CN107505629A - Airborne lidar instrument apparatus - Google Patents
Airborne lidar instrument apparatus Download PDFInfo
- Publication number
- CN107505629A CN107505629A CN201710702504.1A CN201710702504A CN107505629A CN 107505629 A CN107505629 A CN 107505629A CN 201710702504 A CN201710702504 A CN 201710702504A CN 107505629 A CN107505629 A CN 107505629A
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- China
- Prior art keywords
- main body
- body section
- laser
- airborne lidar
- instrument apparatus
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- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a kind of airborne lidar instrument apparatus, including main body section；Laser scanner, laser scanner are connected with main body section, and when detection zone of the laser scanner direction above main body section sends laser beam, laser beam is non-intersect with main body section.The laser beam sent towards the detection zone above main body section is arranged to and the disjoint mode of main body section, can ensure laser scanner be pointed to main body section upper area carry out detection scanning when, main body section is not in block laser speed to cause that the situation of the data of detection zone can not be obtained.Using the technical scheme, the practicality and reliability of the airborne lidar instrument apparatus are effectively improved.
Description
Technical field
The present invention relates to Laser Scanning Equipment technical field, in particular to a kind of airborne lidar instrument apparatus.
Background technology
In the prior art, airborne laser radar (Light Detection And Ranging, LIDAR) is to use laser
Target is identified in echo ranging and orientation, and by information such as position, radial velocity and object reflection characteristics.It embodies spy
Different transmitting, scanning, reception and signal processing technology.Airborne laser radar technology originates from the laser in traditional engineering survey
Ranging technology, it is the product that conventional radar technology is combined with modern laser, is an emerging technology in remote sensing survey field.
Airborne LIDAR is a quick, the aerial survey equipment of high speed, and the system carries laser scanning by aircraft
Instrument, GPS positioning device and IMU (inertial guidance instrument) compositions, realize the synchro measure to target.Measurement data passes through particular equation
Resolving is handled, and generates high-density laser point cloud numerical value, is offered precise data source for the extraction of terrain information.
At present, aircraft carry laser scanner device be mostly laser scanner is mounted in immediately below aircraft fuselage or
Partial below (as depicted in figs. 1 and 2,10 ' be fuselage, and 20 ' be laser scanner), because fuselage swashs to what is sent towards its top
There is the problem of blocking in light beam so that aircraft of the prior art can not get the data of aircraft upper area.
The content of the invention
It is a primary object of the present invention to provide a kind of airborne lidar instrument apparatus, to solve not obtaining in the prior art
The problem of taking back area data.
To achieve these goals, according to an aspect of the invention, there is provided a kind of airborne lidar instrument apparatus, bag
Include：Main body section；Laser scanner, laser scanner are connected with main body section, and laser scanner is towards above main body section
When detection zone sends laser beam, laser beam is non-intersect with main body section.
Further, laser scanner includes：Laser head, the lower section that laser head is located at main body section are simultaneously several away from main body section
What is centrally disposed, and laser head is used to send laser beam.
Further, airborne lidar instrument apparatus also includes：Control box, control box are connected with main body section and are located at machine
The lower section in body portion, laser head are connected with control box, and laser head is arranged side by side in the horizontal direction with control box.
Further, laser head is located at the outside of control box, the outer surface towards laser head side of control box and fuselage
The distance at the fuselage edge in portion is D1, and the geometric center of laser head and the distance of outer surface are D2, wherein, D2 >=D1.
Further, D1=3cm, D2 >=3cm.
Further, airborne lidar instrument apparatus also includes：Linking arm, the first end of linking arm are connected with control box
Connect, the second end of linking arm is connected with laser head.
Further, linking arm is horizontally disposed, or, axial direction and the vertical direction of linking arm have folder
Angle.
Further, projection of projection of the main body section in level with laser head in the horizontal plane is non-intersect.
Further, laser scanner towards the detection zone below the main body section send laser beam when, laser beam with
Main body section is non-intersect.
Further, airborne lidar instrument apparatus also includes：Battery, battery are connected with main body section and are located at main body section
Lower section.
Apply the technical scheme of the present invention, the laser beam sent towards the detection zone above main body section is arranged to
With the disjoint mode of main body section, can ensure laser scanner be pointed to main body section upper area carry out detection scanning when,
Main body section is not in block laser speed to cause that the situation of the data of detection zone can not be obtained.Using the technical scheme, effectively
Ground improves the practicality and reliability of the airborne lidar instrument apparatus.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing a further understanding of the present invention, and of the invention shows
Meaning property embodiment and its illustrate be used for explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows the structural representation of the mounting means of laser scanner in the prior art；
Fig. 2 shows that the middle fuselage of the mounting means of laser scanner in the prior art blocks laser beam
Structural representation；
Fig. 3 shows the structural representation of the first embodiment of the airborne lidar instrument apparatus according to the present invention；
Fig. 4 shows the structural representation of the second embodiment of the airborne lidar instrument apparatus according to the present invention；
Fig. 5 shows the structural representation of the 3rd embodiment of the airborne lidar instrument apparatus according to the present invention；
Fig. 6 shows the structural representation of the fourth embodiment of the airborne lidar instrument apparatus according to the present invention.
Wherein, above-mentioned accompanying drawing marks including the following drawings：
10th, main body section；
20th, laser scanner；21st, laser head；
30th, control box；
40th, battery；
50th, linking arm；
60th, vertical linking arm.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
It should be noted that term " first ", " second " in the description and claims of this application and accompanying drawing etc.
It is for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that the art so used
Language can exchange in the appropriate case, so that presently filed embodiment described herein for example can be with except illustrating herein
Or the order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
For the ease of description, space relative terms can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.For example, if the device in accompanying drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the relative description in space used herein above.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary
Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein
Formula.It should be appreciated that thesing embodiments are provided so that disclosure herein is thoroughly and complete, and these are shown
The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, it is possible to expand
The big thickness of layer and region, and make identical device is presented with like reference characters, thus they are retouched by omitting
State.
With reference to shown in Fig. 3 to Fig. 6, according to an embodiment of the invention, there is provided a kind of airborne lidar instrument apparatus.
As shown in figure 3, the airborne lidar instrument apparatus includes main body section 10 and laser scanner 20.Laser scanner 20
It is connected with main body section 10.Laser scanner 20 towards the detection zone above main body section 10 send laser beam when, laser
Beam and main body section 10 are non-intersect.
In the present embodiment, the laser beam sent towards the detection zone above the main body section is arranged to and main body section
Disjoint mode, can ensure laser scanner be pointed to main body section upper area carry out detection scanning when, main body section is not
Occur that blocking laser speed causes that the situation of the data of detection zone can not be obtained.Using the technical scheme, it is effectively improved
The practicality and reliability of the airborne lidar instrument apparatus.
Wherein, laser scanner 20 includes laser head 21.Laser head 21 is located at the lower section of main body section 10 and away from main body section
10 geometric center is set, and laser head 21 is used to send laser beam.So setting can further ensure to send from laser head
Laser beam do not blocked by fuselage, improve laser scanner obtain positioned at body upper data reliability.
Further, airborne lidar instrument apparatus also includes control box 30.Control box 30 is connected simultaneously with main body section 10
Positioned at the lower section of main body section 10, laser head 21 is connected with control box 30, and laser head 21 and control box 30 are in the horizontal direction side by side
Set.The control box is used to contain the various control systems for being used for controlling fuselage flight attitude.The machine can be improved by so setting
Carry the dependable with function of laser scanning instrument apparatus.Laser head 21 is connected with control box 30 can also improve laser head peace
The stability of dress.
As shown in figure 4, laser head 21 is located at the outside of control box 30, the appearance towards the side of laser head 21 of control box 30
The distance in face and the fuselage edge of main body section 10 is D1, and the geometric center of laser head 21 and the distance of outer surface are D2, wherein, D2
≥D1.The laser beam that so setting can ensure to send at laser head 21 will not be sheltered from by fuselage, improves laser and sweeps
Retouch the ability that instrument obtains body upper data.Specifically, specific distance can be arranged to D1=3cm, D2 >=3cm.
As shown in figure 5, specifically, airborne lidar instrument apparatus also includes linking arm 50.The first end of linking arm 50 with
Control box 30 is connected, and the second end of linking arm 50 is connected with laser head 21.Laser can further be improved by so setting
Connective stability between first 21 and control box 30.Certainly, in the present embodiment, can also be used between control box 30 and fuselage perpendicular
It is attached to linking arm 60.Wherein, linking arm 50 is horizontally disposed, or, the axial direction of linking arm 50 is with erecting
Nogata is to angle.
As shown in fig. 6, the data volume that body upper is obtained to further improve laser scanner increases laser beam
Scan area, the projection that projection of the main body section 10 in level can be arranged to laser head 21 in the horizontal plane is non-intersect
Mode.
In the present embodiment, laser scanner 20 towards the detection zone positioned at the lower section of main body section 10 send laser beam when,
Laser beam and main body section 10 are non-intersect.So setting enables to the airborne lidar instrument apparatus to realize to the upper of fuselage
Square region, which carries out data scanning, can also realize the progress data scanning below technology, be effectively improved the reality of the unmanned flight
With property and reliability.
Further, airborne lidar instrument apparatus also includes battery 40.Battery 40 is connected and is located at main body section 10
The lower section of main body section 10.Battery 40 can be arranged to the mode relative with control box 30, can so effectively improve flight
The balance of device.
Existing aircraft carries laser radar apparatus, scanner is arranged on into aircraft underface or partial below, due to flying
Row device fuselage blocks, and can not obtain fuselage height upper part atural object data, if aircraft altitude is improved, due to laser scanning
Instrument range is limited, can not get the atural object beyond laser scanner range.
The present invention carries laser scanner device using aircraft, and scanner laser head is extended to outside fuselage, until machine
Body can not block scanner signals transmitting route.
Laser scanner laser head is extended to outside fuselage, until fuselage can not block scanner signals transmitting route, swashed
Shaven head stretch out distance meet with other equipment installation after can ensure aircraft flight balance, be not limited to fuselage without
Method is blocked to be terminated at scanner signals transmitting route.Aircraft can synchronously stretch out with equipment, also can individually stretch out, and swash
Shaven head does not limit with fuselage relative altitude, and laser head bearing of trend does not limit, and may point to parallel with aircraft fuselage appoint
Meaning direction.Aircraft can be increased by, which so setting, carries Laser Radar Scanning angular range, increase aircraft carrying laser radar
Scanning distance, 2 times of original range are also risen to, the terrestrial object information above aircraft altitude can be obtained.
Than that described above, it is also necessary to which explanation is " one embodiment ", " another implementation spoken of in this manual
Example ", " embodiment " etc., refer to that the specific features, structure or the feature that combine embodiment description are included in the application summary
Property description at least one embodiment in.It is not necessarily to refer to same reality that statement of the same race, which occur, in multiple places in the description
Apply example.Furthermore, it is understood that when describing a specific features, structure or feature with reference to any embodiment, what is advocated is knot
Other embodiment is closed to realize that this feature, structure or feature are also fallen within the scope of the present invention.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. airborne lidar instrument apparatus, it is characterised in that including：Main body section (10)；Laser scanner (20), the laser scanner (20) are connected with the main body section (10), the laser scanner (20) when sending laser beam towards the detection zone above the main body section (10), the laser beam and the main body section (10) it is non-intersect.
- 2. airborne lidar instrument apparatus according to claim 1, it is characterised in that laser scanner (20) bag Include：Laser head (21), the lower section that the laser head (21) is located at the main body section (10) are simultaneously several away from the main body section (10) What is centrally disposed, and the laser head (21) is used to send the laser beam.
- 3. airborne lidar instrument apparatus according to claim 2, it is characterised in that the airborne lidar instrument apparatus Also include：Control box (30), the control box (30) are connected with the main body section (10) and under the main body sections (10) Side, the laser head (21) is connected with the control box (30), and the laser head (21) and the control box (30) are along level Direction is arranged side by side.
- 4. airborne lidar instrument apparatus according to claim 3, it is characterised in that the laser head (21) is positioned at described The outside of control box (30), the outer surface and the main body section of the direction laser head (21) side of the control box (30) (10) distance at fuselage edge is D1, and the geometric center of the laser head (21) and the distance of the outer surface are D2, wherein, D2≥D1。
- 5. airborne lidar instrument apparatus according to claim 4, it is characterised in that D1=3cm, D2 >=3cm.
- 6. airborne lidar instrument apparatus according to claim 3, it is characterised in that the airborne lidar instrument apparatus Also include：Linking arm (50), the first end of the linking arm (50) are connected with the control box (30), the linking arm (50) Second end is connected with the laser head (21).
- 7. airborne lidar instrument apparatus according to claim 6, it is characterised in that the linking arm (50) is along level side To setting, or, axial direction and the vertical direction of the linking arm (50) have angle.
- 8. airborne lidar instrument apparatus according to claim 2, it is characterised in that the main body section (10) is in level Projection of the projection with the laser head (21) in the horizontal plane it is non-intersect.
- 9. airborne lidar instrument apparatus according to claim 1, it is characterised in that laser scanner (20) direction When detection zone below the main body section (10) sends laser beam, the laser beam and the main body section (10) not phase Hand over.
- 10. airborne lidar instrument apparatus according to claim 1, it is characterised in that the airborne lidar instrument dress Putting also includes：Battery (40), the battery (40) are connected with the main body section (10) and positioned at the lower sections of the main body section (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710702504.1A CN107505629A (en) | 2017-08-16 | 2017-08-16 | Airborne lidar instrument apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710702504.1A CN107505629A (en) | 2017-08-16 | 2017-08-16 | Airborne lidar instrument apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107505629A true CN107505629A (en) | 2017-12-22 |
Family
ID=60691409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710702504.1A Withdrawn CN107505629A (en) | 2017-08-16 | 2017-08-16 | Airborne lidar instrument apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107505629A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102338617A (en) * | 2010-07-22 | 2012-02-01 | 首都师范大学 | Three-dimensional measuring system and three-dimensional scanning device thereof |
| CN105460210A (en) * | 2015-12-04 | 2016-04-06 | 上海浦江桥隧大桥管理有限公司 | Portable six-rotor-wing aircraft used for bridge detection |
| US20160124077A1 (en) * | 2013-03-12 | 2016-05-05 | Pictometry International Corp. | Lidar system producing multiple scan paths and method of making and using same |
| CN207067405U (en) * | 2017-08-16 | 2018-03-02 | 北京拓维思科技有限公司 | Airborne lidar instrument apparatus |
-
2017
- 2017-08-16 CN CN201710702504.1A patent/CN107505629A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102338617A (en) * | 2010-07-22 | 2012-02-01 | 首都师范大学 | Three-dimensional measuring system and three-dimensional scanning device thereof |
| US20160124077A1 (en) * | 2013-03-12 | 2016-05-05 | Pictometry International Corp. | Lidar system producing multiple scan paths and method of making and using same |
| CN105460210A (en) * | 2015-12-04 | 2016-04-06 | 上海浦江桥隧大桥管理有限公司 | Portable six-rotor-wing aircraft used for bridge detection |
| CN207067405U (en) * | 2017-08-16 | 2018-03-02 | 北京拓维思科技有限公司 | Airborne lidar instrument apparatus |
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Application publication date: 20171222 |
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