CN107748370A - Carried micro laser radar three-dimensional mapping device - Google Patents
Carried micro laser radar three-dimensional mapping device Download PDFInfo
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- CN107748370A CN107748370A CN201711007607.2A CN201711007607A CN107748370A CN 107748370 A CN107748370 A CN 107748370A CN 201711007607 A CN201711007607 A CN 201711007607A CN 107748370 A CN107748370 A CN 107748370A
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- shell
- laser radar
- mapping device
- digital camera
- dimensional mapping
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- 238000013507 mapping Methods 0.000 title claims abstract description 33
- 238000005259 measurement Methods 0.000 claims abstract description 38
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical group C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- KCXVZYZYPLLWCC-UHFFFAOYSA-N EDTA Chemical compound OC(=O)CN(CC(O)=O)CCN(CC(O)=O)CC(O)=O KCXVZYZYPLLWCC-UHFFFAOYSA-N 0.000 claims 1
- 229960001484 edetic acid Drugs 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000004260 weight control 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to laser radar, a kind of carried micro laser radar three-dimensional mapping device is provided, including laser scanner, high-resolution digital camera, laser scanner and shell, laser scanner part is mounted on wherein on an outer surface of shell, high-resolution digital camera is installed on another outer surface of shell, laser scanner partial structurtes, embedded computer and inertia measurement instrument are installed in shell, GPS and memory module are provided with embedded computer.Laser scanner and the digital camera of the present invention is located at the relative both ends of outer side respectively, inertia measurement instrument, laser scanner partial structurtes, embedded computer etc. are installed in shell, integrated level is high, ensure that plotting board overall structure is attractive in appearance, and conveniently it is equipped on aircraft, with application flexibly, three-dimensional measurement precision is high, obtain the following landform of vegetation, independent navigation, uprises the advantages such as flight, the high-precision three-dimensional mapping available for hills, mountain area.
Description
Technical field
The invention belongs to remote sensing survey field, and in particular to a kind of carried micro laser radar three-dimensional mapping device.
Background technology
Laser radar (LiDAR) system is that one kind melts laser ranging technique, global satellite positioning, inertial navigation skill
Art, high-resolution digital imaging technique and computer technology are in the active survey of the quick obtaining terrain and its features three-dimensional information of one
Amount system.In recent two decades, Airborne LiDAR Technology is alive as a kind of mode for accurately and fast obtaining earth's surface three-dimensional information
It has been universally accepted in the range of boundary, has been set in topographic survey, environmental monitoring, emergent mapping, highway/railway/electric power/Water Conservancy Survey
The numerous areas such as meter, smart city construction are widely used demand and vast potential for future development.
Airborne laser radar system is typically by laser scanner, aviation measuring camera, positioning and orientation system and core memory module
Composition, region flying overhead acquisition data are surveyed and drawn in dimensional topography aboard by being carried, are improved to a certain extent
The efficiency of mapping.General airborne laser radar system weight then more than 100kg, gently then more than 30kg, must in application process
Must carry it is large-scale have it is man-machine be used as flight carrier, often there is following problem：
(1) airborne laser radar and the flying platform cost of its carrying are higher, therefore acquisition cost and use cost are relative
It is very high.
(2) it is often distant apart from airport to survey area, and the carrying platform of laser radar have it is man-machine must in field takeoff and
Landing, thereby result in substantial amounts of invalid flight；If airport is different with area's weather conditions are surveyed, again longer weather can be caused to wait
Time.
(3) airborne laser type system weight is big, it has not been convenient to transports.
(4) survey and draw, can not be measured using this airborne laser radar for the dimensional topography of zonule.
Therefore current main flow airborne laser radar has that economy is poor, operation is dumb when carrying out small area mapping
With it is ageing poor the deficiencies of, particularly the violent regional area of hypsography need carry out quick high accuracy mapping when can't
Preferably fulfil assignment.
The content of the invention
The present invention provides a kind of carried micro laser radar three-dimensional mapping device, and gross weight control is in below 6.5kg, most gently
3kg can be reached, it is intended to solve existing airborne plotting board volume is larger, mounting is inconvenient, can not quick response mapping appoint
The problem of business.
What the present invention was realized in：
The embodiment of the present invention provides a kind of carried micro laser radar three-dimensional mapping device, including laser scanner, high score
Resolution digital camera, laser scanner and shell, the laser scanner part are mounted on outside wherein the one of the shell
On surface, the high-resolution digital camera is installed on another outer surface of the shell, and the laser scanner and institute
High-resolution digital camera is stated to be arranged oppositely, be installed in the shell laser scanner partial structurtes, embedded computer with
And inertia measurement instrument, the laser scanner, the inertia measurement instrument and the high-resolution digital camera with it is described embedding
Enter formula and calculate mechatronics, GPS and memory module are provided with the embedded computer.
Further, in addition to power module, the power module is installed in the shell, and the laser scanning
Instrument, high-resolution digital camera, embedded computer and inertia measurement instrument electrically connect the power module.
Further, the shell includes the first installing plate and the second installing plate, first installing plate and described the
Two installing plates are arranged oppositely, and the laser scanner part is located at first installing plate away from the one of second installing plate
Side, the high-resolution digital camera install the side for deviating from first installing plate in second installing plate.
Further, the shell also includes one piece of cover plate, each cover plate be all connected with first installing plate with it is described
Second installing plate, the embedded computer, inertia measurement instrument and laser scanner part-structure are respectively positioned on each cover plate and enclosed
In the chamber of conjunction.
Further, mounting hole is offered on first installing plate, the laser scanner passes through the installation hole portion
Divide and be installed in the shell.
Further, the shell is square and is aluminum alloy material, and be rigidly connected laser radar, and in laser radar work
Radiated while work for embedded computer.
Further, debugging interface and antenna port, and the debugging interface are welded with the embedded computer
It is respectively positioned on the antenna port on the shell.
Further, the high-resolution digital camera is fixed by U-shaped mounting bracket, and the U-shaped mounting bracket includes being fixed on
The limiting plate and the connection limiting plate of fixed plate, the fixed high-resolution digital camera other end on the outer surface of outer cover
With the connecting plate of the fixed plate, the high-resolution digital camera is installed on connecting plate.
Further, the camera lens of the high-resolution digital camera is by two be connected in the fixed plate semicircle branch
Frame is fixed, and described two semi-circular brackets are bolted below limiting plate.
Further, side of the laser scanner when airborne boat flies by actively launching laser and receiving reflected light
Formula obtains the three-dimensional coordinate information of terrain and its features.
Further, the high-resolution digital camera is civil digital camera, passes through timing/spacing when airborne boat flies
The mode of exposure obtains the true color image of terrain and its features, and the high-resolution digital camera uses and focuses mode.
Further, the inertia measurement instrument measures miniature laser radar three-dimensional plotting board each moment when boat flies
Attitude angle.
Further, the GPS in the embedded computer is miniature for being measured when airborne boat flies
Space coordinates of the laser radar three-dimensional mapping device at each moment, the GPS measurement data are used to described
Property measuring instrument measurement data mutually merge, correct the accumulated error after each comfortable long-play.
Further, the GPS in the embedded computer at least receives a kind of satellite navigation positioning
Signal, the satellite navigation positioning signal are gps signal or Big Dipper signal.
Further, gross weight is between 3kg~6.5kg.
The invention has the advantages that：
The plotting board of the present invention, carry on board the aircraft, laser scanner and high-resolution digital camera are installed
In the outside of shell, inertia measurement instrument and embedded computer are provided with shell, can by high-resolution digital camera
To record the real-time imaging on ground and object, and it is stored in embedded computer, is recorded by laser scanner scanned
Body vertical direction spatial coordinated information is simultaneously stored into embedded computer, and the inertia measurement instrument then records the plotting board and existed
Carry the state of flight on flying platform and store into embedded computer, global satellite is provided with embedded computer
Alignment system, the real time position of plotting board is recorded by GPS, and embedded computer, laser are swept
Retouch instrument and inertia measurement instrument may be contained within housing, hull outside only has high-resolution digital camera, ensures that plotting board is whole
Body structure is attractive in appearance, and is conveniently equipped on aircraft, has flexible application, three-dimensional measurement precision height, obtains below vegetation
Landform, independent navigation, uprise the advantages such as flight, the high-precision three-dimensional mapping available for hills, mountain area.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the knot at the first visual angle of airborne carried micro laser radar three-dimensional mapping device provided in an embodiment of the present invention
Structure schematic diagram；
Fig. 2 is the structural representation at the second visual angle of Fig. 1 airborne carried micro laser radar three-dimensional mapping device.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, and described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, all other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Referring to Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of carried micro laser radar three-dimensional mapping device, and it is led
Aircraft, including shell 1, laser scanner 2 and high-resolution digital camera 3 are carried, the wherein part of laser scanner 2 is pacified
Dress is fixed on wherein on an outer surface of shell 1, and high-resolution digital camera 3 is installed on another outer surface of shell 1, and
Embedded computer 4 and inertia measurement instrument 5, and high-resolution digital camera 3 and laser scanner 2 are then provided with shell 1
It is oppositely arranged, the high-resolution digital camera 3 of high definition, the real-time imaging of ground and object can be recorded, can is civilian number
Camera, the true color image of terrain and its features, the high-resolution are obtained by way of the exposure of timing/spacing when airborne boat flies
Digital camera 3 using focusing mode, by laser scanner 2 when airborne boat flies by actively launching laser and receiving is reflected back
The mode of light obtains the three-dimensional coordinate information of terrain and its features, and laser scanner 2 electrically connects with embedded computer 4, laser scanning
In information data transmission to the embedded computer 4 that instrument 2 records, and embedded computer 4 is then in control and information storage
The heart, the data that high-resolution digital camera 3 measures with laser scanner 2 are stored in embedded computer 4, while can be controlled
Laser scanner 2 processed and high-resolution digital camera 3 are worked, and global positioning satellite is additionally provided with embedded computer 4
System, the real time position of plotting board is recorded by GPS, so as to measure plotting board when airborne boat flies
In the space coordinates at each moment, and GPS can receive at least one satellite navigation positioning signal, and defend
Star navigator fix signal is gps signal or Big Dipper signal, and is existed for recording the plotting board for inertia measurement instrument 5
The state of flight on flying platform is carried, specifically, inertia measurement instrument 5 measures the posture at plotting board each moment when boat flies
Angle, GPS measurement data mutually merge with the measurement data of inertia measurement instrument 5, correct each comfortable long-play
Accumulated error afterwards, inertia measurement instrument 5 also electrically connect with embedded computer 4, and the flying quality that inertia measurement instrument 5 records also stores up
Deposit to embedded computer 4.In the present invention, surveyed by high definition high-resolution digital camera 3, laser scanner 2 and inertia
Instrument 5 is measured, ground object and real time position can be detected in real time, while detects current state of flight, such as flying height, fly
Row angle and flying speed etc., so that plotting board has, measurement range is big, measurement distance is big, measurement accuracy is high, boat
The advantages that line traffic control is accurate, and embedded computer 4, laser scanner 2 and inertia measurement instrument 5 are respectively provided with by still further aspect
In in housing, it can not only ensure the appearance requirement of plotting board, integrated level is higher, ensures that plotting board overall structure is beautiful
See, and be conveniently equipped on aircraft, with application is flexible, three-dimensional measurement precision is high, obtains the following landform of vegetation, certainly
Leading boat, uprise the advantages such as flight, the high-precision three-dimensional mapping available for hills, mountain area.Used in addition, shell 1 is overall
Square structure, it is to be rigidly connected between each part and shell 1 using aluminum alloy material, can is when plotting board works
The grade of embedded computer 4 radiates, and can control the gross weight of plotting board total quality is smaller between 3kg~6.5kg,
Other 1 each surface of shell is planar structure, not only facilitates the installation to laser scanner 2 and high-resolution digital camera 3,
And conveniently plotting board is installed on the aircraft for needing to carry.
Optimize above-described embodiment, plotting board also includes power module 6, and power module 6 is installed in shell 1, can be with
Power module 6 is played a protective role, and laser scanner 2, high-resolution digital camera 3, embedded computer 4 and inertia
Measuring instrument 5 is connected to power module 6.In the present invention, plotting board can work independently, and power module 6 is used as plotting board
The energy can be laser scanner 2, high-resolution digital camera 3, embedded computer 4 and inertia measurement instrument 5 electricity be provided
Can, directly it can be charged for power module 6 using power line, can also be by power module 6 by individually being filled after being removed in shell 1
Electricity.
Referring again to Fig. 1 and Fig. 2, the structure of shell 1 is refined, it includes the first installing plate 11 and the second installing plate
12, the first installing plate 11 is oppositely arranged with the second installing plate 12, and laser scanner 2, which is at least partially disposed at the first installing plate 11, to deviate from
On one side surface of the second installing plate 12, high-resolution digital camera 3 is installed deviates from the first installing plate 11 in the second installing plate 12
A side surface on, and inertia measurement instrument 5, embedded computer 4 and power module 6 are installed in the first installing plate 11 and second
Between installing plate 12, three can be installed on the inner surface of the first installing plate 11 or the second installing plate 12.And in fact,
Embedded computer 4 and inertia measurement instrument 5 can be enclosed in one of space by three pieces of cover plates 13, pass through power supply shell
14 enclose power module 6 in another space, and each cover plate 13 and power supply shell 14 are all connected with the first installing plate 11 and
Two installing plates 12.And shell 1 also includes a heat sink 15, the face heat sink 15 of embedded computer 4, passes through the first installing plate
11st, 12, three pieces of cover plates 13 of the second installing plate and one block of heat sink 15 enclose to form square space, and embedded computer 4 is with being used to
Property measuring instrument 5 be respectively positioned in the square space, and good thermolysis can be played by heat sink 15, there is some dissipate thereon
Hot hole, embedded computer 4 works caused heat with inertia measurement instrument 5 can be by each heat emission hole Quick diffusing.
Referring to Fig. 2, further, mounting hole is provided with the first installing plate 11, laser scanner 2 passes through the mounting hole
It is extending at least partially into shell 1.In the present embodiment, the geomery of mounting hole matches with the outer surface of laser scanner 2, and by
It is the face of cylinder in the outer surface of laser scanner 2, then mounting hole is circle.Debugging interface is welded with embedded computer 4
41 and antenna port 42, and debugging interface 41 is respectively positioned on shell 1 with antenna port 42.Debugging interface 41 and antenna port 42
It is two, both of which is electrically connected with embedded computer 4, and wherein debugging interface 41 can be connected with data wire, it is possible to achieve
With the data transfer of external equipment, and antenna port 42 then be used for install antenna, for carried micro laser radar system work
Make reception satellite-signal, such as the GPS needs foundation aerial signal cooperation work built in embedded computer 4
Make.
Referring again to Fig. 2, further, plotting board also includes U-shaped mounting bracket 7, and U-shaped mounting bracket 7 includes being fixed on
Fixed plate 71 on the outer surface of shell 1, the limiting plate 72 being oppositely arranged with connecting plate 73 and it is connected limiting plate 72 and fixed plate
71 connecting plate 73, high-resolution digital camera 3 are installed on connecting plate 73.In the present embodiment, fixed plate 71, connecting plate 73 with
And limiting plate 72 encloses to form U-shape structure, the main body of high-resolution digital camera 3 is located in U-shape structure and is fixed on connecting plate
On 73, and the camera lens of high-resolution digital camera 3 can be provided with opening then positioned at the lower section of connecting plate 73 on connecting plate 73,
Camera lens extends the lower section of connecting plate 73 through the opening, or camera lens staggers connecting plate 73.In addition, high-resolution digital camera 3
Camera lens is fixed by two semi-circular brackets 74, and both are located at the lower section of limiting plate 72, and two semi-circular brackets 74 enclose and are approximately
Circle, the camera lens of high-resolution digital camera 3 passes through the circle, and both one end are bolted in fixed plate 71,
And both other ends are then locked by bolt, and then cause two lock ring high-resolution digital cameras of semi-circular bracket 74
The effect of 3 camera lens, ensure the stability of the camera lens of high-resolution digital camera 3.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (15)
1. a kind of carried micro laser radar three-dimensional mapping device, including laser scanner, high-resolution digital camera, laser are swept
Retouch instrument and shell, it is characterised in that：The laser scanner part is mounted on wherein on an outer surface of the shell, institute
High-resolution digital camera is stated to install on another outer surface of the shell, and the laser scanner and the high-resolution
Digital camera is arranged oppositely, and laser scanner partial structurtes, embedded computer and inertia measurement are installed in the shell
Instrument, the laser scanner, the inertia measurement instrument and the high-resolution digital camera with the embedded computer
Electrically connect, GPS and memory module are provided with the embedded computer.
2. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that：Also include power supply mould
Block, the power module is installed in the shell, and the laser scanner, high-resolution digital camera, embedding assembly
Machine and inertia measurement instrument are all connected with the power module.
3. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that：The shell includes the
One installing plate and the second installing plate, first installing plate is arranged oppositely with second installing plate, and the laser scanning
Instrument part is located at the side that first installing plate deviates from second installing plate, and the high-resolution digital camera is installed in institute
State the side that the second installing plate deviates from first installing plate.
4. carried micro laser radar three-dimensional mapping device according to claim 3, it is characterised in that：The shell also includes
One piece of cover plate, each cover plate are all connected with first installing plate and second installing plate, the embedded computer, inertia
Measuring instrument is respectively positioned in the chamber that each cover plate encloses with laser scanner part-structure.
5. carried micro laser radar three-dimensional mapping device according to claim 3, it is characterised in that：First installing plate
On offer mounting hole, the laser scanner is installed in the shell by the installation bore portion.
6. carried micro laser radar three-dimensional mapping device according to claim 3, it is characterised in that：The shell is square
And be aluminum alloy material, and radiated while plotting board works for embedded computer.
7. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that：The embedding assembly
Debugging interface and antenna port are welded with machine, and the debugging interface is respectively positioned on the shell with the antenna port.
8. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that：The high-resolution number
Code-phase machine is fixed by U-shaped mounting bracket, and the U-shaped mounting bracket includes fixed plate, the fixation height being fixed on the outer surface of outer cover
The limiting plate and the connection limiting plate and the connecting plate of the fixed plate, the high-resolution of the resolution digital cameras other end
Rate digital camera is installed on connecting plate.
9. carried micro laser radar three-dimensional mapping device according to claim 8, it is characterised in that：The high-resolution number
The camera lens of code-phase machine is fixed by two semi-circular brackets being connected in the fixed plate, and described two semi-circular brackets are spacing
It is bolted below plate.
10. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that the laser scanning
Instrument obtains the three-dimensional coordinate information of terrain and its features when airborne boat flies by way of actively launching laser and receiving reflected light.
11. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that the high-resolution
Digital camera can be civil digital camera, and terrain and its features is obtained by way of the exposure of timing/spacing when airborne boat flies
True color image, the high-resolution digital camera use and focus mode.
12. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that the inertia measurement
Instrument measures the attitude angle at plotting board each moment when boat flies.
13. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that the embedded meter
GPS in calculation machine is used to measure space coordinates of the plotting board at each moment when airborne boat flies, described
GPS measurement data mutually merges with the inertia measurement instrument measurement data, corrects each comfortable long-play
Accumulated error afterwards.
14. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that：The embedded meter
GPS in calculation machine at least receives a kind of satellite navigation positioning signal, and the satellite navigation positioning signal is
Gps signal or Big Dipper signal.
15. carried micro laser radar three-dimensional mapping device according to claim 1, it is characterised in that：Gross weight 3kg~
Between 6.5kg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711007607.2A CN107748370A (en) | 2017-10-25 | 2017-10-25 | Carried micro laser radar three-dimensional mapping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711007607.2A CN107748370A (en) | 2017-10-25 | 2017-10-25 | Carried micro laser radar three-dimensional mapping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107748370A true CN107748370A (en) | 2018-03-02 |
Family
ID=61254106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711007607.2A Pending CN107748370A (en) | 2017-10-25 | 2017-10-25 | Carried micro laser radar three-dimensional mapping device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108180821A (en) * | 2017-11-21 | 2018-06-19 | 深圳天眼激光科技有限公司 | A kind of machine-carried type laser radar 3-D measuring apparatus |
| CN110308457A (en) * | 2018-03-27 | 2019-10-08 | 深圳天眼激光科技有限公司 | A kind of power transmission line polling system based on unmanned plane |
| CN110308436A (en) * | 2018-03-27 | 2019-10-08 | 深圳天眼激光科技有限公司 | A kind of the laser beam axis Calibration Method and system of multi-thread laser scanner |
| CN111694012A (en) * | 2020-05-29 | 2020-09-22 | 北京航空航天大学合肥创新研究院 | Three-dimensional terrain online generation method and system based on airborne laser radar |
| CN113447909A (en) * | 2021-06-24 | 2021-09-28 | 中南林业科技大学 | Airborne miniature laser radar three-dimensional mapping device |
| WO2021232753A1 (en) * | 2020-05-22 | 2021-11-25 | 深圳市大疆创新科技有限公司 | Aircraft and aircraft control system |
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