CN220399649U - Unmanned aerial vehicle high density laser radar point cloud plane elevation accuracy detection device - Google Patents
Unmanned aerial vehicle high density laser radar point cloud plane elevation accuracy detection device Download PDFInfo
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- CN220399649U CN220399649U CN202321529954.2U CN202321529954U CN220399649U CN 220399649 U CN220399649 U CN 220399649U CN 202321529954 U CN202321529954 U CN 202321529954U CN 220399649 U CN220399649 U CN 220399649U
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Abstract
The utility model discloses an unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device which comprises a detection mechanism, a horizontal mechanism and a supporting mechanism, wherein the horizontal mechanism comprises a supporting plate, the supporting plate is arranged on the supporting mechanism, a connecting seat with a sphere structure is arranged in the supporting plate, the top end of the connecting seat is provided with a connecting rod, the free end of the connecting rod is fixedly connected with the detection mechanism, and the bottom end of the connecting seat is connected with a heavy hammer through a stay wire. The problems that leveling is carried out by other instruments, manual recalibration is needed for each use, and tripod fixing is unstable in the prior art are solved.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle precision calibration device, in particular to an unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device.
Background
The unmanned aerial vehicle aerial survey technology, in particular to the unmanned aerial vehicle laser radar technology, is a powerful supplement to the traditional aerial photogrammetry means, has the characteristics of flexibility, high efficiency, rapidness, fineness, accuracy, low operation cost, wide application range, short production period, small influence by weather and airspace conditions and the like, and has obvious advantages in the aspects of rapid acquisition of high-precision data in small and medium-sized areas and difficult flying areas. Unmanned plane laser radar is more and more widely applied in aspects such as homeland mapping, line selection design, environment monitoring, emergency disaster relief and the like. The laser radar has the greatest advantages that the laser radar can effectively penetrate through vegetation to directly reach the ground, obtain the ground point coordinates, and has reliable precision. However, the data precision of the laser radar point cloud of the conventional production project is mainly dependent on the precision of a light and small POS system integrated on the unmanned plane, and the processing mode can meet the achievement requirement of 1:2000 even smaller scale precision, but in high-precision applications such as topographic map measurement, longitudinal (transverse) section, railway existing line mapping and the like with the 1:500 and larger scale, the original laser point cloud needs to be subjected to plane elevation precision detection and correction, and the data precision can meet the standard requirement.
The laser radar system is a system integrating laser, a Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS) into a whole, and can obtain high-precision topographic data. The laser radar system comprises a laser and a receiving system, and the working principle is that a beam of light pulse is generated and emitted by the laser, and the light pulse is beaten on an object and reflected back, and finally received by a receiver. The receiver accurately measures the propagation time of the light pulse from the emission to the reflection recovery, and the three-dimensional coordinates of each light spot can be calculated by combining the position of the laser obtained from the GNSS and the laser emission direction obtained from the INS. Therefore, the accuracy of the original point cloud data acquired by the laser radar mainly depends on the ranging accuracy of the laser, the measuring accuracy of the GNSS and the INS, the time synchronization accuracy among the three and other factors, and due to the influence of the factors, the original laser point cloud has certain systematic errors and accidental errors. Therefore, how to correct the measurement data and ensure the accuracy of the measurement data becomes an urgent problem to be solved.
Chinese patent CN214585967U discloses a plane elevation precision detection device of unmanned aerial vehicle high density laser radar point cloud, support horizontal tray through the tripod, set up the spliced pole and connect the spheroid on the tray, utilize the true three-dimensional coordinates of spheroid centre of sphere and the true elevation of the horizontal layer board that the measurement obtained, to have the mean elevation of the spherical centre of sphere coordinate of fitting sphere and the laser point that falls on horizontal layer board that unmanned aerial vehicle laser point cloud measured, error calculation, error correction, thereby promote the absolute accuracy of laser point cloud, the device need carry out horizontal tray leveling through the foot rest that changes the tripod with the help of the level instrument in order to guarantee the precision, and the device needs to carry out the re-leveling each time, need fix the tripod after the device is leveled, change the foot rest position very easily when fixing, make measuring result have the error, correct according to error data, correct the result inaccuracy.
Disclosure of Invention
The utility model aims to provide an unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device, which aims to solve the problems that leveling is needed by other instruments, manual recalibration is needed for each use and tripod fixing is unstable in the prior art.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides an unmanned aerial vehicle high density laser radar point cloud plane elevation accuracy detection device, includes detection mechanism, horizontal mechanism and supporting mechanism, horizontal mechanism includes the backup pad, the backup pad sets up on the supporting mechanism, be provided with the connecting seat of spheroid structure in the backup pad, the connecting seat top is provided with the connecting rod, connecting rod free end fixedly connected with detection mechanism, the bottom of connecting seat is connected with the weight through acting as go-between.
Preferably, the detection mechanism comprises a horizontal tray, a connecting column is arranged in the center of the upper end of the horizontal tray, and a signal ball is arranged at the top end of the connecting column.
Preferably, the projected area of the signal ball is smaller than the horizontal tray area.
Preferably, the support mechanism comprises three support columns, wherein the three support columns are uniformly distributed at the lower end of the support plate, the three support columns are rotationally connected with foot frames, connection blocks are connected to the foot frames in a sliding mode, the connection blocks are hinged to telescopic rods, buckles are arranged at the connection positions of the connection blocks and the telescopic rods, and the free ends of the telescopic rods are fixedly connected to the support rings.
Preferably, the weight passes through the support ring.
Preferably, the foot rest bottom articulates there is the supporting legs, the supporting legs bottom is anti-skidding callus on the sole.
The principle and beneficial effect of this technical scheme:
(1) The device is provided with the support mechanism consisting of the foot rest, the support ring and the telescopic rod, and the telescopic rod can be telescopic and fixed through the buckle at the same time because the foot rest and the support ring are fixed in shape, so long as the buckle for fixing the length of the telescopic rod is locked, the position of the device is difficult to change, and the device is supported more firmly;
(2) The device calculates errors of the spherical center coordinates of the fitting sphere measured by the laser point clouds of the unmanned aerial vehicle and the average elevation of the laser points falling on the horizontal supporting plate through the real three-dimensional coordinates of the spherical centers of the signal spheres and the real elevation of the horizontal supporting plate obtained by measurement, and carries out error correction on all the laser radar point clouds in a measuring area by adopting a corresponding adjustment algorithm, so that the absolute precision of the laser point clouds is improved, the precision of the device is influenced by whether a horizontal tray is horizontal or not and whether a connecting column is vertical or not, the device is provided with a horizontal device, the horizontal device is horizontally provided with a supporting seat of a sphere structure in the device, the top end and the bottom end of the supporting seat are respectively connected with a detection mechanism and a heavy hammer, and the heavy hammer of the device can enable the connecting column in the detection mechanism to be vertical under the action of gravity;
(3) The supporting device is only used for fixing the device, the height and the level of the device are not required to be controlled, and the adaptability of the device to the terrain is improved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle high-density laser radar point cloud plane elevation precision detection device provided by an embodiment of the utility model;
in the figure: 1. a signal ball; 2. a connecting column; 3. a horizontal tray; 4. a connecting rod; 5. a connecting seat; 6. a support plate; 7. a pull wire; 8. a heavy hammer; 9. a foot rest; 10. a connecting block; 11. a support ring; 12. a telescopic rod; 13. supporting feet; 14. and (5) supporting the column.
Detailed Description
The utility model is described in further detail below with reference to the attached drawings and embodiments:
as shown in FIG. 1, an unmanned aerial vehicle high density laser radar point cloud plane elevation precision detection device, including detection mechanism, horizontal mechanism and supporting mechanism, horizontal mechanism includes backup pad 6, backup pad 6 sets up on the supporting mechanism, be provided with the connecting seat 5 of spheroid structure in the backup pad 6, inside and the supporting seat 5 outside are smoother of backup pad 6, connecting seat 5 can roll in backup pad 6 inside, the connecting seat 5 top is provided with connecting rod 4, connecting rod 4 free end fixedly connected with detection mechanism, the bottom of connecting seat 5 is connected with weight 8 through acting as go-between 7, weight of weight 8 is greater than the weight of whole connecting seat 5, connecting rod 4 and detection mechanism, guarantee that weight 8 can drive detection mechanism and keep vertical.
The detection mechanism comprises a horizontal tray 3, a connecting column 2 is arranged at the center of the upper end of the horizontal tray 3, the connecting column 2 is coaxial with a connecting rod 4, the horizontal tray 3 is perpendicular to the connecting rod 4, three-dimensional coordinate axis errors formed by the device are reduced, a signal ball 1 is arranged at the top end of the connecting column 2, and the projection area of the signal ball 1 is smaller than the area of the horizontal tray 3.
The supporting mechanism comprises three supporting columns 14, the three supporting columns 14 are evenly distributed at the lower end of the supporting plate 6, the three supporting columns 14 are rotationally connected with foot frames 9, supporting feet 13 are hinged to the bottom ends of the foot frames 9, anti-slip foot pads are arranged at the bottoms of the supporting feet 13, connecting blocks 10 are connected to the foot frames 9 in a sliding mode, telescopic rods 12 are hinged to the connecting blocks 10, buckles are arranged at the joints of the connecting blocks 10 and the telescopic rods 12, the free ends of the telescopic rods 12 are fixedly connected to supporting circular rings 11, and heavy weights 8 penetrate through the supporting circular rings 11.
The specific implementation process is as follows:
when correction and detection are carried out, the device is firstly erected on a known control point, after the foot rest is fixed, the device is automatically centered and leveled under the action of gravity, and according to the rigid connection relation of the device, the real three-dimensional coordinates Q1 (X, Y, Z) of the center of a sphere and the real height H1 of a horizontal tray can be directly measured through measuring tools such as a tape measure. According to the fact that the laser point cloud falls on the sphere, only more than 3 points can be needed, one sphere can be fitted, three-dimensional coordinates Q2 (X, Y, Z) of the sphere center of the fitted sphere can be obtained, and the plane coordinate difference value of the Q1 and the Q2 is the plane error of the laser point cloud at the position. And secondly, according to the laser points falling on the horizontal tray, calculating the average heights H2, H1 and H2 of the laser points, namely the height difference of the laser point cloud at the position. And finally, uniformly distributing the detection devices according to the size of the detection area, and correcting errors of all laser radar point clouds in the detection area by adopting a corresponding adjustment algorithm according to plane and elevation errors detected by all the devices, so that the absolute accuracy of the laser point clouds is improved.
The foregoing is merely exemplary embodiments of the present utility model, and detailed technical solutions or features that are well known in the art will not be described in detail herein. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the technical scope of the utility model, and these should also be regarded as the scope of the utility model, which does not affect the effect of the utility model and the practical applicability of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (6)
1. The utility model provides an unmanned aerial vehicle high density laser radar point cloud plane elevation accuracy detection device, includes detection mechanism, horizontal mechanism and supporting mechanism, its characterized in that: the horizontal mechanism comprises a supporting plate (6), the supporting plate (6) is arranged on the supporting mechanism, a connecting seat (5) with a sphere structure is arranged in the supporting plate (6), a connecting rod (4) is arranged at the top end of the connecting seat (5), a detection mechanism is fixedly connected with the free end of the connecting rod (4), and a heavy hammer (8) is connected with the bottom end of the connecting seat (5) through a stay wire (7).
2. The unmanned aerial vehicle high-density laser radar point cloud plane elevation accuracy detection device according to claim 1, wherein: the detection mechanism comprises a horizontal tray (3), a connecting column (2) is arranged at the center of the upper end of the horizontal tray (3), and a signal ball (1) is arranged at the top end of the connecting column (2).
3. The unmanned aerial vehicle high-density laser radar point cloud plane elevation accuracy detection device according to claim 2, wherein: the projection area of the signal ball (1) is smaller than the area of the horizontal tray (3).
4. The unmanned aerial vehicle high-density laser radar point cloud plane elevation accuracy detection device according to claim 1, wherein: the support mechanism comprises three support columns (14), wherein the three support columns (14) are uniformly distributed at the lower end of the support plate (6), the three support columns (14) are rotationally connected with foot frames (9), connecting blocks (10) are connected to the foot frames (9) in a sliding mode, telescopic rods (12) are hinged to the connecting blocks (10), buckles are arranged at the joints of the connecting blocks (10) and the telescopic rods (12), and the free ends of the telescopic rods (12) are fixedly connected to the support circular rings (11).
5. The unmanned aerial vehicle high-density laser radar point cloud plane elevation accuracy detection device according to claim 4, wherein: the heavy hammer (8) passes through the supporting circular ring (11).
6. The unmanned aerial vehicle high-density laser radar point cloud plane elevation accuracy detection device according to claim 4, wherein: the bottom end of the foot rest (9) is hinged with a supporting foot (13), and the bottom of the supporting foot (13) is an anti-skid foot pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321529954.2U CN220399649U (en) | 2023-06-15 | 2023-06-15 | Unmanned aerial vehicle high density laser radar point cloud plane elevation accuracy detection device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202321529954.2U CN220399649U (en) | 2023-06-15 | 2023-06-15 | Unmanned aerial vehicle high density laser radar point cloud plane elevation accuracy detection device |
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| CN220399649U true CN220399649U (en) | 2024-01-26 |
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| CN202321529954.2U Active CN220399649U (en) | 2023-06-15 | 2023-06-15 | Unmanned aerial vehicle high density laser radar point cloud plane elevation accuracy detection device |
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2023
- 2023-06-15 CN CN202321529954.2U patent/CN220399649U/en active Active
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