CN202362458U - Dynamic parachute laser radar three-dimensional distance measuring system - Google Patents
Dynamic parachute laser radar three-dimensional distance measuring system Download PDFInfo
- Publication number
- CN202362458U CN202362458U CN2011205057008U CN201120505700U CN202362458U CN 202362458 U CN202362458 U CN 202362458U CN 2011205057008 U CN2011205057008 U CN 2011205057008U CN 201120505700 U CN201120505700 U CN 201120505700U CN 202362458 U CN202362458 U CN 202362458U
- Authority
- CN
- China
- Prior art keywords
- laser radar
- dimensional distance
- laser
- propeller
- parachuting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000005259 measurement Methods 0.000 claims description 26
- 230000004927 fusion Effects 0.000 abstract description 2
- 238000013500 data storage Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
- Navigation (AREA)
Abstract
The utility model discloses a dynamic parachute laser radar three-dimensional distance measuring system. A dynamic parachute is adopted as a measuring platform, a laser radar, a GPS (global positioning system) device and a digital camera are arranged on the measuring platform, and the measuring platform is also provided with a data storage which is used for storing digital photos and laser point cloud data produced by the laser radar; besides, an inertial navigation device is arranged on the measuring platform. The dynamic parachute laser radar three-dimensional distance measuring system disclosed by the system measures spatial three-dimensional distance between an overhead line and an object below the overhead line by utilizing a high-resolution laser radar, a dangerous zone and danger level can be interpreted and determined by resolving GPS information, inertial navigation information and fusion data acquired by the high-resolution camera, and follow-up manual handling is adopted, thus the aim of accurately determining clearance distance of a ground-to-air object can be achieved. The dynamic parachute laser radar three-dimensional distance measuring system disclosed by the utility model has the advantages of novel conception, easiness in implementation and high measuring accuracy.
Description
Technical field
The utility model relates to the three-dimensional range measurement system of a kind of propeller-parachuting laser radar.
Background technology
In transmission line of electricity running environment, the growth of tree bamboo, aerial pipeline, superelevation mechanical execution and architecture against regulations thing all possibly threaten to the line security operation.Conventional utilize the method for transit, altimeter or even range estimation on ground with the tour personnel, the empty body carries out clearance and measures over the ground.Owing to influenced by topographic condition restriction, survey crew experience and technical ability, the time have test leakage or measurement data and actual conditions deviation to cause the phenomenon of erroneous judgement more greatly, can not correctly diagnose, in time remove a hidden danger and cause power failure the accident generation.
Power industry is carried out the measurement of ground empty body spacing with manual type at present; Owing to receive factor affecting such as geographical environment, human body instinct bigger; Be difficult to measured accurately quantitative information, therefore do not reach to transmission line of electricity carry out in detail, measurement effect efficiently, and operating efficiency is relatively low.And aircraft (containing unmanned plane) or because the too high real space resolution characteristic that causes laser radar to be mapped to relatively behind the ground of flying height is not high is unfavorable for discerning thin objects; Or because being subject to the load of carrying the high-performance laser radar and power supply supply requires and selects the low resolution laser radar for use, so can't satisfy the requirement of electric power line walking.And it receives such as many-sided restriction such as air traffic control, reserve support, personal management, the construction of field, storehouse, maintenance support, and popularizing all has suitable difficulty.Therefore above-mentioned aircraft platform only is applied in not high remote sensing of resolution and field of measurement.
The utility model content
The utility model technical matters to be solved provides the three-dimensional range measurement system of a kind of propeller-parachuting laser radar, and the three-dimensional range measurement system of the propeller-parachuting laser radar of the utility model can be novel, easy to implement, and accuracy of measurement is high.
The technical solution of utility model is following:
The three-dimensional range measurement system of a kind of propeller-parachuting laser radar adopts propeller-parachuting as measuring table, and this measuring table is provided with laser radar, GPS device and digital camera, on this measuring table, also is provided with data-carrier store.
On described measuring table, also be provided with inertial navigation unit.
Described inertial navigation unit, laser radar, GPS device and digital camera all are connected with data-carrier store.
Through post-processed software laser point cloud data and digital photograph are carried out comprehensively, produce DEM (Digital Elevation Model (DEM) digital elevation model) three-dimensional model and DSM three-dimensional picture.
DEM (digital elevation model), what it mainly reflected is the morphologic characteristics of formation naturally in a certain area, and DSM (digital surface model) is the numeral of topographical features; Their maximum differences are that DEM only representes topographic relief, and DSM not only representes topographic relief, has also comprised various building surfaces and vegetation coverage condition.
Beneficial effect:
The three-dimensional range measurement system of the propeller-parachuting laser radar of the utility model; Utilize the space multistory distance of object under high-resolution lidar measurement overhead transmission line and the circuit; And the fused data of obtaining through resolving GPS information, inertial navigation information and high resolving power camera; Interpretation, hazardous location, location and danger classes, and take follow-up artificial treatment thus, reach the accurate purpose of judging ground empty body clearance.
The utility model utilization propeller-parachuting carries out ground empty body distance measurement; Adopt the low cost boat of propeller-parachuting to patrol mode; Conveniently and quickly realize ground empty body distance measurement; Accurately judge the hidden danger place,, can effectively avoid power outage to take place for taking measures, remove a hidden danger to provide foundation targetedly.
Propeller-parachuting has many characteristics such as flight maneuver is flexible, safe reliability is high, applicability is strong, operation cost is cheap; Carry modularization, high-efficiency reliable ground empty body distance measurement system by propeller-parachuting; Like GPS orientator, inertial navigation unit, laser scanner (being laser radar) and high-resolution digital camera etc.; Can measure and write down the space multistory distance of object under overhead transmission line and the circuit automatically; In the controlled 10cm of distance accuracy error, the fusion through information data, resolve, and then judge whether circuit ground empty body clearance meets the safe operation requirement.Simultaneously; Aspect work efficiency and fault disposal speed; The measuring speed of system >=20 kilometer/hour is that the manual measurement method is incomparable; Particularly its effect highlights with usefulness more when reply people's car impassable or current difficult region breaks down, and the flying speed of 20～40 kilometers/hour of propeller-parachutings meets 3-D data collection equipment just and has only the requirement through the realization of slower flight device.The measurement of at present both at home and abroad carrying out ground empty body spacing with propeller-parachuting is used and is still belonged to blankly, and therefore, system has bigger technological expulsive force and market expansion space.
The three-dimensional range measurement system of the propeller-parachuting laser radar of the utility model can be novel, easy to implement, and accuracy of measurement is high.
Description of drawings
Fig. 1 is the general structure block diagram of the three-dimensional range measurement system of propeller-parachuting laser radar of the utility model.Fig. 2 is the structural drawing that the card chamber door prevents the mechanism of card upset when opening;
Fig. 2 is the three-dimensional range measurement system range measurement principle of the propeller-parachuting laser radar synoptic diagram of the utility model.
Embodiment
Below will combine accompanying drawing and specific embodiment that the utility model is explained further details:
Shown in Fig. 1-2, the three-dimensional range measurement system of a kind of propeller-parachuting laser radar adopts propeller-parachuting as measuring table, and this measuring table is provided with laser radar, GPS device and digital camera, on this measuring table, also is provided with data-carrier store.On described measuring table, also be provided with inertial navigation unit.
Laser radar adopts the pulsed laser ranging system, utilizes the laser scanner scanning imagery, as light source, realizes the scanning of high speed imaging laser radar with semiconductor laser.Key is to have adopted high-performance two-dimensional or 3-D scanning technology in the laser radar, through the optics drum mirror formation scanner of adjustable speed, realizes the detection of a direction.Transmitter provides the high repetition frequency high power laser, and the output laser of noise spectra of semiconductor lasers collimates.The laser that the receiver reception is returned from target reflection is measured the emission laser pulse signal and the time interval that receives laser pulse signal, and measurement receives the peak value of laser pulse signal.Laser scanner carries out synchronous scanning to the transmitter emitted laser with from the laser that target reflection is returned, and makes the laser of returning from target reflection all the time in the reception visual field of receiver.System's software in early stage carries out automatic, the semi-automatic identification of circuit; Carry out circuit absolutely empty, the range observation of empty body; Post-processed software carries out laser point cloud data processing and camera high-resolution pictures coupling, the detection line safety case, and related software is designed to prior art.
Claims (3)
1. the three-dimensional range measurement system of propeller-parachuting laser radar is characterized in that, adopt propeller-parachuting as measuring table, this measuring table is provided with laser radar, GPS device and digital camera, on this measuring table, also is provided with data-carrier store.
2. the three-dimensional range measurement system of propeller-parachuting laser radar according to claim 1 is characterized in that, on described measuring table, also is provided with inertial navigation unit.
3. the three-dimensional range measurement system of propeller-parachuting laser radar according to claim 2 is characterized in that described inertial navigation unit, laser radar, GPS device and digital camera all are connected with data-carrier store.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205057008U CN202362458U (en) | 2011-12-08 | 2011-12-08 | Dynamic parachute laser radar three-dimensional distance measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205057008U CN202362458U (en) | 2011-12-08 | 2011-12-08 | Dynamic parachute laser radar three-dimensional distance measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202362458U true CN202362458U (en) | 2012-08-01 |
Family
ID=46573636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205057008U Expired - Fee Related CN202362458U (en) | 2011-12-08 | 2011-12-08 | Dynamic parachute laser radar three-dimensional distance measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202362458U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103218687A (en) * | 2013-04-18 | 2013-07-24 | 张乐 | Detecting system and analyzing method of dangerous point in electric power circuit environment |
| CN103499335B (en) * | 2013-09-10 | 2015-06-10 | 紫光股份有限公司 | Three-dimensional distance measuring method and device |
-
2011
- 2011-12-08 CN CN2011205057008U patent/CN202362458U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103218687A (en) * | 2013-04-18 | 2013-07-24 | 张乐 | Detecting system and analyzing method of dangerous point in electric power circuit environment |
| CN103218687B (en) * | 2013-04-18 | 2016-07-06 | 张乐 | Power circuit environmental hazard analyzes method |
| CN103499335B (en) * | 2013-09-10 | 2015-06-10 | 紫光股份有限公司 | Three-dimensional distance measuring method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109375237B (en) | A kind of all solid state face array three-dimensional imaging laser radar system | |
| CN103901806B (en) | Intelligent ship berthing assistance system and method | |
| CN106444829B (en) | One kind throwing net hold-up interception method for the guidance unmanned plane of " low slow small " target | |
| CN105487082B (en) | A kind of laser radar for long-range target acquisition | |
| US9784836B2 (en) | System for monitoring power lines | |
| CN101034155B (en) | Flight time measurement apparatus and method for increasing measurement rate | |
| CN203950449U (en) | Can automatic range dodge the unmanned plane of obstacle | |
| CN102508258A (en) | Three-dimensional imaging laser radar for obtaining surveying and mapping information | |
| US10969492B2 (en) | Method and on-board equipment for assisting taxiing and collision avoidance for a vehicle, in particular an aircraft | |
| CA2619095A1 (en) | High-speed laser ranging system including a fiber laser | |
| CN109099885A (en) | Surface subsidence multi-source in urban area perceives Automatic monitoring systems and implementation method | |
| US20160299229A1 (en) | Method and system for detecting objects | |
| CN104464173A (en) | Power transmission line external damage protection system based on space image three-dimensional measurement | |
| Vasiljević et al. | Wind sensing with drone-mounted wind lidars: proof of concept | |
| CN103871192A (en) | Efficient intelligent fire-preventing early warning system and method | |
| CN202362458U (en) | Dynamic parachute laser radar three-dimensional distance measuring system | |
| CN209400696U (en) | Unmanned plane indoor locating system for nuclear power station | |
| Sakib | LiDAR with Pulsed Time of Flight | |
| CN204556829U (en) | A kind of small low-altitude light is infrared with laser radar integrated system | |
| US20150279219A1 (en) | Procedure for the detection and display of artificial obstacles for a rotary-wing aircraft | |
| Sakib | LiDAR Technology-An Overview. | |
| Lohani | Airborne altimetric LIDAR: Principle, data collection, processing and applications | |
| Andreev et al. | Flight safety sensor and auto-landing system of unmanned aerial system | |
| Philipp et al. | Introducing a new class of survey-grade laser scanning by use of unmanned aerial systems (UAS) | |
| KR101406061B1 (en) | System for River Management |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: STATE GRID CORPORATION OF CHINA Free format text: FORMER OWNER: HUAPENG ELECTRIC SCIENCE + TECHNOLOGY CO., LTD., CHANGSHA Effective date: 20150504 Owner name: STATE GRID HUNAN ELECTRIC POWER COMPANY HUNAN SHEN Effective date: 20150504 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 410000 CHANGSHA, HUNAN PROVINCE TO: 100031 XICHENG, BEIJING |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150504 Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee after: State Grid Corporation of China Patentee after: State Grid Hunan Electric Power Company Patentee after: Hunan Provincial Transmission and Distribution Engineering Co., Ltd. Address before: 410000 No. 226 West labour Road, Tianxin District, Hunan, Changsha Patentee before: Huapeng Electric Science & Technology Co., Ltd., Changsha |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120801 Termination date: 20201208 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |