CN104823018A - Measurement device and unmanned aerial vehicle - Google Patents
Measurement device and unmanned aerial vehicle Download PDFInfo
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- CN104823018A CN104823018A CN201480003072.XA CN201480003072A CN104823018A CN 104823018 A CN104823018 A CN 104823018A CN 201480003072 A CN201480003072 A CN 201480003072A CN 104823018 A CN104823018 A CN 104823018A
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- rotary seat
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- measurement mechanism
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- 238000005259 measurement Methods 0.000 title claims abstract description 56
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 230000004888 barrier function Effects 0.000 claims abstract description 32
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 45
- 238000010276 construction Methods 0.000 claims description 21
- 230000003287 optical effect Effects 0.000 claims description 21
- 230000006978 adaptation Effects 0.000 claims description 17
- 238000012856 packing Methods 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A measurement device inlcudes a base (10), a rotating seat (20), a drive device (30) for controlling the base (10) and the rotating seat (20) to rotate, a distance detection device (40) arranged on the rotating seat (20), an orientation detection device (50) for measuring the position information of the distance detection device (40), and a position information analyzer (100) connected to the distance detection device (40) and the orientation detection device (50); wherein the base (10) is rotatably connected to the rotating seat (20); the distance detection device (40) is fixedly connected to the rotating seat (20) so as to measure the distance information of a barrier with respect to a first preset base point and a second preset base point; and the position information analyzer (100) obtains a real distance of the measurement device with respect to the barrier according to the distance information of the barrier with respect to the first preset base point and the second preset base point. The measurement device reduces the measurement cost. The invention also discloses an unmanned aerial vehicle.
Description
Technical field
The present invention relates to detection technique field, particularly relate to measurement mechanism and unmanned vehicle.
Background technology
As everyone knows, laser radar is sensor device important in robot navigation and safety applications.General use phase differential and mistiming carry out TOF range finding, and this mode has stable high, fireballing advantage; But due to the high-precision special hardware of needs, the cost therefore measured is higher.
Foregoing, only for auxiliary understanding technical scheme of the present invention, does not represent and admits that foregoing is prior art.
Summary of the invention
Fundamental purpose of the present invention is to provide one to have identical inventive concept measurement mechanism and unmanned vehicle, is intended to reduce the cost measured.
To achieve these goals, measurement mechanism provided by the invention, comprise pedestal, the drive unit that rotary seat, the described pedestal of control rotate with described rotary seat, the distance detection device be located on rotary seat, the azimuth detecting apparatus measuring described distance detection device current present position information, the positional information analyzer that is electrically connected with described distance detection device and azimuth detecting apparatus; Described pedestal and described rotary seat are rotationally connected; Described distance detection device is fixedly connected with described rotary seat, to measure the range information of barrier relative to the first preset basic point and the second preset basic point; Described positional information analyzer obtains the actual range of described measurement mechanism relative to described barrier according to described barrier relative to the range information of the first preset basic point and the second preset basic point; Described pedestal is provided with optical grating construction, and the corresponding described optical grating construction of described azimuth detecting apparatus is arranged, and for detecting described distance detection device current present position information according to described optical grating construction, described azimuth detecting apparatus is fixedly connected with described rotary seat; Described distance detection device comprises preset distance of being separated by and is arranged at laser generator on described rotary seat and imageing sensor, and the laser that described laser generator sends is positioned at the region that described imageing sensor obtains image information.
Preferably, described optical grating construction comprises the some projections extended to described rotary seat by described pedestal, the spaced setting of described some projections, and is distributed in circumferentially same.
Preferably, described azimuth detecting apparatus comprises photoelectric tube.
Preferably, described drive unit comprises motor, the first runner, the second runner and belt; Described motor is fixedly connected with described rotary seat; Described first runner is fixedly connected with the rotating shaft of described motor; Described second runner is fixedly connected with described pedestal; Described belt sleeve is located on described first runner and the second runner, to drive described first runner and the second runner synchronous axial system.
Preferably, described imageing sensor is TOF sensor.
Preferably, described measurement mechanism also comprises rotation axis, bearing, said base are provided with accommodating cavity for accommodating described bearing, and described bearing interference is connected in described accommodating cavity; Described rotation axis passes described bearing and is fixedly connected with described bearing; Described rotation axis is rotationally connected by described bearing and described pedestal, and described rotation axis is fixedly connected with described rotary seat.
Preferably, described pick-up unit also comprises conducting slip ring, and described conducting slip ring is positioned at described rotation axis place, comprises the first slip ring and the second slip ring, and described first slip ring is electrically connected with external electrical apparatus; Described second slip ring is fixedly connected with described rotary seat, and described second slip ring is electrically connected with described positional information analyzer.
Preferably, the described rotary seat fixed support that comprises master control circuit board and be fixedly connected with described master control circuit board; Described master control circuit board is located between described bearing and described fixed support, and described master control circuit board is provided with the first through hole with described rotation axis adaptation; Described fixed support is provided with the mounting hole with described rotation axis adaptation, and described rotation axis is positioned at described mounting hole through described first through hole, and is fixedly connected with described fixed support by a screw.
Preferably, be provided with packing ring between described bearing and fixed support, described packing ring is provided with the third through-hole with described rotation axis adaptation, and one end of described packing ring abuts with described bearing, and the other end abuts with described fixed support through described first through hole.
The unmanned vehicle that the present invention further provides comprises measurement mechanism, described measurement mechanism comprises pedestal, the drive unit that rotary seat, the described pedestal of control rotate with described rotary seat, the distance detection device be located on rotary seat, the azimuth detecting apparatus measuring described distance detection device current present position information, the positional information analyzer that is electrically connected with described distance detection device and azimuth detecting apparatus; Described pedestal and described rotary seat are rotationally connected; Described distance detection device is fixedly connected with described rotary seat, to measure the range information of barrier relative to the first preset basic point and the second preset basic point; Described positional information analyzer obtains the actual range of described measurement mechanism relative to described barrier according to described barrier relative to the range information of the first preset basic point and the second preset basic point; Described pedestal is provided with optical grating construction, and the corresponding described optical grating construction of described azimuth detecting apparatus is arranged, and for detecting described distance detection device current present position information according to described optical grating construction, described azimuth detecting apparatus is fixedly connected with described rotary seat; Described distance detection device comprises preset distance of being separated by and is arranged at laser generator on described rotary seat and imageing sensor, and the laser that described laser generator sends is positioned at the region that described imageing sensor obtains image information.
Preferably, described optical grating construction comprises the some projections extended to described rotary seat by described pedestal, the spaced setting of described some projections, and is distributed in circumferentially same.
Preferably, described azimuth detecting apparatus comprises photoelectric tube.
Preferably, described drive unit comprises motor, the first runner, the second runner and belt; Described motor is fixedly connected with described rotary seat; Described first runner is fixedly connected with the rotating shaft of described motor; Described second runner is fixedly connected with described pedestal; Described belt sleeve is located on described first runner and the second runner, to drive described first runner and the second runner synchronous axial system.
Preferably, described imageing sensor is TOF sensor.
Preferably, described measurement mechanism also comprises rotation axis, bearing, said base are provided with accommodating cavity for accommodating described bearing, and described bearing interference is connected in described accommodating cavity; Described rotation axis passes described bearing and is fixedly connected with described bearing; Described rotation axis is rotationally connected by described bearing and described pedestal, and described rotation axis is fixedly connected with described rotary seat.
Preferably, described pick-up unit also comprises conducting slip ring, and described conducting slip ring is positioned at described rotation axis place, comprises the first slip ring and the second slip ring, and described first slip ring is electrically connected with external electrical apparatus; Described second slip ring is fixedly connected with described rotary seat, and described second slip ring is electrically connected with described positional information analyzer.
Preferably, the described rotary seat fixed support that comprises master control circuit board and be fixedly connected with described master control circuit board; Described master control circuit board is located between described bearing and described fixed support, and described master control circuit board is provided with the first through hole with described rotation axis adaptation; Described fixed support is provided with the mounting hole with described rotation axis adaptation, and described rotation axis is positioned at described mounting hole through described first through hole, and is fixedly connected with described fixed support by a screw.
Preferably, be provided with packing ring between described bearing and fixed support, described packing ring is provided with the third through-hole with described rotation axis adaptation, and one end of described packing ring abuts with described bearing, and the other end abuts with described fixed support through described first through hole.
The present invention measures the range information of barrier relative to the first preset basic point and the second preset basic point by arranging distance detection device, and by positional information analyzer according to barrier relative to the first preset basic point and the range information acquired disturbance thing of the second preset basic point and the actual range of measurement mechanism, thus achieve range of triangle; Setting party's level detecting apparatus detecting distance pick-up unit current present position information determination barrier is relative to the azimuth information of measurement mechanism simultaneously.Therefore measurement mechanism provided by the invention achieves the location to barrier, is equivalent to prior art and carries out TOF range finding by phase differential and mistiming, present invention reduces the cost of measurement.
Accompanying drawing explanation
Fig. 1 is the structural representation of measurement mechanism one embodiment one angle of the present invention;
Fig. 2 is the structural representation of another angle of measurement mechanism one embodiment of the present invention;
Fig. 3 is the Cleaning Principle schematic diagram of measurement mechanism one embodiment of the present invention;
Fig. 4 is the detonation configuration schematic diagram of measurement mechanism one embodiment of the present invention;
Fig. 5 is the structural representation of the second runner in Fig. 4.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The invention provides a kind of measurement mechanism, referring to figs. 1 through Fig. 5, in one embodiment, this measurement mechanism comprise pedestal 10, rotary seat 20, control the drive unit 30 that described pedestal 10 rotates with described rotary seat 20, the distance detection device 40 be located on rotary seat, the azimuth detecting apparatus 50 measuring described distance detection device 40 current present position information, the positional information analyzer 100 that is electrically connected with described distance detection device 40 and azimuth detecting apparatus 50; Described pedestal 10 is rotationally connected with described rotary seat 20; Described distance detection device 40 is fixedly connected with described rotary seat 20, to measure the range information of barrier A relative to the first preset basic point B and the second preset basic point C; Described positional information analyzer 100 obtains the actual range of described measurement mechanism relative to described barrier A according to described barrier A relative to the range information of the first preset basic point B and the second preset basic point C.
In the present embodiment, above-mentioned distance detection device 40 is for obtaining the range information of barrier A relative to the first preset basic point B and the second preset basic point C in distance detection device 40, positional information analyzer 100 is according to the range information of barrier A relative to the first preset basic point B and the second preset basic point C in distance detection device 40, and first distance between preset basic point B and the second preset basic point C can calculate the actual range (this actual range is the vertical range of barrier A to the first preset basic point B and the second preset basic point C place line) of acquired disturbance thing A and measurement mechanism, thus achieve range of triangle, the angle information that above-mentioned azimuth detecting apparatus 50 rotates relative to pedestal 10 for detecting rotary seat 20, by this angle information reaction distance pick-up unit 40 position on rotary seat 20, thus determines the azimuth information of barrier A relative to measurement mechanism.Above-mentioned positional information analyzer 100 can be a graph processing chips and accessory circuit.
The present invention measures the range information of barrier A relative to the first preset basic point B and the second preset basic point C by arranging distance detection device 40, and pass through positional information analyzer 100 according to barrier A relative to the first preset basic point B and the range information acquired disturbance thing A of the second preset basic point C and the actual range of measurement mechanism, thus achieve range of triangle; The current present position information determination barrier A of setting party's level detecting apparatus 50 detecting distance pick-up unit 40 is relative to the azimuth information of measurement mechanism simultaneously.Therefore measurement mechanism provided by the invention achieves the location to barrier A, is equivalent to prior art and carries out TOF range finding by phase differential and mistiming, present invention reduces the cost of measurement.
Particularly, relative to the rotation center that described rotary seat 20 rotates, to be the center of circle same is circumferentially provided with optical grating construction with it for said base 10, the corresponding described optical grating construction of described azimuth detecting apparatus 50 is arranged, for detecting described distance detection device 40 current present position information according to described optical grating construction 50, and be fixedly connected with described rotary seat 20.
In the present embodiment, the concrete shape of above-mentioned optical grating construction can be arranged according to actual needs, and in the present embodiment, above-mentioned optical grating construction comprises the some projections 11 extended to described rotary seat 20 by described pedestal 10, the spaced setting of described some projections 11, and be uniformly distributed in circumferentially same.In other embodiments, described some projections 11 also can be arranged at circumferentially same according to demand and arbitrarily, not must be uniformly distributed.
Particularly, the gap between the shape of above-mentioned projection and size and adjacent two projections all can be arranged according to actual needs, does not limit further at this.Such as above-mentioned projection 11 is square setting.
The structure of above-mentioned azimuth detecting apparatus 50 can be arranged according to actual needs, and in the present embodiment, above-mentioned azimuth detecting apparatus 50 comprises photoelectric tube.
Particularly, the power valve of this photoelectric tube can be arranged in the circle that some projections 11 enclose, and receiving tube is arranged on outside the circle that some projections 11 enclose, and receiving tube and power valve are just to setting.When projection 11 is positioned in the middle of photoelectric tube, receiving tube cannot normally receive tube-launched photosignal; When the gap of adjacent two projections 11 is positioned in the middle of photoelectric tube, receiving tube normally receives tube-launched photosignal.By arranging the initial position of distance detection device 40, control in the process of rotary seat 20 opposite base 10 rotation at drive unit 30, normally received the number of times of tube-launched photosignal by statistics receiving tube, determine the current residing position of distance detection device 40.
Particularly, described pedestal 10 is fixedly connected with described rotary seat 20, and its concrete connected mode can be arranged according to actual needs, in the present embodiment, realizes pedestal 10 in the following ways and fixes with 20 of described rotary seat:
In the present embodiment, above-mentioned measurement mechanism also comprises rotation axis 60, bearing 70, said base 10 are provided with accommodating cavity 12 for accommodating described bearing 70, and the interference of described bearing 70 is connected in described accommodating cavity 12; Described rotation axis 60 passes described bearing 70 and is fixedly connected with described bearing 70; Described rotation axis 60 is rotationally connected with described pedestal 10 by described bearing 70, and described rotation axis 60 is fixedly connected with described rotary seat 20.
Particularly, described rotary seat 20 fixed support 22 that comprises master control circuit board 21 and be fixedly connected with described master control circuit board 21; Described master control circuit board 21 is located between described bearing 70 and described fixed support 22, and described master control circuit board 21 is provided with the first through hole 211 with described rotation axis 60 adaptation; Described fixed support 22 is provided with the mounting hole 221 with described rotation axis 60 adaptation, and described rotation axis is positioned at described mounting hole 221 through described first through hole 211, and is fixedly connected with described fixed support 22 by a screw.
Should be noted that, the quantity of above-mentioned bearing 70 can be arranged according to actual needs, in the present embodiment, this bearing 70 is preferably two, and be arranged at the two ends of above-mentioned accommodating cavity 12 respectively, then bearing 70 comprises and is positioned at accommodating cavity 12 near the clutch shaft bearing 71 of fixed support 22 one end be positioned at second bearing 72 of accommodating cavity 12 away from fixed support 22 one end, and particularly, above-mentioned master control circuit board 21 is between clutch shaft bearing 71 and fixed support 22; Above-mentioned master control circuit board 21 and fixed support 22 are fixed connection by screw.Above-mentioned positional information analyzer 100 can be located in described master control circuit board 21, and above-mentioned photoelectric tube can be fixedly welded in described master control circuit board 21.
Further, packing ring 80 is provided with between above-mentioned bearing 70 and fixed support 22, described packing ring 80 is provided with the third through-hole 81 with described rotation axis 60 adaptation, and one end of described packing ring 80 abuts with described bearing 70, and the other end abuts with described fixed support 22 through described first through hole 211.Owing to being provided with packing ring 80, thus the distance limited between fixed support 22 and pedestal 10, prevent because the distance between fixed support 22 and pedestal 10 is too small, cause master control circuit board 21 directly to contact with pedestal 10, and in the process rotated, damage master control circuit board 21.
Further, above-mentioned drive unit 30 comprises motor 31, first runner 32, second runner 33 and belt 34; Described motor 31 is fixedly connected with described rotary seat 20; Described first runner 32 is fixedly connected with the rotating shaft of described motor 31; Described second runner 33 is fixedly connected with described pedestal 10; Described belt 34 is sheathed on described first runner 32 and the second runner 33, to drive described first runner 32 and the second runner 33 synchronous axial system.
Particularly, motor 31 is fixedly connected with described rotary seat 20, such as, can arrange one for the holding ring 222 of accommodating motor 31 on above-mentioned fixed support 22, be located in holding ring 22 by motor 31, and be fixedly connected with holding ring 222 by motor 31 by screw.Described second runner 33 is fixedly connected with described pedestal 10, such as, can be provided with some second through holes 331 and one and the fourth hole 332 of above-mentioned accommodating cavity 12 adaptation on the second runner 33, arrange threaded hole in the position of corresponding second through hole 331 of pedestal 10; By fourth hole 332 is sheathed on accommodating cavity 12 on the outer wall of fixed support 22 one end, is then coordinated with threaded hole through the second through hole 331 by screw, the second runner 33 is fixedly connected with pedestal 10.The radius of above-mentioned first runner 32 and the second runner 33 can be arranged according to actual needs, and in the present embodiment, in order to accurate control, the radius of above-mentioned first runner is less than the radius of the second runner effectively.
Further, described measurement mechanism also comprises conducting slip ring 90, and described conducting slip ring 90 is positioned at described rotation axis 60 place.Described electric slip ring 90 comprises the first slip ring 91 and the second slip ring 92, and described first slip ring 91 is electrically connected with external electrical apparatus; Described second slip ring 92 is fixedly connected with described rotary seat 20, and described second slip ring 92 is electrically connected with described positional information analyzer 100.
In the present embodiment, above-mentioned rotation axis 60 to have caved inward fixed orifice away from one end of above-mentioned fixed support 22, above-mentioned second slip ring 92 is provided with the fixed part 921 with described fixed orifice adaptation, and described fixed part 921 is located in described fixed orifice, and is fixed with described fixed orifice and is connected.It should be noted that above-mentioned conducting slip ring 90 is for supplying extraneous power delivery to measurement mechanism, is transferred to outside hinge by the data that measurement mechanism detects simultaneously.Effectively can be realized adjusting the distance by the first slip ring 91 and the second slip ring 92 power demands of pick-up unit 40 and described azimuth detecting apparatus 50, meets distance detection device 40 and described azimuth detecting apparatus 50 and extraneous electric signal transmission simultaneously.The quantity of information required for maneuverability of small-sized unmanned aircraft all-around mobile can be adapted in addition completely.
Should be noted that, above-mentioned distance detection device 40 comprises preset distance of being separated by and is arranged at laser generator 41 on described rotary seat 20 and imageing sensor 42, and the laser that described laser generator 41 sends is positioned at the region that described imageing sensor 42 obtains image information.
Particularly, above-mentioned laser generator 41 is all fixedly connected with rotary seat 20 with imageing sensor 42, and by the position of adjustment laser generator 41 emitting head, the laser that laser generator 41 is sent falls into the region that imageing sensor 42 obtains image information.During work, obtain laser generator 41 by imageing sensor 42 and incide the image information of hot spot that barrier A formed, and by positional information analyzer 100 according to this image information analysis obtain this barrier A relatively with the range information of the first preset basic point B and the second preset basic point C.It should be noted that above-mentioned first preset basic point B is the laser head position of laser generator 41; Above-mentioned imageing sensor 42 can be a camera, and above-mentioned second preset basic point C is camera lens position.
It should be noted that the structure of above-mentioned imageing sensor 42 can be arranged according to actual needs, in the present embodiment, preferably above-mentioned imageing sensor 42 is TOF sensor, thus can realize the acquisition of three-dimensional information.
The present invention also provides a kind of unmanned vehicle, and this unmanned vehicle comprises measurement mechanism, and the structure of this measurement mechanism can refer to above-described embodiment, does not repeat them here.Naturally, the unmanned vehicle due to the present embodiment have employed the technical scheme of above-mentioned measurement mechanism, and therefore this unmanned vehicle has all beneficial effects of above-mentioned measurement mechanism.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (18)
1. a measurement mechanism, it is characterized in that, comprise pedestal, the drive unit that rotary seat, the described pedestal of control rotate with described rotary seat, the distance detection device be located on rotary seat, the azimuth detecting apparatus measuring described distance detection device current present position information, the positional information analyzer that is electrically connected with described distance detection device and azimuth detecting apparatus; Described pedestal and described rotary seat are rotationally connected; Described distance detection device is fixedly connected with described rotary seat, to measure the range information of barrier relative to the first preset basic point and the second preset basic point; Described positional information analyzer obtains the actual range of described measurement mechanism relative to described barrier according to described barrier relative to the range information of the first preset basic point and the second preset basic point; Described pedestal is provided with optical grating construction, and the corresponding described optical grating construction of described azimuth detecting apparatus is arranged, and for detecting described distance detection device current present position information according to described optical grating construction, described azimuth detecting apparatus is fixedly connected with described rotary seat; Described distance detection device comprises preset distance of being separated by and is arranged at laser generator on described rotary seat and imageing sensor, and the laser that described laser generator sends is positioned at the region that described imageing sensor obtains image information.
2. measurement mechanism as claimed in claim 1, it is characterized in that, described optical grating construction comprises the some projections extended to described rotary seat by described pedestal, the spaced setting of described some projections, and that to be distributed in described pedestal be the center of circle relative to the rotation center that described rotary seat rotates is circumferentially same.
3. measurement mechanism as claimed in claim 2, it is characterized in that, described azimuth detecting apparatus comprises photoelectric tube.
4. measurement mechanism as claimed in claim 1, it is characterized in that, described drive unit comprises motor, the first runner, the second runner and belt; Described motor is fixedly connected with described rotary seat; Described first runner is fixedly connected with the rotating shaft of described motor; Described second runner is fixedly connected with described pedestal; Described belt sleeve is located on described first runner and the second runner, to drive described first runner and the second runner synchronous axial system.
5. measurement mechanism as claimed in claim 1, it is characterized in that, described imageing sensor is TOF sensor.
6. measurement mechanism as claimed in claim 1, is characterized in that, described measurement mechanism also comprises rotation axis, bearing, said base are provided with accommodating cavity for accommodating described bearing, and described bearing interference is connected in described accommodating cavity; Described rotation axis passes described bearing and is fixedly connected with described bearing; Described rotation axis is rotationally connected by described bearing and described pedestal, and described rotation axis is fixedly connected with described rotary seat.
7. measurement mechanism as claimed in claim 6, it is characterized in that, also comprise conducting slip ring, described conducting slip ring is positioned at described rotation axis place, comprises the first slip ring and the second slip ring, and described first slip ring is electrically connected with external electrical apparatus; Described second slip ring is fixedly connected with described rotary seat, and described second slip ring is electrically connected with described positional information analyzer.
8. measurement mechanism as claimed in claim 6, is characterized in that, the fixed support that described rotary seat comprises master control circuit board and is fixedly connected with described master control circuit board; Described master control circuit board is located between described bearing and described fixed support, and described master control circuit board is provided with the first through hole with described rotation axis adaptation; Described fixed support is provided with the mounting hole with described rotation axis adaptation, and described rotation axis is positioned at described mounting hole through described first through hole, and is fixedly connected with described fixed support by a screw.
9. measurement mechanism as claimed in claim 8, it is characterized in that, packing ring is provided with between described bearing and fixed support, described packing ring is provided with the third through-hole with described rotation axis adaptation, one end of described packing ring abuts with described bearing, and the other end abuts with described fixed support through described first through hole.
10. a unmanned vehicle, is characterized in that, comprises measurement mechanism; Described measurement mechanism comprises pedestal, the drive unit that rotary seat, the described pedestal of control rotate with described rotary seat, the distance detection device be located on rotary seat, the azimuth detecting apparatus measuring described distance detection device current present position information, the positional information analyzer that is electrically connected with described distance detection device and azimuth detecting apparatus; Described pedestal and described rotary seat are rotationally connected; Described distance detection device is fixedly connected with described rotary seat, to measure the range information of barrier relative to the first preset basic point and the second preset basic point; Described positional information analyzer obtains the actual range of described measurement mechanism relative to described barrier according to described barrier relative to the range information of the first preset basic point and the second preset basic point; Described pedestal is provided with optical grating construction, and the corresponding described optical grating construction of described azimuth detecting apparatus is arranged, and for detecting described distance detection device current present position information according to described optical grating construction, described azimuth detecting apparatus is fixedly connected with described rotary seat; Described distance detection device comprises preset distance of being separated by and is arranged at laser generator on described rotary seat and imageing sensor, and the laser that described laser generator sends is positioned at the region that described imageing sensor obtains image information.
11. unmanned vehicles as claimed in claim 10, it is characterized in that, described optical grating construction comprises the some projections extended to described rotary seat by described pedestal, the spaced setting of described some projections, and that to be distributed in described pedestal be the center of circle relative to the rotation center that described rotary seat rotates is circumferentially same.
12. unmanned vehicles as claimed in claim 11, it is characterized in that, described azimuth detecting apparatus comprises photoelectric tube.
13. unmanned vehicles as claimed in claim 10, it is characterized in that, described drive unit comprises motor, the first runner, the second runner and belt; Described motor is fixedly connected with described rotary seat; Described first runner is fixedly connected with the rotating shaft of described motor; Described second runner is fixedly connected with described pedestal; Described belt sleeve is located on described first runner and the second runner, to drive described first runner and the second runner synchronous axial system.
14. unmanned vehicles as claimed in claim 10, it is characterized in that, described imageing sensor is TOF sensor.
15. unmanned vehicles as claimed in claim 10, is characterized in that, described measurement mechanism also comprises rotation axis, bearing, said base are provided with accommodating cavity for accommodating described bearing, and described bearing interference is connected in described accommodating cavity; Described rotation axis passes described bearing and is fixedly connected with described bearing; Described rotation axis is rotationally connected by described bearing and described pedestal, and described rotation axis is fixedly connected with described rotary seat.
16. unmanned vehicles as claimed in claim 15, it is characterized in that, described measurement mechanism also comprises conducting slip ring, and described conducting slip ring is positioned at described rotation axis place, comprises the first slip ring and the second slip ring, and described first slip ring is electrically connected with external electrical apparatus; Described second slip ring is fixedly connected with described rotary seat, and described second slip ring is electrically connected with described positional information analyzer.
17. unmanned vehicles as claimed in claim 15, is characterized in that, the fixed support that described rotary seat comprises master control circuit board and is fixedly connected with described master control circuit board; Described master control circuit board is located between described bearing and described fixed support, and described master control circuit board is provided with the first through hole with described rotation axis adaptation; Described fixed support is provided with the mounting hole with described rotation axis adaptation, and described rotation axis is positioned at described mounting hole through described first through hole, and is fixedly connected with described fixed support by a screw.
18. unmanned vehicles as claimed in claim 17, it is characterized in that, packing ring is provided with between described bearing and fixed support, described packing ring is provided with the third through-hole with described rotation axis adaptation, one end of described packing ring abuts with described bearing, and the other end abuts with described fixed support through described first through hole.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2014/076388 WO2015165008A1 (en) | 2014-04-28 | 2014-04-28 | Measurement apparatus and unmanned aerial vehicle |
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| CN104823018A true CN104823018A (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480003072.XA Pending CN104823018A (en) | 2014-04-28 | 2014-04-28 | Measurement device and unmanned aerial vehicle |
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| WO (1) | WO2015165008A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105865407A (en) * | 2016-06-03 | 2016-08-17 | 金华市蓝海光电技术有限公司 | Laser ranging device |
| WO2017066927A1 (en) * | 2015-10-20 | 2017-04-27 | SZ DJI Technology Co., Ltd. | Systems, methods, and devices for setting camera parameters |
| CN108717192A (en) * | 2018-07-09 | 2018-10-30 | Oppo（重庆）智能科技有限公司 | The method of obstacle detecting apparatus and detection of obstacles |
| CN109478060A (en) * | 2016-07-04 | 2019-03-15 | 深圳市大疆创新科技有限公司 | Aviation operations support and real-time management |
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