U CN201721387815 U CN 201721387815U CN 207894377 U CN207894377 U CN 207894377U
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Abstract
The utility model is related to remote sensing survey fields, a kind of airborne medium-sized laser radar three-dimensional mapping device is provided, including shell, high-resolution digital camera and laser scanner, shell has chamber, high-resolution digital camera is installed on shell, laser scanner is installed in chamber, mounting structure is set on the outer surface of shell, inertia measurement instrument and embedded computer are additionally provided in chamber, scanning window mirror is provided on shell, the light-emitting window face scanning window mirror of laser scanner, laser scanner, inertia measurement instrument and high-resolution digital camera with embedding assembly mechatronics.Embedded computer, laser scanner and inertia measurement instrument may be contained in shell in the utility model, integrated level is high, ensure that plotting board overall structure is beautiful, and facilitates and be equipped on aircraft,, three-dimensional measurement precision height flexible with application obtains the following landform of vegetation, independent navigation, gets higher the advantages such as flight, can be used for the high-precision three-dimensional mapping in hills, mountain area.
Description
Technical field
The present invention relates to remote sensing survey fields, more particularly to a kind of airborne medium-sized laser radar three-dimensional mapping device.
Background technology
Laser radar (LiDAR) system is that one kind melting laser ranging technique, global satellite positioning, inertial navigation system
Technology, high-resolution digital imaging technique and computer technology are active in integrated quick obtaining terrain and its features three-dimensional information
Measuring system.In recent two decades, Airborne LiDAR Technology exists as a kind of mode accurately and fast obtaining earth's surface three-dimensional information
It has been universally accepted in world wide, in topographic survey, environmental monitoring, emergent mapping, highway/railway/electric power/Water Conservancy Survey
The numerous areas such as design, smart city construction are widely used demand and vast potential for future development.
Airborne laser radar system is generally by laser scanner, aviation measuring camera, positioning and orientation system and core memory module
Composition is surveyed and drawn region flying overhead acquisition data in dimensional topography aboard by being carried, is improved to a certain extent
The efficiency of mapping.General airborne laser radar system weight then 100kg or more, gently then 30kg or more, application process must
It is man-machine as flight carrier that having for large size must be carried, following problem often occur：
(1) airborne laser radar and the flying platform cost of its carrying are higher, therefore acquisition cost and use cost are opposite
It is very high.
(2) it is often distant apart from airport to survey area, and the carrying platform of laser radar have it is man-machine must in field takeoff and
Landing thereby results in a large amount of invalid flight；If airport is different with area's weather conditions are surveyed, and longer weather can be caused to wait for
Time.
(3) airborne laser type system weight is big, it has not been convenient to transport.
(4) dimensional topography of zonule is surveyed and drawn, can not be measured using this airborne laser radar.
Therefore that when carrying out small area mapping, there are economy is poor, operation is dumb for current mainstream airborne laser radar
The deficiencies of poor with timeliness, especially hypsography, violent regional area could when needing to carry out quick high accuracy mapping
Preferably fulfil assignment.
Invention content
The purpose of the present invention is to provide a kind of airborne medium-sized laser radar three-dimensional mapping device, total weight is controlled in 25kg
Hereinafter, most can gently reach 3kg, it is intended to solve that existing airborne plotting board volume is larger, mounting is inconvenient, can not quickly ring
The problem of task should be surveyed and drawn.
The invention is realized in this way：
The embodiment of the present invention provides a kind of airborne medium-sized laser radar three-dimensional mapping device, including shell, high-resolution number
Code camera and laser scanner, the shell have a chamber, and the high-resolution digital camera is installed on the shell, institute
It states laser scanner to install in the chamber, the peace for being connected and fixed with aircraft is provided on the outer surface of the shell
Assembling structure is additionally provided with inertia measurement instrument and embedded computer in the chamber, scanning window is provided on the shell
Mirror, scanning window mirror described in the light-emitting window face of the laser scanner, and the scanning window mirror and the high-resolution number
The direction of the camera lens of code camera is identical, the laser scanner, the inertia measurement instrument and the high-resolution digital camera
With the embedding assembly mechatronics, GPS is provided in the embedded computer.
Further, the shell includes main framing, top plate and bottom plate and four side plates, and the top plate, the bottom plate
And four side plates are enclosed the chamber, the chamber is divided into the first space, second space by the main framing
And third space, wherein the second space is spatially located at the same side with the third, described first is spatially located at the other side,
The second space is located at right over the third space, and the laser scanner is located in first space, the inertia
Measuring instrument is installed respectively with the embedded computer in the second space and the third space.
Further, the shell further includes heat sink, and opening is provided on the top plate, and the heat sink is embedded installation
In in the opening of the top plate.
Further, the high-resolution digital camera is installed in corresponding with the second space and the third space
The side plate, and with setting on the side plate there are two cowl flap, two cowl flaps respectively with second space and third
Space is connected to.
Further, further include A-frame, the A-frame peace is located therein on a side plate outer surface, described
There is A-frame mounting hole, the camera lens of the high-resolution digital camera to pass through the mounting hole, and the high-resolution number
There is code camera curtain plate, the A-frame support being bonded with the curtain plate is provided in the edge of the mounting hole
Face, and the supporting surface is connected and fixed with the curtain plate.
Further, several positioning columns are provided in the second space, the edge of the inertia measurement instrument is provided with
Several location holes, each positioning column are arranged in the corresponding location hole correspondingly with each positioning column.
Further, it wherein the outer surface of a side plate is provided with the groove being recessed inwardly, is set in the groove
It is equipped with handle, the inner wall of the handle and the groove is rotatably connected.
Further, the mounting structure includes at least two mounting plates extended outward, each equal position of mounting plate
In on the same side surface of the shell, and each mounting plate all has the connection for being parallel to the scanning window mirror setting
Face offers connecting hole on the joint face.
Further, in being additionally provided with electrical connector on the shell, the electrical connector and the embedded computer
Electrical connection.
Further, further include camera protective shell, the high-resolution digital camera is located in the camera protective shell, and
The camera protective shell is installed in the outside of the shell, and the camera protective shell offers high-resolution number phase described in face
The window of the camera lens of machine.
Further, side of the laser scanner when airborne boat flies by actively emitting laser and receiving reflected light
Formula obtains the three-dimensional coordinate information of terrain and its features.
Further, the high-resolution digital camera can be civil digital camera, it is airborne boat fly when by timing/
The mode of spacing exposure obtains the true color image of terrain and its features, and the high-resolution digital camera uses fixed-focus mode.
Further, the inertia measurement instrument measures miniature laser radar three-dimensional plotting board each moment when boat flies
Attitude angle.
Further, the GPS in the embedded computer is used to measure when airborne boat flies miniature
Space coordinate of the laser radar three-dimensional mapping device at each moment, the GPS measurement data are used to described
Property measuring instrument measurement data mutually merge, correct the accumulated error after each comfortable long-play.
Further, the GPS in the embedded computer at least receives a kind of satellite navigation and positioning
Signal, the satellite navigation and positioning signal are GPS signal or Big Dipper signal.
Further, total weight is between 3kg~25kg.
The invention has the advantages that：
The measuring device of the present invention carries on board the aircraft, ground and object can be recorded by high-resolution digital camera
The real-time imaging of body, and being stored in embedded computer is provided with laser scanner, inertia measurement instrument and embedding in shell
Enter formula computer, records scanned object vertical direction spatial coordinated information by laser scanner and store and arrive embedding assembly
In machine, and the inertia measurement instrument then records state of flight and storage of the measuring device on carrying flying platform and arrives embedded meter
In calculation machine, it is provided with GPS in embedded computer, is recorded by GPS and measures dress
The real time position set, and embedded computer, laser scanner and inertia measurement instrument may be contained in shell, outside shell
Side only has high-resolution digital camera, ensures that plotting board overall structure is beautiful, and facilitate and be equipped on aircraft, has
It is high using flexible, three-dimensional measurement precision, obtain the following landform of vegetation, independent navigation, get higher the advantages such as flight, can be used for hills,
The high-precision three-dimensional mapping in mountain area.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of airborne medium-sized laser radar three-dimensional mapping device provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram after the shell of the airborne medium-sized laser radar three-dimensional mapping device of Fig. 1 is opened.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of airborne medium-sized laser radar three-dimensional mapping device, master
Aircraft is carried, includes shell 1 with chamber 2 and installs in the high-resolution digital camera 3 on shell 1, shell 1 is
Each measuring part of the agent structure of measuring device, measuring device is installed on shell 1, and which part measuring part is located at shell
1 outside of body, such as high-resolution digital camera 3, the real-time imaging that can record ground and object can be civil digital camera,
The true color image of terrain and its features is obtained by way of the exposure of timing/spacing when airborne boat flies, the high-resolution is digital
The use fixed-focus mode of camera 3, is in addition additionally provided with mounting structure on the outer surface of shell 1, can be incited somebody to action by the mounting structure
Measuring device is connected on aircraft, and is then provided with laser scanner 4, inertia measurement in the chamber of the inside of shell 12
Instrument 5 and embedded computer 6 are provided with scanning window mirror 131, the light-emitting window face scanning of laser scanner 4 on shell 1
Window mirror 131, and scanning window mirror 131 and the camera lens of high-resolution digital camera 3 is towards identical, such as when high-resolution number
The camera lens of camera 3 straight down when, scanning window mirror 131 passes through when airborne boat flies also straight down, by laser scanner 4
Actively emit laser and receive the mode of reflected light and obtain the three-dimensional coordinate information of terrain and its features, laser scanner 4 with it is embedded
Formula computer 6 is electrically connected, in the information data transmission to embedded computer 6 that laser scanner 4 records, and embedded computer
6 then in order to control and information storage center, high-resolution digital camera 3 are stored in embedding with the data that laser scanner 4 measures
Enter in formula computer 6, while laser scanner 4 and the work of high-resolution digital camera 3 can be controlled, in embedded computer
It is additionally provided with GPS in 6, the real time position of plotting board is recorded by GPS, thus
Airborne boat measures space coordinate of the plotting board at each moment when flying, and GPS can receive at least one
Satellite navigation and positioning signal, and satellite navigation and positioning signal is GPS signal or Big Dipper signal lamp, and for inertia measurement instrument 5
It is then the state of flight for recording the measuring device on carrying flying platform, specifically, inertia measurement instrument 5 is surveyed when boat flies
The attitude angle at plotting board each moment is measured, GPS measurement data and 5 measurement data of inertia measurement instrument are mutual
The accumulated error after each comfortable long-play is corrected in fusion, and inertia measurement instrument 5 is also electrically connected with embedded computer 6, inertia
The flying quality that measuring instrument 5 records also is stored to embedded computer 6.In the present invention, pass through high definition high-resolution number phase
Machine 3, laser scanner 4 and inertia measurement instrument 5 can detect ground object and real time position in real time, while detect current
State of flight, such as flying height, flight angle and flying speed etc., so that measuring device has measurement range
Greatly, the advantages that measurement distance is big, flight course control is accurate, and still further aspect by embedded computer 6, laser scanner 4 and
Inertia measurement instrument 5 may be contained in shell 1, can not only ensure the appearance requirement of measuring device, and integrated level is relatively high, ensure to survey
It is beautiful to paint device overall structure, and facilitates and is equipped on aircraft, has using flexible, three-dimensional measurement precision is high, obtains
The following landform of vegetation, independent navigation get higher the advantages such as flight, can be used for the high-precision three-dimensional mapping in hills, mountain area.Separately
Outside, shell 1 is whole uses aluminum alloy material, is rigid connection between each component and shell 1, can be when plotting board works
It radiates for embedded computer 6 Deng, and the total weight of plotting board can be controlled between 3kg~25kg, total quality is smaller.
Referring to Fig. 2, optimizing above-described embodiment, shell 1 includes main framing 11, top plate 12, bottom plate 13 and four side plates 14,
Top plate 12, bottom plate 13 and four side plates 14 are enclosed above-mentioned chamber 2, and chamber 2 is divided into the first space by main framing 11
21, second space 22 and third space 23, wherein along perpendicular to the direction of scanning window mirror 131, second space 22 and third
Space 23 is located at the same side, and the first space 21 is located at the other side, and second space 22 is located at the surface in third space 23, laser
Scanner 4 is located in the first space 21, and inertia measurement instrument 5 and embedded computer 6 are installed respectively in second space 22 and
In third space 23.In the present embodiment, by main framing 11 so that 2 internal structure of chamber is divided into multiple portions, and then it will be used to
Property measuring instrument 5, embedded computer 6 and laser scanner 4 be divided into three different spaces, to convenient to three's
Installation, wherein laser scanner 4 are directly installed on the inside of bottom plate 13, and to be located at the first space 21 corresponding for scanning window mirror 131
On bottom plate 13, embedded computer 6 is also installed on bottom plate 13, and inertia measurement instrument 5 is mounted on main framing 11, usually
It is provided with several positioning columns in second space 22, the edge of inertia measurement instrument 5 is provided with one-to-one with each positioning column
Several location holes, each positioning column are equipped in corresponding positioning column, and positioning column is respectively positioned on main framing 11, by each location hole
After being arranged in one by one on corresponding positioning column, inertia measurement instrument 5 is positioned, and then screw etc. is used to be locked.
Referring again to Fig. 1 and Fig. 2, continue to optimize above-described embodiment, shell 1 further includes having heat sink 15, heat sink 15
It is corresponding with bottom plate 13, opening is provided on top plate 12, heat sink 15 is embedded in the opening for being installed on top plate 12.The present embodiment
In, it is electrical part due to being provided with inertia measurement instrument 5, embedded computer 6 and laser scanner 4 in chamber 2,
In the course of work, certain heat can be distributed, and heat sink 15 is then mainly used for increasing the heat dissipation effect of shell 1, avoids
Three, which works long hours, influences service life.
Further, the installation of high-resolution digital camera 3 is refined, high-resolution digital camera 3 is installed in second space
22 and 23 corresponding side plate 14 of third space on, and there are two cowl flap 141, which divides for setting on the side plate 14
It is not connected to second space 22 and third space 23.In the present embodiment, high-resolution digital camera 3 is installed on its of shell 1
On middle side plate 14, and inertia measurement instrument 5 is located at the both sides of the side plate 14 with high-resolution digital camera 3, when this is main
Quality for laser scanner 4 is more than inertia measurement instrument 5 and embedded computer 6, and high-resolution digital camera 3 is set to
The same side of inertia measurement instrument 5 can play the role of balance measuring device.And on the other hand, due to second space 22 and the
Three spaces, 23 opposite first space 21 is smaller, and heat dissipation effect is poor, by two cowl flaps 141, can improve the thermal diffusivity of the two
Energy.
Referring to Fig. 2, continuing the installation for refining high-resolution digital camera 3, measuring device further includes having A-frame 31, and three
Angle support 31 is installed on the outer surface of above-mentioned side plate 14, being provided with mounting hole, high-resolution number phase on A-frame 31
The camera lens of machine 3 passes through the mounting hole, and high-resolution digital camera 3 has curtain plate, and A-frame 31 is at the edge of mounting hole
Place is provided with supporting surface, when high-resolution digital camera 3 camera lens pass through mounting hole in, the outer rim of high-resolution digital camera 3
Plate can be bonded with supporting surface, and then supporting surface is connected and fixed with curtain plate.In the present embodiment, there are three rectangular for the tool of A-frame 31
Frame, wherein a square frame is connected and fixed with corresponding side plate 14, stable connection, another square frame is used to support high-resolution
Digital camera 3, the also one square frame connection both of the aforesaid square frame being obliquely installed, and then can make A-frame 31
There is 142 structure of groove, supporting surface to be located at for high stability, the square frame for being used to support high-resolution digital camera 3 certainly
In 142 structure of groove, when high-resolution digital camera 3 is installed on A-frame 31, outside high-resolution digital camera 3
Listrium and at least partly structure are respectively positioned in 142 structure of groove, so as to improve A-frame 31 to high-resolution number
Code 3 mounting stability of camera.Certain measuring device should also include a camera protective shell 32, and high-resolution digital camera 3 is located at
In camera protective shell 32, camera protective shell 32 is installed in the outside of shell 1, and offers window on camera protective shell 32, should
The camera lens of window face high-resolution digital camera 3.In the present embodiment, by camera protective shell 32 to high-resolution digital camera
3 play a protective role, and high-resolution digital camera 3 is whole to be respectively positioned on 32 inside of camera protective shell, and certainly above-mentioned two logical
Wind piece 141 should be located at the outside of camera protective shell 32.
Referring again to Fig. 1 and Fig. 2, further, it is provided on the outer surface of side version is recessed inwardly wherein
Groove 142, is provided with handle 143 in groove 142, and handle 143 and the inner wall of groove 142 are rotatably connected.In the present embodiment,
Handle 143 is mainly used for that user is facilitated to carry measuring device, should be close to the center of gravity position of measuring device to this handle 143
It sets, and under normal circumstances, handle 143 is integrally located in groove 142, and groove 142 will not protrude the outer surface of corresponding side plate 14, and
When need to hold put on airs hand 143 when, then rotatable handles 143 so that the most of structure of handle 143 is projecting inward by groove 142, in turn
The button bit that carries that user's finger passes through handle 143 is facilitated to set.In general, being additionally provided with electrical connector in the version of the wherein side of shell 1
144, which corresponds to 23 position of third space, and electrical connector 144 is electrically connected with embedded computer 6, can facilitate
It is imported in embedded computer 6 by the data export in embedded computer 6, or by exogenous data.
Referring to Fig. 1, further, mounting structure includes at least two mounting plates 145 extended outward, mounting plate 145
It is respectively positioned on the same side surface of shell 1, and each mounting plate 145 all has the connection for being parallel to the setting of scanning window mirror 131
Face offers connecting hole on joint face.In the present embodiment, mounting plate 145 be two, the two along shell 1 length direction side by side
Setting has certain intervals between the two certainly, can be equal positioned at the same side plate with above-mentioned electrical connector 144 and handle 143
On 14, measuring device can integrally be installed on aircraft by two pieces of mounting plates 145, and since mounting plate 145 protrudes shell 1
Outer surface, is adapted to the outer surface structure of aircraft, and mounting is convenient.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (16)
1. a kind of airborne medium-sized laser radar three-dimensional mapping device, including shell, high-resolution digital camera and laser scanning
There is chamber, the high-resolution digital camera to install on the shell for instrument, the shell, the laser scanner install in
In the chamber, the mounting structure for being connected and fixed with aircraft is provided on the outer surface of the shell, it is characterised in that：
It is additionally provided with inertia measurement instrument and embedded computer in the chamber, scanning window mirror is provided on the shell, it is described
Scanning window mirror described in the light-emitting window face of laser scanner, and the scanning window mirror and the high-resolution digital camera
The direction of camera lens is identical, the laser scanner, the inertia measurement instrument and the high-resolution digital camera with it is described
Embedding assembly mechatronics are provided with GPS in the embedded computer.
2. airborne medium-sized laser radar three-dimensional mapping device as described in claim 1, it is characterised in that：The shell includes master
Skeleton, top plate and bottom plate and four side plates, and the top plate, the bottom plate and four side plates are enclosed the chamber
The chamber is divided into the first space, second space and third space by room, the main framing, wherein the second space with
The third is spatially located at the same side, and described first is spatially located at the other side, and the second space is being located at the third space just
Top, the laser scanner are located in first space, and the inertia measurement instrument is pacified respectively with the embedded computer
In the second space and the third space.
3. airborne medium-sized laser radar three-dimensional mapping device as claimed in claim 2, it is characterised in that：The shell further includes
Heat sink is provided with opening on the top plate, and the heat sink is embedded in the opening for being installed on the top plate.
4. airborne medium-sized laser radar three-dimensional mapping device as claimed in claim 2, it is characterised in that：The high-resolution number
Code camera is installed in the side plate corresponding with the second space and the third space, and is provided with two on the side plate
A cowl flap, two cowl flaps are connected to second space and third space respectively.
5. airborne medium-sized laser radar three-dimensional mapping device as claimed in claim 2, it is characterised in that：It further include triangle branch
Frame, the A-frame peace are located therein on a side plate outer surface, and the A-frame has mounting hole, the high-resolution
The camera lens of rate digital camera passes through the mounting hole, and the high-resolution digital camera has curtain plate, the A-frame
The supporting surface being bonded with the curtain plate is provided in the edge of the mounting hole, and the supporting surface connects with the curtain plate
Connect fixation.
6. airborne medium-sized laser radar three-dimensional mapping device as claimed in claim 2, it is characterised in that：In the second space
Several positioning columns are provided with, the edge of the inertia measurement instrument is provided with and several positioning correspondingly of each positioning column
Hole, each positioning column are arranged in the corresponding location hole.
7. airborne medium-sized laser radar three-dimensional mapping device as claimed in claim 2, it is characterised in that：Wherein one side plate
Outer surface be provided with the groove being recessed inwardly, in being provided with handle in the groove, the handle is interior with the groove
Wall is rotatably connected.
8. airborne medium-sized laser radar three-dimensional mapping device as described in claim 1, it is characterised in that：The mounting structure packet
At least two mounting plates extended outward are included, each mounting plate is respectively positioned on the same side surface of the shell, and each
The mounting plate all has the joint face for being parallel to the scanning window mirror setting, and connecting hole is offered on the joint face.
9. airborne medium-sized laser radar three-dimensional mapping device as described in claim 1, it is characterised in that：In on the shell also
It is provided with electrical connector, the electrical connector and the embedding assembly mechatronics.
10. airborne medium-sized laser radar three-dimensional mapping device as described in claim 1, it is characterised in that：Further include that camera is protected
Protective case, the high-resolution digital camera is located in the camera protective shell, and the camera protective shell is installed in the shell
Outside, the camera protective shell offers the window of the camera lens of high-resolution digital camera described in face.
11. airborne medium-sized laser radar three-dimensional mapping device according to claim 1, which is characterized in that the laser scanning
Instrument obtains the three-dimensional coordinate information of terrain and its features when airborne boat flies by way of actively emitting laser and receiving reflected light.
12. airborne medium-sized laser radar three-dimensional mapping device according to claim 1, which is characterized in that the high-resolution
Digital camera is civil digital camera, obtains the very color of terrain and its features by way of the exposure of timing/spacing when airborne boat flies
Color image, the high-resolution digital camera use fixed-focus mode.
13. airborne medium-sized laser radar three-dimensional mapping device according to claim 1, which is characterized in that the inertia measurement
Instrument measures the attitude angle at plotting board each moment when boat flies.
14. airborne medium-sized laser radar three-dimensional mapping device according to claim 1, which is characterized in that the embedded meter
GPS in calculation machine is used to measure space coordinate of the plotting board at each moment when airborne boat flies, described
GPS measurement data is mutually merged with the inertia measurement instrument measurement data, corrects each comfortable long-play
Accumulated error afterwards.
15. airborne medium-sized laser radar three-dimensional mapping device according to claim 1, it is characterised in that：The embedded meter
GPS in calculation machine at least receives a kind of satellite navigation and positioning signal, and the satellite navigation and positioning signal is
GPS signal or Big Dipper signal.
16. airborne medium-sized laser radar three-dimensional mapping device according to claim 1, it is characterised in that：Total weight 3kg~
Between 25kg.
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| CN201721387815.5U CN207894377U (en) | 2017-10-25 | 2017-10-25 | Airborne medium-sized laser radar three-dimensional mapping device |
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| CN201721387815.5U CN207894377U (en) | 2017-10-25 | 2017-10-25 | Airborne medium-sized laser radar three-dimensional mapping device |
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| CN207894377U true CN207894377U (en) | 2018-09-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414381A (en) * | 2020-11-12 | 2021-02-26 | 杭州易现先进科技有限公司 | Surveying platform, braces formula surveying device and cart based surveying device |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414381A (en) * | 2020-11-12 | 2021-02-26 | 杭州易现先进科技有限公司 | Surveying platform, braces formula surveying device and cart based surveying device |
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Effective date of registration: 20201020 Address after: Room 201, building A7, Nanshan Zhiyuan, No. 1001, Xueyuan Avenue, Changyuan community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lijian Tianyan Technology Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Nanshan District Taoyuan Street School Road No. 1001 Building 1 layer A7 Chi Park Patentee before: SHENZHEN TIANYAN LASER TECHNOLOGY Co.,Ltd. |