CN210954348U

CN210954348U - 360-degree all-round imaging and laser warning device for small unmanned aerial vehicle

Info

Publication number: CN210954348U
Application number: CN201921206480.1U
Authority: CN
Inventors: 徐图; 纪运景; 张丰源; 王椿钧; 王春勇; 严伟
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2020-07-07
Anticipated expiration: 2029-07-30

Abstract

The utility model discloses a 360 look around formation of image and laser alarm device for unmanned aerial vehicle, including the toper speculum, cylindrical tube lens, common light path lens cone, 45 dichroic mirrors, common aperture laser detection subassembly, CMOS formation of image subassembly, on-chip signal processing system and wireless transmitting terminal, utilize the toper speculum to combine 45 dichroic mirrors, realized that laser detection and video formation of image are common light path and 360 look around the bimodulus complex and report an emergency and ask for help or increased vigilance, provide laser detection's target information and look around the image for unmanned aerial vehicle's safe flight. The utility model discloses have that the working distance is far away, the reliability is high, simple structure, small, outstanding advantage such as with low costs has important application prospect in the unmanned aerial vehicle field.

Description

360-degree all-round imaging and laser warning device for small unmanned aerial vehicle

Technical Field

The utility model belongs to look around formation of image and laser alarm technique specifically are a 360 look around formation of image and laser alarm device for unmanned aerial vehicle.

Background

The unmanned aerial vehicle has great application value in the fields of city management, agriculture, geology, meteorology, electric power, emergency rescue and disaster relief, video shooting and the like. The low-altitude environment faced by the operation of the unmanned aerial vehicle is more and more complex, static targets such as houses, trees, electric wires and the like exist, dynamic targets such as flying birds, kites, aircrafts and the like also exist, the unmanned aerial vehicle is greatly difficult to fly safely, and the unmanned aerial vehicle is easy to crash due to slight misoperation. At present, the methods for collision avoidance and alarm on a small unmanned aerial vehicle mainly comprise an ultrasonic radar, a millimeter wave radar, a laser radar and the like. The ultrasonic radar has the limitations of short action distance, easy influence of atmospheric turbulence and air vortex and the like. The millimeter wave radar has the limitations of low spatial resolution, difficulty in realizing 360-degree panoramic vision, high power consumption and the like, and the laser radar mainly adopts a multiline laser radar represented by Velodyne corporation, although the millimeter wave radar has the outstanding advantages of long action distance, capability of realizing 360-degree high-resolution panoramic vision and the like, the mechanical balance stability of a system is poor due to a rotary scanning working mode, and the unmanned flying attitude is possibly interfered. In addition, this type of laser radar system is bulky, and the price is expensive, and limitations such as reliability difference are difficult to popularize and apply on small-size unmanned aerial vehicle by a large scale.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a 360 looks around formation of image and laser alarm device for unmanned aerial vehicle.

Realize the utility model discloses the technical solution of purpose does: a360 imaging and laser alarm device look around for small-size unmanned aerial vehicle, includes toper speculum, cylindrical pipe lens, 45 dichroic mirrors, common aperture laser detection subassembly, CMOS formation of image subassembly, piece signal processing system and wireless transmitting terminal, the toper speculum is supported by cylindrical pipe lens and is fixed on unmanned aerial vehicle, 45 dichroic mirrors set up on the toper speculum axis and become 45 jiaos with the axis of toper speculum, common aperture laser detection subassembly sets up on the reflection axis of 45 dichroic mirrors, and the detection axle of common aperture laser detection subassembly coincides with the axis of toper speculum, CMOS formation of image subassembly sets up on the transmission axis of 45 dichroic mirrors, and CMOS formation of image subassembly's optical axis coincides with the axis of toper speculum, common aperture laser detection subassembly and CMOS formation of image subassembly and piece signal processing system are connected, the on-chip signal processing system is connected with the unmanned aerial vehicle central control system and is communicated with the ground control station through the wireless transmitting terminal.

Preferably, the angle between the edge of the conical reflector and the axis is 45 °.

Preferably, the conical reflector is plated with a full-reflection film in the 905nm wave band and the visible light wave band.

Preferably, the cylindrical tube lens is a quartz tube lens, and the inner surface and the outer surface of the cylindrical tube lens are plated with anti-reflection films with 905nm wave bands and visible light wave bands.

Preferably, the 45 ° dichroic mirror is disposed in a common-path barrel opened with three ports, one port facing and coaxial with the conical mirror, a second port facing in a reflection direction of the 45 ° dichroic mirror and coaxial with the common-aperture laser detection assembly, and a third port facing in a transmission direction of the 45 ° dichroic mirror and coaxial with the CMOS imaging assembly.

Preferably, the 45 ° dichroic mirror is a flat glass plate plated with a 905nm band 45 ° total reflection film and a visible light wave 45 ° antireflection film.

Preferably, the working wavelength of the common-aperture laser detection component is 905nm, and a 3-port circulator is combined with a large D/F objective lens to realize a common-aperture light path.

Compared with the prior art, the utility model, it is showing the advantage and is: 1) the utility model introduces the cone-shaped reflector looking around method, skillfully solves the 360-degree looking around problem of laser warning on the premise of not adopting a rotary scanning component, and overcomes the limitations of poor mechanical balance stability, large system volume, high price, poor reliability and the like of the existing multi-line scanning laser radar; 2) the utility model combines the conical reflector and the 45-degree dichroic mirror to realize the common light path of laser detection and video imaging and the 360-degree look-around dual-mode composite alarm, not only can obtain the target distance, but also can give a 360-degree look-around alarm image, and has the outstanding advantages of long action distance, high reliability, strong adaptability to complex environments and the like; 3) the utility model discloses arrange the common aperture laser detection subassembly on the reflection axis of 45 dichroic mirrors, plate 90 light path turns of detecting laser and laser echo with the visible light antireflection coating realization of narrowband total reflection membrane and the visible light antireflection coating of 905nm wave band on 45 dichroic mirrors, restrained background light noise, improved the SNR of common aperture laser detection subassembly, improved the laser and report an emergency and ask for help or increased vigilance the distance.

The present invention will be described in further detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic diagram of the present invention.

Detailed Description

As shown in FIG. 1, a 360 degree panoramic imaging and laser warning device for a small unmanned aerial vehicle comprises a conical reflector 1, a cylindrical tube lens 2, a 45 degree dichroic mirror 4, a common aperture laser detection component 5, a CMOS imaging component 6, a signal processing system on chip 7 and a wireless transmitting terminal 8, wherein the conical reflector 1 is supported and fixed on the unmanned aerial vehicle by the cylindrical tube lens 2, the 45 degree dichroic mirror 4 is arranged on the axis of the conical reflector 1 and forms a 45 degree angle with the axis of the conical reflector 1, the common aperture laser detection component 5 is arranged on the reflection axis of the 45 degree dichroic mirror 4, the detection axis of the common aperture laser detection component 5 is coincided with the axis of the conical reflector 1, the CMOS imaging component 6 is arranged on the transmission axis of the 45 degree dichroic mirror 3, the optical axis of the CMOS imaging component 6 is coincided with the axis of the conical reflector 1, the common aperture laser detection component 5 and the CMOS imaging component 6 are connected with the signal processing system on chip 7, the on-chip signal processing system 7 is connected with an unmanned aerial vehicle central control system, and simultaneously, communication is realized with a ground control station through a wireless transmitting terminal 8. The on-chip signal processing system 7 is used for transmitting ranging data and panoramic images obtained by the common-aperture laser detection assembly 5 and the CMOS imaging assembly 6 to the unmanned aerial vehicle central control system and transmitting the ranging data and the panoramic images to the ground control station through the wireless transmitting terminal 8.

In a further embodiment, the angle between the edge of the conical reflector 1 and the axis is 45 °.

In a further embodiment, the conical reflector 1 is coated with a full-reflection film in the 905nm band and the visible light band. In certain embodiments, the conical reflector 1 is about 2cm in diameter, 1cm in height, and 99.5% transmissive

In a further embodiment, the cylindrical tube lens 2 is a quartz tube lens, and the inner surface and the outer surface of the cylindrical tube lens are plated with anti-reflection films with 905nm wave bands and visible light wave bands. The antireflection film protects the conical reflector 1 from being polluted by external dust on one hand, and plays a role in supporting and mounting the conical reflector 1 on the other hand. In certain embodiments, the cylindrical tube 2 is about 2cm in diameter and 1.5cm in height.

In a further embodiment, the 45 ° dichroic mirror 4 is disposed within the common-path barrel 3, the common-path barrel 3 is opened with three ports, one port facing the conical mirror 1 and coaxial with the conical mirror 1, a second port facing the reflection direction of the 45 ° dichroic mirror 4 and coaxial with the common-aperture laser detection assembly 5, and a third port facing the transmission direction of the 45 ° dichroic mirror 4 and coaxial with the CMOS imaging assembly 6.

In a further embodiment, the 45 ° dichroic mirror 4 is K9 flat glass plate coated with a 905nm band 45 ° total reflection film and a visible wave 45 ° antireflection film, with dimensions of 30mm by 20mm by 2 mm.

In a further embodiment, the working wavelength of the common-aperture laser detection component 5 is 905nm, and a 3-port circulator is combined with a large D/F objective lens to realize a common-aperture optical path. In certain embodiments, the common aperture laser detection assembly 5 has an effective optical aperture of 20mm, a transmission field of view of 10mrad, a reception field of view of 15mrad, a transmission power of 75W, and a range resolution of 0.3 meters.

In a further embodiment, the CMOS imaging assembly 6 is an MV-2000UC industrial camera.

The working principle of the utility model is as follows:

the natural light is reflected by a target and then passes through the cylindrical tube lens 2 to reach the conical reflecting mirror 1, the natural light is reflected and sequentially passes through the cylindrical tube lens and the port of the common-path lens barrel to irradiate the 45-degree dichroic mirror 4, the light beam passes through the 45-degree dichroic mirror 4 to be received by the CMOS imaging component 6, and the CMOS imaging component 6 transmits a panoramic image to the on-chip signal processing system 7 after video imaging.

The 905nm wave band pulse laser diode of the common-aperture laser detection component 5 emits laser beams, the laser beams are reflected by a 45-degree dichroic mirror 4 and a conical reflecting mirror 1, then the laser beams pass through a cylindrical tube lens 2 and are emitted to the periphery in a 360-degree direction, if a target appears in a measuring range in a certain direction, the emitted light beams in the direction are reflected after encountering the target, a part of light is received by the common-aperture laser detection component 5 against a light path, the common-aperture laser detection component 5 realizes the measurement of the distance of the target through laser echo identification and flight time measurement, and distance signals are fed back to an on-chip signal processing system 7.

The on-chip signal processing system 7 controls the laser detection and target ranging of the common-aperture laser detection assembly 5 and the CMOS imaging assembly 6 to shoot 360-degree panoramic images, the ranging data of the common-aperture laser detection assembly 5 and the panoramic images of the CMOS imaging assembly 6 are transmitted to the unmanned aerial vehicle central control system, and meanwhile, the wireless transmitting terminal 8 is used for transmitting the data back to the ground control station.

The utility model discloses introduce toper speculum looking around method, overcome that current multi-line scanning laser radar exists that mechanics equilibrium stability is relatively poor, the system is bulky, limitations such as expensive and reliability difference. The utility model discloses combine together toper speculum and 45 dichroic mirrors and realize that laser detection and video imaging's common light path and 360 all around look bimodulus are compound to be reported an emergency and asked for help or increased vigilance, not only can the target have or not, the target distance, still can give 360 degrees all around look and report an emergency and ask for help or increased vigilance images. Therefore, the product has the advantages of high ranging precision, wide action range, high ranging speed, small volume, light weight, low cost, convenient use and the like, and also has the outstanding advantages of high reliability, strong complex environment adaptability and the like.

Claims

1. The utility model provides a 360 looks around formation of image and laser alarm device for small-size unmanned aerial vehicle, its characterized in that, includes conical reflection mirror (1), cylindrical tube lens (2), 45 dichroic mirror (4), common aperture laser detection subassembly (5), CMOS formation of image subassembly (6), on-chip signal processing system (7) and wireless transmitting terminal (8), conical reflection mirror (1) is supported by cylindrical tube lens (2) and is fixed on unmanned aerial vehicle, 45 dichroic mirror (4) set up on conical reflection mirror (1) axis and become 45 jiaos with the axis of conical reflection mirror (1), common aperture laser detection subassembly (5) set up on the reflection axis of 45 dichroic mirror (4), and the detection axle of common aperture laser detection subassembly (5) and the axis coincidence of conical reflection mirror (1), CMOS formation of image subassembly (6) set up on the transmission axis of 45 dichroic mirror (4), and the optical axis of the CMOS imaging component (6) coincides with the axis of the conical reflector (1), the common-aperture laser detection component (5) and the CMOS imaging component (6) are connected with the on-chip signal processing system (7), the on-chip signal processing system (7) is connected with the unmanned aerial vehicle central control system, and meanwhile, the communication is realized with the ground control station through the wireless transmitting terminal (8).

2. The 360 ° panoramic imaging and laser warning device for drone of claim 1, characterized by the fact that the angle of the edge of the conical reflector (1) with the axis is 45 °.

3. The 360 ° all around imaging and laser warning device for small unmanned aerial vehicle according to claim 1, characterized in that the conical reflector (1) is plated with full reflective film with 905nm band and visible light band.

4. The 360-degree panoramic imaging and laser warning device for the small unmanned aerial vehicle according to claim 1, characterized in that the cylindrical tube lens (2) is a quartz tube lens and is coated with an antireflection film with 905nm wave band and visible light wave band.

5. The 360 ° panoramic imaging and laser warning device for drone of claim 1, characterized by the 45 ° dichroic mirror (4) being arranged inside a common optical path barrel (3), said common optical path barrel (3) being open with three ports, one port towards the conical mirror (1) and coaxial with the conical mirror (1), the second port towards the 45 ° dichroic mirror (4) reflection direction and coaxial with the common aperture laser detection assembly (5), the third port towards the 45 ° dichroic mirror (4) transmission direction and coaxial with the CMOS imaging assembly (6).

6. The 360 ° panoramic imaging and laser warning device for unmanned aerial vehicles according to claim 1, characterized in that the 45 ° dichroic mirror (4) is a flat glass plated with 905nm band 45 ° total reflection film and visible light wave 45 ° antireflection film.

7. The 360-degree all-round imaging and laser warning device for the small unmanned aerial vehicle according to claim 1, wherein the working wavelength of the common-aperture laser detection component (5) is 905nm, and a 3-port circulator is adopted to combine with a large D/F objective lens to realize a common-aperture light path.