CN208188340U - A kind of laser radar real-time imaging devices - Google Patents
A kind of laser radar real-time imaging devices Download PDFInfo
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- CN208188340U CN208188340U CN201820618808.XU CN201820618808U CN208188340U CN 208188340 U CN208188340 U CN 208188340U CN 201820618808 U CN201820618808 U CN 201820618808U CN 208188340 U CN208188340 U CN 208188340U
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Abstract
The utility model discloses a kind of laser radar real-time imaging devices, mobile platform, lidar measurement unit, taking unit, GNSS base station, wireless transport module and ground station including communication connection；Mobile platform is equipped with mobile control module, and taking unit is used to obtain the image information of measurand；GNSS base station is for receiving satellite-signal and being transmitted to lidar measurement unit after signal processing；Lidar measurement unit reaches ground station real-time display by wireless transport module for acquiring in real time and handling out exact position, attitude data and the laser ranging data of measurand, and after combining the image information of measurand to calculate three-dimensional true color point cloud data of space coordinate and the corresponding color information of measurand to form measurand；The utility model can solve current laser radar data by generating date and obtain three-dimensional true color point cloud data method bring time-consuming problem by post-processing.
Description
Technical field
The utility model belongs to technical field of earth observation, specifically, being related to a kind of laser radar real-time imaging devices.
Background technique
Laser ranging imaging technique is the new technology occurred in recent years, it is the principle using laser ranging, and synthesis is answered
It with appearance location technology is surveyed, is analyzed and is handled by volume of data, obtained the three dimensional point cloud on measurand surface, thus may be used
Rebuild out the various data such as threedimensional model and line, face, the body of measured target；In practical applications, need high-definition digital image with
Laser point cloud data carries out subsequent registration and differential is corrected, just available digital elevation model, digital surface model and number
Orthograph picture, then by merging laser point cloud data and digital orthograph as data could obtain true color three-dimensional laser point cloud
Data；But in the demanding application of timeliness, for example, battlefield surroundings investigation, after calamity atural object reconnoitre immediately, transmission line of electricity it is fast
Fast inspection, squatter building information are confirmed etc. immediately under environment, have obtained true color three-dimensional laser point cloud data not by Data Post
It is able to satisfy demand.
Utility model content
For deficiency above-mentioned in the prior art, the utility model, which provides one kind, may be implemented measurand three-dimensional coordinate letter
The laser radar real-time imaging devices that breath and texture information are acquired in real time, handle and transmitted.
In order to achieve the above object, the solution that the utility model uses is: a kind of laser radar real-time imaging devices,
Mobile platform, lidar measurement unit, taking unit, GNSS base station, wireless transport module and ground including communication connection
Face work station.
The lidar measurement unit and the taking unit are loaded into the mobile platform；The mobile platform is set
There is mobile control module, the mobile control module is moved for receiving move and controlling the mobile platform along preset direction
Dynamic, the taking unit is used to obtain the image information of measurand.
The GNSS base station is for receiving satellite-signal and being transmitted to institute after the satellite-signal received processing
State lidar measurement unit.
The lidar measurement unit for acquire in real time with handle out the exact position of measurand, attitude data and
Laser ranging data, and calculate the space coordinate of the measurand in conjunction with the image information of the measurand and correspond to face
Color information to form the three-dimensional true color point cloud data of the measurand, the three-dimensional true color point cloud of the measurand in real time
Data reach the ground station and real-time display in the ground station by the wireless transport module.
Further, the lidar measurement unit include survey appearance locating module, laser scanner, imaging sensor and
Control storage unit；The survey appearance locating module for obtain the current position of the laser radar real-time imaging devices, speed,
Time and posture information；The laser scanner is used to obtain the range information of measurand in preset range；Described image passes
Sensor is used for transmission the image information of the measurand；The control storage unit includes that synchronously control subelement, data are deposited
Store up subelement, capture control subelement and monitoring subelement.
Further, by described wireless after the control storage unit subpackage compression three-dimensional true color point cloud data
Transmission module reaches the ground station.
Further, the compress mode of the three-dimensional true color point cloud data is fast compression.
Further, the mobile platform is one of aircraft, ground moving platform or water surface movable platform.
Further, described image sensor is in digital image sensor, bloom spectrum sensor or infrared sensor
It is a kind of.
Further, the taking unit is high-definition digital camera, and the ground station is laptop.
Further, the transmission mode of the wireless transport module is data radio station, the wireless transmission of 4G cellular network or 5G
One of cellular network wireless transmission.
Further, the display mode is rendering display, and the rendering form includes by elevation rendering, presses echo strength
Rendering is rendered by echo times and is rendered by measurand classification.
The utility model has the beneficial effects that the utility model is by fast compression method to three dimensional point cloud and picture number
According to compress and be transferred to ground station by wireless data transmission module being shown, laser radar operating efficiency is improved,
Expand application range；The utility model can solve current laser radar data by generating date and be obtained by post-processing
Three-dimensional true color point cloud data method bring time-consuming problem, it is real-time to can effectively solve geological disaster exploration, terrain and its features
The demanding problem of timeliness in the application such as investigation, the real-time inspection of transmission line of electricity.
Detailed description of the invention
Fig. 1 is the workflow schematic diagram of the utility model.
Specific embodiment
The utility model is further described below in conjunction with attached drawing:
To keep the purpose of this utility model, technical solution and advantage clearer, below to the technology in the utility model
Scheme is clearly and completely described, it is clear that the embodiments are a part of the embodiments of the present invention, rather than complete
The embodiment in portion.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, is fallen within the protection scope of the utility model.
Referring to Fig.1, the utility model provides a kind of laser radar real-time imaging devices, and the movement including communication connection is flat
Platform, lidar measurement unit, taking unit, GNSS base station, wireless transport module and ground station.
The lidar measurement unit and the taking unit are loaded into the mobile platform；The mobile platform is set
There is mobile control module, the mobile control module is moved for receiving move and controlling the mobile platform along preset direction
Dynamic, the taking unit is used to obtain the image information of measurand；Lidar measurement unit and taking unit pass through machinery
Constructional device is relatively fixed to mobile platform, and mobile platform can carry out large area measurement after carrying lidar measurement unit.
The GNSS base station is for receiving satellite-signal and being transmitted to institute after the satellite-signal received processing
State lidar measurement unit；Data processing will be passed through by RTK data radio station after the GNSS base station reception satellite-signal
Lidar measurement unit is sent to the position and temporal information obtained after analysis.
The lidar measurement unit for acquire in real time with handle out the exact position of measurand, attitude data and
Laser ranging data, and calculate the space coordinate of the measurand in conjunction with the image information of the measurand and correspond to face
Color information to form the three-dimensional true color point cloud data of the measurand, the three-dimensional true color point cloud of the measurand in real time
Data reach the ground station and real-time display in the ground station by the wireless transport module.
In the present embodiment, the lidar measurement unit includes surveying appearance locating module, laser scanner, imaging sensor
And control storage unit；The survey appearance locating module is for obtaining the current position of the laser radar real-time imaging devices, speed
Degree, time and posture information；The laser scanner has certain scanning angle, for obtaining measurand in preset range
Range information；Described image sensor is used for transmission the image information of the measurand；The control storage unit includes
Synchronously control subelement, data storage subunit operable, capture control subelement and monitoring subelement；It includes high-precision for surveying appearance locating module
Spend Inertial Measurement Unit (IMU), airborne double-frequency GPS receiver and high-performance airborne GPS antenna, the laser radar real time imagery
The current position of device, speed and posture information are obtained by high-precision Inertial Measurement Unit (IMU), and the laser radar is real-time
The current temporal information of imaging device is obtained by the time service unit that airborne double-frequency GPS receiver and high-performance airborne GPS antenna form
?；The position for surveying the acquisition of appearance locating module and posture information can be tested with range information acquired in laser scanner
The three-dimensional point cloud information of object；Data are controlled by high-precise synchronization, realize the spatial information data of acquisition measurand in real time
The true color three-dimensional laser point cloud data of measurand, true color are formed using Registration of Measuring Data and fusion with ground feature attribute data
The three-dimensional laser point cloud data form of expression includes digital image three-dimensional laser point cloud, infrared image three-dimensional laser point cloud, multispectral
Image three-dimensional laser point cloud.
In the present embodiment, by described after the control storage unit subpackage compression three-dimensional true color point cloud data
Wireless transport module reaches the ground station.
The compress mode of the three-dimensional true color point cloud data is fast compression；Improve the timeliness of data processing.
Further, the mobile platform is one of aircraft, ground moving platform or water surface movable platform.
Described image sensor is one of digital image sensor, bloom spectrum sensor or infrared sensor.
The taking unit is high-definition digital camera, and the ground station is laptop；The high-definition digital phase
Machine and control storage unit associated working, periodically obtain the image information of measurand.
The transmission mode of the wireless transport module be data radio station, 4G cellular network wireless transmission or 5G cellular network without
One of line transmission.
In the present embodiment, the display mode is rendering display, is specifically pseudo-colours rendering display, the rendering form
Including rendering by elevation rendering, by echo strength rendering, by echo times and being rendered by measurand classification.
The present embodiment also provides a kind of laser radar real time imagery method of laser radar real-time imaging devices, including step
It is rapid:
(a) GNSS base station is switched on, and GNSS base station receives satellite-signal, and the satellite-signal received is passed through data
Position and temporal information are obtained after processing and analysis and are sent to lidar measurement unit.
(b) lidar measurement unit is switched on, and ground station sends the initialization directive of lidar measurement unit.
(c) after lidar measurement unit receives initialization directive and completes initialization, lidar measurement unit is received
In step (a) GNSS base station send position and temporal information, lidar measurement unit receive satellite-signal and with it is described
The position and temporal information that GNSS base station is sent carry out real time differential processing, form the high precision position of lidar measurement unit
Confidence breath.
(d) ground station carries out move with mobile platform and state interacts.
(e) by wireless transport module, work station sends tested pair through too fast compression to lidar measurement unit to the ground
The three-dimensional true color point cloud data of elephant.
(f) ground station carries out decompression analysis to the three-dimensional true color point cloud data received, and the analysis can pass through
The software realization of ground station shows the three-dimensional information of current work region measurand in ground station after analysis；Ground
Face work station maneuvering platform unzips it the true color point cloud data received, and shows, and realize data management
With the functions such as multi-angle of view browsing, people and substance markers, viewshed analysis, range measurement and route planning.
Hereinafter, the mobile control module on unmanned plane is for flying control module, into one so that mobile platform is unmanned plane as an example
Step illustrates the operating process of the utility model:
Step 1: unmanned plane selection being carried out according to tested landform, and unmanned plane is unfolded, the unmanned plane expansion is divided into machine
Arm expansion, wing expansion.
Step 2: on a mobile platform by hanging plate mounting installation by lidar measurement unit；The right hand is followed when installation
Principle, Y-axis positive direction is identical as mobile platform direction of advance, and Z axis is upward.
Step 3: lidar measurement unit electrical connecting wires, the electrical connecting wires include RTK line, and GPS line is several to conduct electricity
Platform antenna and network interface connection, battery connection, data radio station ground surface end antenna, network interface and Battery Interconnecting Cables.
Step 4: powering on and check oneself, mobile platform, which is powered on, is powered with lidar measurement unit and starts each module.
Step 5: lidar measurement unit and mobile platform initialization and parameter setting, the initialization include ground work
Make station to carry out Initialize installation and parameter setting and transmit commands to mobile platform and laser radar by wireless transport module
Measuring unit.
Step 6: flight program, the flight program are that ground station carries out route design, and route information is passed through
Wireless transport module is transmitted to the winged control of mobile platform.
Step 7: system, which is taken off, carries out operation, and mobile platform carries out movement and lidar measurement unit according to both tramp-liners
And taking unit carries out three-dimensional laser point cloud and image data acquiring and is sent to earth station by wireless transmission platform.
Step 8: three-dimensional true color point cloud analysis, the analysis can be by ground station software realizations, including cloud
Load, distance measuring, label route planning show current work region atural object three-dimensional letter in ground station after point cloud load
Breath.
Step 9: terminating operation, mobile platform makes a return voyage, halt system work.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (9)
1. a kind of laser radar real-time imaging devices, it is characterized in that: including the mobile platform of communication connection, lidar measurement list
Member, taking unit, GNSS base station, wireless transport module and ground station；
The lidar measurement unit and the taking unit are loaded into the mobile platform；The mobile platform, which is equipped with, to be moved
Dynamic control module, the mobile control module are moved for receiving move and controlling the mobile platform along preset direction,
The taking unit is used to obtain the image information of measurand；
The GNSS base station for receive satellite-signal and will the satellite-signal that received processing after be transmitted to it is described swash
Optical radar measuring unit；
Exact position, attitude data and laser of the lidar measurement unit for acquiring in real time with handling out measurand
Ranging data, and in conjunction with the image information of the measurand calculate the measurand space coordinate and corresponding color letter
It ceases to form the three-dimensional true color point cloud data of the measurand, the three-dimensional true color point cloud data of the measurand in real time
The ground station and real-time display are reached in the ground station by the wireless transport module.
2. laser radar real-time imaging devices according to claim 1, it is characterized in that: the lidar measurement unit includes
Survey appearance locating module, laser scanner, imaging sensor and control storage unit；The survey appearance locating module is described for obtaining
The current position of laser radar real-time imaging devices, speed, time and posture information；The laser scanner is default for obtaining
The range information of measurand in range；Described image sensor is used for transmission the image information of the measurand；The control
Storage unit processed includes synchronously control subelement, data storage subunit operable, capture control subelement and monitoring subelement.
3. laser radar real-time imaging devices according to claim 2, it is characterized in that: described image sensor is digital image
One of sensor, bloom spectrum sensor or infrared sensor.
4. laser radar real-time imaging devices according to claim 2, it is characterized in that: the control storage unit subpackage is compressed
The ground station is reached by the wireless transport module after the three-dimensional true color point cloud data.
5. laser radar real-time imaging devices according to claim 4, it is characterized in that: the three-dimensional true color point cloud data
Compress mode is fast compression.
6. laser radar real-time imaging devices according to claim 1, it is characterized in that: the mobile platform be aircraft,
One of face mobile platform or water surface movable platform.
7. laser radar real-time imaging devices according to claim 1, it is characterized in that: the taking unit is high-definition digital phase
Machine, the ground station are laptop.
8. laser radar real-time imaging devices according to claim 1, it is characterized in that: the transmission side of the wireless transport module
Formula is one of data radio station, the wireless transmission of 4G cellular network or the wireless transmission of 5G cellular network.
9. laser radar real-time imaging devices according to claim 1, it is characterized in that: the real-time display mode is that rendering is aobvious
Show, the rendering form includes by elevation rendering, renders and press measurand classification by echo strength rendering, by echo times
Rendering.
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| CN201820618808.XU CN208188340U (en) | 2018-04-27 | 2018-04-27 | A kind of laser radar real-time imaging devices |
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| CN201820618808.XU CN208188340U (en) | 2018-04-27 | 2018-04-27 | A kind of laser radar real-time imaging devices |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108415034A (en) * | 2018-04-27 | 2018-08-17 | 绵阳天眼激光科技有限公司 | A kind of laser radar real-time imaging devices |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415034A (en) * | 2018-04-27 | 2018-08-17 | 绵阳天眼激光科技有限公司 | A kind of laser radar real-time imaging devices |
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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: 621000 Mianyang city of Sichuan Province Branch Park No. 237 Middle Road Patentee before: SICHUAN SCIENCE CITY JIULI TECHNOLOGY INDUSTRIAL CO., LTD. |
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Effective date of registration: 20201030 Address after: 518000 Guangdong city of Shenzhen province Nanshan District Taoyuan Street Xueyuan Road No. 1001 Nanshan Chi Park A7 Building 1 floor room 01 Patentee after: SHENZHEN ZHONGWU XINGHUA TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: Room 201, building A7, Nanshan Zhiyuan, No. 1001, Xueyuan Avenue, Changyuan community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Lijian Tianyan Technology Co.,Ltd. |
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Effective date of registration: 20210508 Address after: 518000 Room 201, building A7, Nanshan wisdom garden, 1001 Xueyuan Avenue, Changyuan community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lijian Tianyan Technology Co.,Ltd. Address before: 518000 room 01, 1st floor, building A7, Nanshan wisdom garden, 1001 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN ZHONGWU XINGHUA TECHNOLOGY DEVELOPMENT Co.,Ltd. |
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