CN207937609U - A kind of laser radar detection instrument based on unmanned plane - Google Patents
A kind of laser radar detection instrument based on unmanned plane Download PDFInfo
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- CN207937609U CN207937609U CN201820435867.3U CN201820435867U CN207937609U CN 207937609 U CN207937609 U CN 207937609U CN 201820435867 U CN201820435867 U CN 201820435867U CN 207937609 U CN207937609 U CN 207937609U
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- laser
- unmanned plane
- embedded computer
- detection instrument
- laser radar
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The utility model discloses a kind of laser radar detection instrument based on unmanned plane, synchronizer is connected with laser, the laser of laser is through over-focusing coupler, and it is projected from transceiver module, laser is returned by back scattering from transceiver module, and it is filtered by narrow band filter slice, opto-electronic conversion is carried out with photodetector, transformed electric signal is acquired by photon counting card, the data transmission of acquisition is stored and is handled to embedded computer by photon counting card, temperature and Humidity Control module is connected with embedded computer, embedded computer will treated data transmission to earth station, the power module is powered for embedded computer.Laser radar visibility meter is mounted on the holder of unmanned plane by the utility model, visibility meter, with atmospheric action, generates backscatter signal by emitting laser forward, inverting atmospheric visibility by data processing, and all information currently obtained is transferred to earth station.
Description
Technical field：
The utility model belongs to monitoring field, more particularly to a kind of laser radar detection instrument based on unmanned plane.
Background technology：
With economic continuous development, the continuous improvement of levels of substance, the attention of people starts to focus on worsening
Existence environmentally come.Since haze weather caused by the behaviors such as exhaust emissions, industrial production, coal heating is the heat discussed
Point becomes ever more important with regard to this expansion to the accurate detection of atmospheric visibility.
China is opposite in terms of visibility detection to start late, is not mature enough, mostly still uses forward scattering type now
And transmission-type visibility meter, the former estimates delustring system by receiving the forward scattering light of air and measuring scattered light intensity
The problem of counting, but will appear Points replacing surfaces；The latter calculates visibility by measuring the average extinction coefficient of air column, still
The problem of will appear baseline alignment difficulties since baseline is longer, taking up a large area.The new pattern laser radar developed after the two
Visibility meter, detection principle are that laser is emitted directly toward air by telescope, are generated with aerosol process in air backward
Scatter echo, and then inverting visibility of air.Because its monochromaticjty is good, coherence is strong, spatial and temporal resolution is high, ultrashort pulse is wide
The advantages that spending is very suitable for the microphysical property of atmospheric sounding.
Current visibility instrument mostly uses fixed point monitoring on detection mode, and the data accuracy of acquisition is poor, stability is low.
In order to expand the investigative range of visibility meter, by means of small, flight flexibly, can VTOL the advantages that unmanned plane it is flat
The two, is combined that can be achieved visibility meter investigative range wider by platform, functional stronger, detection mode specific aim, flexibility, motor-driven
Property, controllability it is strong, and have the function of real time monitoring detection etc., it can be achieved that carrying out flying for Different Flight in default GPS coordinate point
Row detection, can hover over region overhead fixed point monitoring, realize that the Multi-point detection track of tested region is flown and unmanned plane is to gas
Flow disturbance is relatively small, ensures that the stability of monitoring data, such as spiral measure the vertical distribution of atmospheric aerosol, horizontal
Height-lock control measures the horizontal space variation of the Air Pollutant Discharge of different height, and the distribution for Regional Atmospheric Pollution object is special
The researchs such as pollutant transportation rule provide first-hand monitor data between sign and adjacent big city；Volcanic crater height can also be detected
The atmospheric aerosol analysis and visibility inverting of mankind's inconvenience search coverages such as empty, plant gas discharge.
Invention content：
The utility model is to realize that micro-pulse lidar detects lower atmosphere layer into line visibility by unmanned plane, to subtract
Few influence of the haze weather to normal life.The utility model by laser radar detection instrument by being fixed to the detachable of unmanned plane
Holder carries out real-time detection to the atmospheric visibility situation in region overhead to be measured, and by wireless transmission technique, by data transmission
To earth station.Pass through the Atmospheric Survey to different height, different location, the vertical distribution and visibility shape of inverting aerosol
Condition.
Technical solution used by the utility model has：A kind of laser radar detection instrument based on unmanned plane, including scarcely perceptible pulse
Laser radar visibility meter and unmanned plane are rushed, the micro-pulse lidar visibility meter is set on unmanned plane, the micropulse
Laser radar visibility meter include synchronizer, laser, focus coupler, transceiver module, spike filter, photodetector,
Photon counting card, embedded computer, temperature and Humidity Control module and power module, the synchronizer are connected with laser, swash
The laser of light device is projected through over-focusing coupler, and from transceiver module, and laser is returned by back scattering from transceiver module, and is led to
Narrow band filter slice filtering is crossed, carries out opto-electronic conversion with photodetector, transformed electric signal is adopted by photon counting card
Collection, the data transmission of acquisition stored and handled to embedded computer by photon counting card, temperature and Humidity Control module with it is embedding
Enter formula computer to be connected, embedded computer will treated data transmission to earth station, the power module is embedded meter
Calculation machine is powered.
Further, the transceiver module use multimode y-type optical fiber coaxial system, the system include transmitting terminal, receiving terminal,
The laser of common end, telescope, the laser enters transmitting terminal after over-focusing coupler at coupling light, coupling light,
Laser is injected to the primary mirror of telescope from common end, the laser that telescope is injected in air generates backscattering echo in an atmosphere
Signal is received via same telescope and is received by common end, and light is transmitted from receiving terminal, is filtered, removes background stray light.
Further, it is all silica fibre that 0.22 core diameter is all 200 μm that the common end, which is using 19 numerical apertures,
Composition.
Further, the laser uses the semiconductor laser of acousto-optic Q modulation.
Further, the photodetector realizes that optical signal to electric signal changes using avalanche photodide detection.
The utility model has the advantages that：
1) visibility meter realizes telescope and laser using the multimode y-type optical fiber of transceiver in the utility model
Between mobility, keep structure compacter, portability and stability significantly improve, while optimize after three-decker it is effective
Increase optical signal receiving area and coupling efficiency.
2) in the utility model micro-pulse lidar visibility meter using embedded computer as host computer, at data
Reason ability fully meets the actual requirement of device, and meets light-weighted requirement in size.
3) it is combined using U-shaped structure holder, unmanned machine head and balancer in the utility model, realizes detection angle
Adjustability and stability.
4) carrier aircraft unmanned plane in the utility model is realized the functions such as positions and tracks in real time by triones navigation system.
5）The utility model can realize that Atmospheric Survey range is wider, and flexibility, mobility, controllability are stronger, have certainly
The functions such as active state synchronizing detection.
6）The utility model is integrated with the relevant sensor such as humidity, air pressure, temperature, GPS, height, realizes measuring instrument
The multifunction of device, and for these sensor measurements as a result, having carried out the judgement of atmospheric condition and position.
7) the unmanned plane system that the utility model uses is to the servomechanism and wireless communication dress in unmanned plane
It sets and carries out coordination control so that each device can cooperate on the basis of completing itself function, and ground station is sent most
Processing data eventually, improve the data transmission efficiency and data transmission quality between flying platform and earth station.
Description of the drawings：
Fig. 1 is the utility model principle schematic diagram.
Fig. 2 is the schematic diagram of the transceiver module in the utility model.
Fig. 3 is that the y-type optical fiber of the visibility survey meter of the utility model receives and dispatches the schematic diagram of common end.
Fig. 4 is the appearance assumption diagram of the visibility survey meter of the utility model.
Specific implementation mode：
The utility model will be further described below with reference to the accompanying drawings.
As shown in Figure 1, a kind of laser radar detection instrument based on unmanned plane of the utility model, including micro-pulse lidar
Visibility meter and unmanned plane, micro-pulse lidar visibility meter are set on unmanned plane, micro-pulse lidar visibility meter packet
Include synchronizer 1, laser 2, focus coupler 3, transceiver module 4, spike filter 5, photodetector 6, photon counting card 7,
Embedded computer 8, temperature and Humidity Control module 9 and power module 10, synchronizer 1 are connected with laser 2, and laser 2 swashs
Then light is projected through over-focusing coupler 3 from transceiver module 4, the light projected from hair module 4 passes through back scattering from transceiver module
4 return, and are filtered by narrow band filter slice 5, carry out opto-electronic conversion with photodetector 6 after filtering, transformed electric signal exists
Photon counting card 7 is acquired, and the data transmission after acquisition is stored and handled to embedded computer 8 by numbered card 7.It is embedding
Enter formula computer 8 with temperature and Humidity Control module 9 to be connected, entire survey meter is powered by power module 10.Temperature and Humidity Control mould
The sensors such as GPS, height, air pressure, humidity, the temperature of atmospheric visibility data and unmanned plane that block 9 detects blend, embedded
The technology by radio communication of computer 8, earth station is transferred to by final data；Secondly 8 control object of embedded computer includes
Laser 2, photodetector 6, photon counter card 7 and gating circuit, wherein laser 2 by laser power supply indirect control,
Photon counting card 7 and photodetector 6 are directly controlled by gating circuit.Unmanned plane can be shown in as above-mentioned micro-pulse lidar
The carrier aircraft for spending instrument, by ground station control, laptop 15, which is first networked, downloads the map in measured region, then sets unmanned plane
Course line, course data (GPS coordinate points) is downloaded in unmanned plane by flight communication module after the completion of setting, nobody
Machine will rely on the GPS receivers of itself according to airline operation after taking off.By multigroup in the fixed point acquisition of different vertical height
Data complete the detection to low latitude visibility.
Earth station includes laptop 15 and reception antenna 16, and reception antenna 16 receives the final number for being transferred to ground
According to laptop 15 handles and send information command as host computer, including measurement data monitoring module, flight monitoring mould
Block, aerial mission management module, map of navigation electronic module.Measurement data monitoring module can monitor the feelings of atmospheric visibility measurement
Condition；Flight monitoring module realizes that unmanned plane sends Flight Condition Data to host computer, while host computer sends to unmanned plane and flies
Destination control instruction；Aerial mission management module editor, bookbinding task destination, generate task course line on map, consequently facilitating
Operator intuitively supervises flight condition, operation flight of the unmanned plane according to setting is controlled, if stupid emergency case terrestrial operation person can
Destination is updated in intervention at any time, ensures flight safety；Map of navigation electronic module intuitively obtains ground by map of navigation electronic
Manage location information, it is ensured that the real time monitoring of unmanned plane, wherein two-dimentional offline e map shows present position in status bar
Through, latitude information, it can be achieved that unmanned plane the functions such as plays back in the positioning and tracking of navigation position, flight path, three-dimensional networked electronic
Warp, the latitude information of flight destination is written by triones navigation system in figure, and can draw out each destination one by one in map connects into
Segment, and then realize navigator fix and tracking function.
Fig. 2 is 4 schematic diagram of transceiver module, and transceiver module uses multimode y-type optical fiber coaxial system, which includes transmitting terminal
A, receiving terminal B, common end C, telescope D, the laser of laser 2 after over-focusing coupler 3 at coupling light, coupling light into
Enter transmitting terminal A, laser is injected to the primary mirror of telescope D from common end C, the laser that telescope is injected in air generates in an atmosphere
Backscattering echo signal is received via same telescope and is received by C-terminal, and light is transmitted from receiving terminal B, is filtered, removes
Background stray light.
Fig. 3 is the cross-sectional structure of common end C in multimode y-type optical fiber coaxial system, and common end C uses 19 numerical apertures
It is all the silica fibre composition that 0.22 core diameter is all 200 μm, wherein the silica fibre positioned at internal layer center location is transmitting terminal,
Remaining by equally distributed 18 silica fibres of double-layer structure is receiving terminal.
Y-type optical fiber in multimode y-type optical fiber coaxial system uses multimode fibre, transmitting terminal A to be made of simple optical fiber, receives
End B be made of two layers of 18 optical fiber, centered on single layer launching fiber, outer two layers of equally distributed 18 root receiving fiber constituted public affairs
C is held altogether, and the numerical aperture of optical fiber is 0.22, core diameter is 200 μm.
Telescope D uses Maksutov-Cassegrain's formula telescope, avoids the high-resolution of refracting telescope and right
Than and reflectivity telescope low aberration；Relative aperture is big, and image quality is excellent, small；But due to refracting-reflecting telescope second
Speculum blocks the certain loss that can cause light；Transmitter and receiver as optical signalling simultaneously.
The transmitting terminal A of transceiver module 4 is connected with laser light source one end, and receiving terminal B is connect with photodetector, common end C
It is connect with transmitting-receiving telescope, reduces laser loss, keep structure easier.
Photodetector 6 realizes that optical signal to electric signal changes using avalanche photodide detection, is adopted using with height
The photon counting card 7 of collection rate and multichannel ensure that effective acquisition of photodetector output.
The semiconductor laser of the use acousto-optic Q modulation of laser 2 in the utility model, the laser emission wavelength are
532nm, 30 μ J of single pulse energy compare and wavelength 355nm lasers, and decaying is slow, most sensitive closer to human eye
550nm, the atmospheric visibility measured can be very good to be combined with human eye vision.
Embedded computer 8 carries out data storages, processing and in advance using based on the large China PCM-3370E of PC buses to the present apparatus
The threshold value of each visibility section first set meets light-weighted requirement in size.
It uses in terms of data processing and a kind of to be surveyed based on the atmospheric extinction coefficient iterative algorithm of Fernald Backward integration algorithms
The air average energy for measuring oblique journey and horizontal direction is shown in angle value.This method is effectively prevented due to extinction coefficient initial value instability strip
The wild effect come provides the stable guarantee of algorithm for the reliability of laser radar visibility factor measurement result.
The unmanned machine head equipment angle balancer of carrier aircraft is, it can be achieved that the detection angle of laser radar visibility meter is stablized, no
It changes with unmanned plane during flying posture changing, ensures the accuracy of measurement angle.
Fig. 4 is the appearance assumption diagram of the utility model micro-pulse lidar visibility meter, and wherein electric rotating machine 14 is fixed
To aluminum hull 15, u-bracket 13 is connected with electric rotating machine 14.It is horizontal and tiltedly journey more by the rotation realization device of electric rotating machine 14
Angular adjustment.
Micro-pulse lidar visibility meter is encapsulated in an aluminum hull, and a both ends carry the u-bracket of electric rotating machine
At fixed and aluminum hull center side, u-bracket top is mounted on the holder of unmanned plane；Power module, transceiver module, control module
It is all encapsulated into aluminum hull with humiture control module, the through-hole for lens cone for telescope receiving and transmitting signal is equipped on front side of aluminum hull.
Carrier aircraft unmanned plane can realize itself attitude detection by flight control system.2 adjacent rotors of multi-rotor unmanned aerial vehicle
Direction of rotation is on the contrary, to offset the reversed torsion that rotor generates fuselage.Unmanned plane is realized by coordinating the rotating speed of each rotor
Lifting, the pose adjustment for hovering, rolling, translate, advancing, retreat and deflect, and then the multiangular measurement of realization visibility meter.
Carrier aircraft unmanned plane has been combined Two-dimensional electron map with by the advantages of electronic three-dimensional map of triones navigation system
Come so that geography information is more comprehensive, ensure that the advanced monitoring of unmanned plane.
Carrier aircraft unmanned aerial vehicle body holder uses aluminium alloy post, central link and motor base to use carbon fiber, motor
Using the big brushless external rotor direct current generator of efficient, torsion, meet useful load 15kg, autonomous pinpoint landing is evaded automatically
Barrier and autonomous be restored to originally are cruised on path.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, several improvement can also be made without departing from the principle of this utility model, these improvement also should be regarded as
The scope of protection of the utility model.
Claims (5)
1. a kind of laser radar detection instrument based on unmanned plane, including micro-pulse lidar visibility meter and unmanned plane, described
Micro-pulse lidar visibility meter is set on unmanned plane, it is characterised in that：The micro-pulse lidar visibility meter includes
Synchronizer（1）, laser（2）, focus coupler（3）, transceiver module（4）, spike filter（5）, photodetector（6）, light
Sub-count card（7）, embedded computer（8）, temperature and Humidity Control module（9）And power module（10）, the synchronizer（1）With
Laser（2）It is connected, laser（2）Laser through over-focusing coupler（3）, and from transceiver module（4）It projects, after laser passes through
To scattering from transceiver module（4）It returns, and passes through spike filter（5）Filtering, photodetector is used after filtering（6）Carry out light
Electricity conversion, transformed electric signal pass through photon counting card（7）It is acquired, photon counting card（7）By the data transmission of acquisition
To embedded computer（8）It is stored and is handled, temperature and Humidity Control module（9）With embedded computer（8）It is connected, it is embedded
Computer（8）Will treated data transmission to earth station, the power module（10）For embedded computer（8）It is supplied
Electricity.
2. the laser radar detection instrument based on unmanned plane as described in claim 1, it is characterised in that：The transceiver module（4）
Using multimode y-type optical fiber coaxial system, which includes transmitting terminal（A）, receiving terminal（B）, common end（C）, telescope（D）, institute
State laser（2）Laser through over-focusing coupler（3）Afterwards at coupling light, coupling light enters transmitting terminal（A）, from common end
（C）Laser is injected into telescope（D）Primary mirror, telescope（D）The laser injected in air generates back scattering and returns in an atmosphere
Wave signal is received via same telescope by common end（C）It receives, by light from receiving terminal（B）Transmission, is filtered, the removal back of the body
Scape stray light.
3. the laser radar detection instrument based on unmanned plane as claimed in claim 2, it is characterised in that：The common end（C）It is
It is all the silica fibre composition that 0.22 core diameter is all 200 μm using 19 numerical apertures.
4. the laser radar detection instrument based on unmanned plane as described in claim 1, it is characterised in that：The laser（2）It adopts
With the semiconductor laser of acousto-optic Q modulation.
5. the laser radar detection instrument based on unmanned plane as described in claim 1, it is characterised in that：The photodetector
（6）It is detected using avalanche photodide and realizes that optical signal to electric signal changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820435867.3U CN207937609U (en) | 2018-03-29 | 2018-03-29 | A kind of laser radar detection instrument based on unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820435867.3U CN207937609U (en) | 2018-03-29 | 2018-03-29 | A kind of laser radar detection instrument based on unmanned plane |
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| Publication Number | Publication Date |
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| CN207937609U true CN207937609U (en) | 2018-10-02 |
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| CN201820435867.3U Expired - Fee Related CN207937609U (en) | 2018-03-29 | 2018-03-29 | A kind of laser radar detection instrument based on unmanned plane |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839513A (en) * | 2019-02-28 | 2019-06-04 | 北京瞭望者科技有限责任公司 | Current velocity flow-measuring method, apparatus and system |
| CN110770596A (en) * | 2018-11-30 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Radar performance testing method and system |
| CN111157970A (en) * | 2018-10-22 | 2020-05-15 | 哈尔滨工业大学 | Area array Gm-APD laser radar device with miniaturized single photon detection sensitivity |
| CN113138398A (en) * | 2020-01-17 | 2021-07-20 | 中国海洋大学 | Aerosol extinction coefficient inversion method based on unmanned aerial vehicle atmospheric laser radar |
| CN113640222A (en) * | 2021-07-27 | 2021-11-12 | 南京理工大学 | Handheld laser scattering type aerosol attenuation characteristic measuring instrument with double working modes |
| CN114994710A (en) * | 2022-08-03 | 2022-09-02 | 南京信息工程大学 | Dynamic range sectional control laser radar |
| CN116256315A (en) * | 2022-12-30 | 2023-06-13 | 海南科力千方科技有限公司 | Information acquisition device of highway roadside |
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2018
- 2018-03-29 CN CN201820435867.3U patent/CN207937609U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111157970A (en) * | 2018-10-22 | 2020-05-15 | 哈尔滨工业大学 | Area array Gm-APD laser radar device with miniaturized single photon detection sensitivity |
| CN110770596A (en) * | 2018-11-30 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Radar performance testing method and system |
| WO2020107374A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Method and system for testing performance of radar |
| CN109839513A (en) * | 2019-02-28 | 2019-06-04 | 北京瞭望者科技有限责任公司 | Current velocity flow-measuring method, apparatus and system |
| CN113138398A (en) * | 2020-01-17 | 2021-07-20 | 中国海洋大学 | Aerosol extinction coefficient inversion method based on unmanned aerial vehicle atmospheric laser radar |
| CN113640222A (en) * | 2021-07-27 | 2021-11-12 | 南京理工大学 | Handheld laser scattering type aerosol attenuation characteristic measuring instrument with double working modes |
| CN113640222B (en) * | 2021-07-27 | 2024-06-07 | 南京理工大学 | Hand-held double-working-mode laser scattering type aerosol attenuation characteristic measuring instrument |
| CN114994710A (en) * | 2022-08-03 | 2022-09-02 | 南京信息工程大学 | Dynamic range sectional control laser radar |
| CN114994710B (en) * | 2022-08-03 | 2022-10-28 | 南京信息工程大学 | Dynamic range sectional control laser radar |
| CN116256315A (en) * | 2022-12-30 | 2023-06-13 | 海南科力千方科技有限公司 | Information acquisition device of highway roadside |
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| GR01 | Patent grant | ||
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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: 20181002 Termination date: 20200329 |