CN110726997A - An intelligent laser positioning and tracking system - Google Patents
An intelligent laser positioning and tracking systemDownload PDFInfo
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- CN110726997A CN110726997ACN201910953679.9ACN201910953679ACN110726997ACN 110726997 ACN110726997 ACN 110726997ACN 201910953679 ACN201910953679 ACN 201910953679ACN 110726997 ACN110726997 ACN 110726997A
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- 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
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及激光定位技术领域，特别涉及一种智能激光定位追踪系统。The invention relates to the technical field of laser positioning, in particular to an intelligent laser positioning and tracking system.
背景技术Background technique
激光测距原理可以用于石材、木材、纸张、布料、皮革、玻璃、陶瓷等行业切割机械的对刀、放线、标线，以便用户完成检测、加工、安装等需要，在现有的通用的激光测距原理下，产品多为便携式或固定式的，缺乏机动性，且无法定位追踪空中与水下目标，为此，设计了一种海陆空三位一体的激光定位追踪装置，以适应多种作业环境。如专利号为CN201910459007.2提供了一种《一种添加了配重平衡的以标准球为反射装置的激光跟踪测量系统》，包括光路搭载平台、重量平衡装置、俯仰运动驱动平台、标准球微调装置、回转运动驱动平台等，其优点是降低了对轴系精度的要求，在同等加工条件和加工成本下，测量精度优于传统的激光跟踪测量设备；缺点是固定式作业，无机动性。The principle of laser ranging can be used for tool setting, line payout and marking of cutting machines in stone, wood, paper, cloth, leather, glass, ceramics and other industries, so that users can complete detection, processing, installation and other needs. Under the principle of laser ranging, most of the products are portable or fixed, lack mobility, and cannot locate and track air and underwater targets. work environment. For example, the patent number CN201910459007.2 provides a "laser tracking measurement system with a standard ball as a reflection device added with counterweight balance", including an optical path carrying platform, a weight balance device, a pitching motion drive platform, and a standard ball fine-tuning Device, rotary motion drive platform, etc., the advantage is that the requirements for shafting accuracy are reduced. Under the same processing conditions and processing costs, the measurement accuracy is better than the traditional laser tracking measurement equipment; the disadvantage is fixed operation and no mobility.
发明内容SUMMARY OF THE INVENTION
针对上述问题，本发明提供一种智能激光定位追踪系统，万向驱动装置进行位姿粗调，四自由度激光定位装置进行位姿精调，并实现实时稳态作业；均布的多套激光定位装置，可同时对多个方向的多个目标实行激光定位；海陆空三位一体作业，可飞行跟踪、手持跟踪、水下跟踪。In view of the above problems, the present invention provides an intelligent laser positioning and tracking system. The universal drive device performs rough adjustment of the position and attitude, and the four-degree-of-freedom laser positioning device performs fine adjustment of the position and attitude, and realizes real-time steady-state operation; uniformly distributed multiple sets of lasers The positioning device can carry out laser positioning for multiple targets in multiple directions at the same time; the trinity operation of sea, land and air can be used for flight tracking, hand-held tracking and underwater tracking.
本发明所使用的技术方案是：一种智能激光定位追踪系统，包括飞行框架、万向驱动装置、四自由度激光定位装置，所述的飞行框架固定安装在万向驱动装置上；四自由度激光定位装置铰接在飞行框架内。The technical scheme used in the present invention is: an intelligent laser positioning and tracking system, comprising a flying frame, a universal driving device, and a four-degree-of-freedom laser positioning device, wherein the flying frame is fixedly installed on the universal driving device; The laser positioning device is hinged inside the flight frame.
所述的飞行框架包括下球杯、第一环形罩、第一无刷电机、第一螺旋桨、第一支柱、电池板、控制盒、悬臂、第一电动推杆、球形罩、透明球挡板、气囊、上球杯，所述的四个第一支柱、四个电池板、四个悬臂分别均布固定安装在下球杯下侧四周；每个悬臂上固定安装有一个第一环形罩，每个第一环形罩下侧固定安装有一个第一无刷电机，每个第一无刷电机电机轴上固定安装有一个第一螺旋桨；每个电池板上固定安装有一个控制盒，每个控制盒上固定安装有一个第一电动推杆，每个第一电动推杆推杆端固定安装有一个透明球挡板；上球杯固定安装在下球杯上；球形罩铰接在上球杯和下球杯构成的球铰内；四个气囊均布固定安装在球形罩内部四周。The flying frame includes a lower ball cup, a first annular cover, a first brushless motor, a first propeller, a first pillar, a battery board, a control box, a cantilever, a first electric push rod, a spherical cover, and a transparent ball baffle , airbag, upper ball cup, the four first pillars, four battery plates, and four cantilevers are uniformly distributed and fixedly installed around the lower side of the lower ball cup; each cantilever is fixedly installed with a first annular cover, each A first brushless motor is fixedly installed on the lower side of the first annular cover, and a first propeller is fixedly installed on the motor shaft of each first brushless motor; a control box is fixedly installed on each battery board, and each control A first electric push rod is fixedly installed on the box, and a transparent ball baffle is fixedly installed at the push rod end of each first electric push rod; the upper ball cup is fixedly installed on the lower ball cup; the spherical cover is hinged on the upper ball cup and the lower ball cup. In the spherical hinge formed by the ball cup; the four airbags are evenly distributed and fixedly installed around the inside of the spherical cover.
所述的万向驱动装置包括底盘、弹簧、第一支架、空心柱、第一伺服电机、鼓轮、第二环形罩、第二螺旋桨、第二无刷电机、第二支柱、控制器、第二支架、摄像头、第二电动推杆，其特征在于：所述的四个第一支架均布铰接在底盘上，每个第一支架上铰接有一个弹簧，弹簧另一端铰接在底盘上；四个空心柱均布固定安装在底盘上；第二支架固定安装在底盘上，控制器和第二电动推杆分别固定安装在第二支架上侧和下侧；摄像头固定安装在第二电动推杆推杆端；每个第一支架上铰接有一个鼓轮，鼓轮与固定安装在第一支架上的第一伺服电机的电机轴固连；两根第二支柱对称布置固定安装在底盘上，每个第二支柱上固定安装有一个第二环形罩，每个第二环形罩上固定安装有一个第二无刷电机，每个第二无刷电机电机轴上固定安装有一个第二螺旋桨。The universal drive device includes a chassis, a spring, a first bracket, a hollow column, a first servo motor, a drum, a second annular cover, a second propeller, a second brushless motor, a second strut, a controller, a first Two brackets, a camera, and a second electric push rod, characterized in that: the four first brackets are evenly hinged on the chassis, each first bracket is hinged with a spring, and the other end of the spring is hinged on the chassis; four The hollow columns are evenly distributed and fixedly installed on the chassis; the second bracket is fixedly installed on the chassis, the controller and the second electric push rod are fixedly installed on the upper and lower sides of the second bracket respectively; the camera is fixedly installed on the second electric push rod Push rod end; a drum is hinged on each first bracket, and the drum is fixedly connected with the motor shaft of the first servo motor fixed on the first bracket; two second pillars are symmetrically arranged and fixed on the chassis, A second annular cover is fixedly installed on each of the second pillars, a second brushless motor is fixedly installed on each second annular cover, and a second propeller is fixedly installed on the motor shaft of each second brushless motor.
所述的四自由度激光定位装置包括第三支架、第一支座、第一双轴电机、第一齿轮、第二齿轮、第四支架、第二支座、第三齿轮、第二双轴电机、第四齿轮、第二伺服电机、第三支座、摩擦轮、电动伸缩激光室、激光发射孔、激光接收孔、转台、套杯，所述的第四支架为十字型，下侧两分支和上侧两分支分别对称成对铰接有第一齿轮与第二齿轮、第三齿轮与第四齿轮；第三支架两端固定安装在两个第二齿轮上；第一支座和第二支座分别固定安装在第四支架上下侧；第一双轴电机固定安装在第一支座上，两侧电机轴与两个第一齿轮固连；第二双轴电机固定安装在第二支座上，两侧电机轴与两个第三齿轮固连；套杯两侧固定安装在两个第四齿轮上；两个第三支座固定安装在套杯两侧，每个第三支座上固定安装有一个第二伺服电机，第三伺服电机输出轴上固定安装有一个摩擦轮；转台铰接在套杯内，且转台侧壁与两个摩擦轮紧密贴合；电动伸缩激光室固定安装在转台内，其上均布固定安装有四组激光发射孔和激光接收孔。The four-degree-of-freedom laser positioning device includes a third support, a first support, a first biaxial motor, a first gear, a second gear, a fourth support, a second support, a third gear, and a second double shaft Motor, fourth gear, second servo motor, third support, friction wheel, electric telescopic laser chamber, laser emission hole, laser receiving hole, turntable, cup sleeve The branch and the two branches on the upper side are respectively symmetrically connected in pairs with a first gear and a second gear, a third gear and a fourth gear; both ends of the third bracket are fixedly installed on the two second gears; the first support and the second The supports are fixedly installed on the upper and lower sides of the fourth support respectively; the first biaxial motor is fixedly installed on the first support, and the motor shafts on both sides are fixedly connected with the two first gears; the second biaxial motor is fixedly installed on the second support On the base, the motor shafts on both sides are fixedly connected with the two third gears; the two sides of the cup are fixedly installed on the two fourth gears; the two third supports are fixedly installed on both sides of the cup, and each third support A second servo motor is fixedly installed on the upper, and a friction wheel is fixedly installed on the output shaft of the third servo motor; the turntable is hinged in the cup, and the side wall of the turntable is closely fitted with the two friction wheels; the electric telescopic laser chamber is fixedly installed In the turntable, four groups of laser emitting holes and laser receiving holes are uniformly and fixedly installed on it.
由于本发明采用了上述技术方案，本发明具有以下优点：（1）万向驱动装置进行位姿粗调，四自由度激光定位装置进行位姿精调，并实现实时稳态作业；（2）可同时对多个方向的多个目标实行激光定位；（3）海陆空三位一体作业，可飞行跟踪、手持跟踪、水下跟踪；（4）结构简单，作业效率高。Because the present invention adopts the above technical solutions, the present invention has the following advantages: (1) the universal drive device performs rough adjustment of the pose, and the four-degree-of-freedom laser positioning device performs the fine adjustment of the pose, and realizes real-time steady-state operation; (2) It can carry out laser positioning for multiple targets in multiple directions at the same time; (3) The trinity of sea, land and air operations can be used for flight tracking, hand-held tracking, and underwater tracking; (4) The structure is simple and the operation efficiency is high.
附图说明Description of drawings
图1、图2为本发明的整体结构示意图。1 and 2 are schematic diagrams of the overall structure of the present invention.
图3、图4为本发明的飞行框架结构示意图。3 and 4 are schematic diagrams of the structure of the flight frame of the present invention.
图5为本发明的万向驱动装置结构示意图。FIG. 5 is a schematic structural diagram of the universal drive device of the present invention.
图6、图7为本发明的四自由度激光定位装置结构示意图。6 and 7 are schematic diagrams of the structure of the four-degree-of-freedom laser positioning device of the present invention.
附图标号：1-飞行框架；2-万向驱动装置；3-四自由度激光定位装置；101-下球杯；102-第一环形罩；103-第一无刷电机；104-第一螺旋桨；105-第一支柱；106-电池板；107-控制盒；108-悬臂；109-第一电动推杆；110-球形罩；111-透明球挡板；112-气囊；113-上球杯；201-底盘；202-弹簧；203-第一支架；204-空心柱；205-第一伺服电机；206-鼓轮；207-第二环形罩；208-第二螺旋桨；209-第二无刷电机；210-第二支柱；211-控制器；212-第二支架；213-摄像头；214-第二电动推杆；301-第三支架；302-第一支座；303-第一双轴电机；304-第一齿轮；305-第二齿轮；306-第四支架；307-第二支座；308-第三齿轮；309-第二双轴电机；310-第四齿轮；311-第二伺服电机；312-第三支座；313-摩擦轮；314-电动伸缩激光室；315-激光发射孔；316-激光接收孔；317-转台；318-套杯。Reference number: 1-flying frame; 2-universal drive device; 3-four degrees of freedom laser positioning device; 101-lower ball cup; 102-first annular cover; 103-first brushless motor; 104-first Propeller; 105-first pillar; 106-battery plate; 107-control box; 108-cantilever; 109-first electric push rod; 110-ball cover; 111-transparent ball baffle; 112-airbag; 113-ball Cup; 201-chassis; 202-spring; 203-first bracket; 204-hollow column; 205-first servo motor; 206-drum wheel; 207-second annular cover; 208-second propeller; 209-second Brushless motor; 210-second pillar; 211-controller; 212-second bracket; 213-camera; 214-second electric push rod; 301-third bracket; 302-first bracket; 303-first 304-first gear; 305-second gear; 306-fourth support; 307-second support; 308-third gear; 309-second double-shaft motor; 310-fourth gear; 311 - The second servo motor; 312 - the third support; 313 - the friction wheel; 314 - the electric telescopic laser chamber; 315 - the laser emission hole; 316 - the laser receiving hole; 317 - the turntable;
具体实施方式Detailed ways
下面结合具体实施例对本发明作进一步描述，在此发明的示意性实施例以及说明用来解释本发明，但并不作为对本发明的限定。The present invention will be further described below with reference to specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.
实施例：如图1、图2、图3、图4、图5、图6、图7所示的一种智能激光定位追踪系统，包括飞行框架1、万向驱动装置2、四自由度激光定位装置3，飞行框架1固定安装在万向驱动装置2上。四自由度激光定位装置3铰接在飞行框架1内。Example: an intelligent laser positioning and tracking system as shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, including a
飞行框架1的四个第一支柱105、四个电池板106、四个悬臂108分别均布固定安装在下球杯101下侧四周。每个悬臂108上固定安装有一个第一环形罩102，每个第一环形罩102下侧固定安装有一个第一无刷电机103，每个第一无刷电机103电机轴上固定安装有一个第一螺旋桨104。每个电池板106上固定安装有一个控制盒107，每个控制盒107上固定安装有一个第一电动推杆109，每个第一电动推杆109推杆端固定安装有一个透明球挡板111。上球杯113固定安装在下球杯101上。球形罩110铰接在上球杯113和下球杯101构成的球铰内。四个气囊112均布固定安装在球形罩110内部四周。The four
万向驱动装置2的四个第一支架203均布铰接在底盘201上，每个第一支架203上铰接有一个弹簧202，弹簧202另一端铰接在底盘201上。四个空心柱204均布固定安装在底盘201上。第二支架212固定安装在底盘201上，控制器211和第二电动推杆214分别固定安装在第二支架212上侧和下侧。摄像头213固定安装在第二电动推杆214推杆端。每个第一支架203上铰接有一个鼓轮206，鼓轮206与固定安装在第一支架203上的第一伺服电机205的电机轴固连。两根第二支柱210对称布置固定安装在底盘201上，每个第二支柱210上固定安装有一个第二环形罩207，每个第二环形罩207上固定安装有一个第二无刷电机209，每个第二无刷电机209电机轴上固定安装有一个第二螺旋桨208。The four
四自由度激光定位装置3的第四支架306为十字型，下侧两分支和上侧两分支分别对称成对铰接有第一齿轮304与第二齿轮305、第三齿轮308与第四齿轮310。第三支架301两端固定安装在两个第二齿轮305上。第一支座302和第二支座307分别固定安装在第四支架306上下侧。第一双轴电机303固定安装在第一支座302上，两侧电机轴与两个第一齿轮304固连。第二双轴电机309固定安装在第二支座307上，两侧电机轴与两个第三齿轮308固连。套杯318两侧固定安装在两个第四齿轮310上。两个第三支座312固定安装在套杯318两侧，每个第三支座312上固定安装有一个第二伺服电机311，第三伺服电机输出轴上固定安装有一个摩擦轮313。转台317铰接在套杯318内，且转台317侧壁与两个摩擦轮313紧密贴合。电动伸缩激光室314固定安装在转台317内，其上均布固定安装有四组激光发射孔315和激光接收孔316。The
本发明的四自由度激光定位装置3的四个自由度为三个方向的转动和一个方向的移动，具体为：第一双轴电机303驱动的第四支架306绕着第二齿轮305中心线的转动；第二双轴电机309驱动的套杯318绕着第四齿轮310中心线的转动；第二伺服电机311驱动的摩擦轮313，通过摩擦力驱动的转台317绕着自身轴线的转动和电动伸缩激光室314沿着中心线方向的往复移动。The four degrees of freedom of the four-degree-of-freedom
万向驱动装置2的原理为：四个鼓轮206与铰接在下球杯101内的球形罩110外表面紧密贴合，鼓轮206截面轴线与水平面呈45°夹角，当四个鼓轮206均同向转动时，球形罩110沿着竖直轴线自旋；当四个鼓轮206中，一侧的两个鼓轮206转向相同，另一侧的两个鼓轮206转向相同且和对侧转向相反时，球形罩110可分别实现沿着水平面的两个正交轴线的转动。The principle of the
飞行框架1采用固定式四旋翼结构，上侧四个透明球挡板111，当在水下作业时，挡板闭合，与球形罩110形成一个密闭的球形空间，且透明球挡板111可以透射激光，不影响激光测距。四个第一螺旋桨104提供在空气中或水中的升力，在水中的横向推力与转向，由两个第二螺旋桨208提供。气囊112内置化学反应原料，通过化学反应产生气体，用于水下提供升力。The
四组激光测距单元，最多可实现同时四个方向的激光测距追踪作业。Four sets of laser ranging units can realize laser ranging and tracking operations in four directions at the same time.
本发明可实现海陆空三维一体作业，可远距离测量，远距离测量精度相对不高，也可近距离测量，采取飞行或水下滑行，实时近距离追踪物体，精度相对较高。测量时，先由四个鼓轮206初步确定球形罩110的位姿，接着由四自由度激光定位装置3实时调控位姿，实现精准稳的作业。The invention can realize the three-dimensional integrated operation of sea, land and air, and can measure at long distances with relatively low precision, and can also measure at short distances. During measurement, the four
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