CN110726997B - Intelligent laser positioning and tracking system - Google Patents
Intelligent laser positioning and tracking system Download PDFInfo
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- CN110726997B CN110726997B CN201910953679.9A CN201910953679A CN110726997B CN 110726997 B CN110726997 B CN 110726997B CN 201910953679 A CN201910953679 A CN 201910953679A CN 110726997 B CN110726997 B CN 110726997B
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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
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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
- G01S17/02—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
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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
- 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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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to an intelligent laser positioning and tracking system which comprises a flight frame, a universal driving device, a four-degree-of-freedom laser positioning device and the like. The universal driving device carries out pose rough adjustment, the four-degree-of-freedom laser positioning device carries out pose fine adjustment, and real-time steady operation is realized; the uniformly distributed multiple sets of laser positioning devices can simultaneously position multiple targets in multiple directions by laser; the system can perform the operation of the air, the water, the ground and the air, and can perform flight tracking, handheld tracking and underwater tracking.
Description
Technical Field
The invention relates to the technical field of laser positioning, in particular to an intelligent laser positioning and tracking system.
Background
The laser ranging principle can be used for tool setting, paying-off and marking of cutting machines in industries such as stone, wood, paper, cloth, leather, glass, ceramics and the like, so that a user can finish the requirements of detection, processing, installation and the like, under the existing general laser ranging principle, products are mostly portable or fixed, mobility is lacking, and the objects in the air and underwater can not be positioned and tracked, therefore, the laser positioning and tracking device integrating the sea, the land and the air is designed, so that the laser positioning and tracking device is suitable for various operation environments. The patent number CN201910459007.2 provides a laser tracking measurement system which is added with counterweight balance and takes a standard ball as a reflecting device, and the laser tracking measurement system comprises an optical path carrying platform, a weight balancing device, a pitching motion driving platform, a standard ball fine-tuning device, a gyration motion driving platform and the like, and has the advantages that the requirement on the accuracy of a shaft system is reduced, and the measurement accuracy is superior to that of the traditional laser tracking measurement equipment under the same processing condition and processing cost; the disadvantage is stationary operation, inorganism.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent laser positioning and tracking system, wherein a universal driving device carries out rough pose adjustment, a four-degree-of-freedom laser positioning device carries out fine pose adjustment, and real-time steady operation is realized; the uniformly distributed multiple sets of laser positioning devices can simultaneously position multiple targets in multiple directions by laser; the system can perform the operation of the air, the water, the ground and the air, and can perform flight tracking, handheld tracking and underwater tracking.
The technical scheme adopted by the invention is as follows: an intelligent laser positioning and tracking system comprises a flight frame, a universal driving device and a four-degree-of-freedom laser positioning device, wherein the flight frame is fixedly arranged on the universal driving device; the four-degree-of-freedom laser positioning device is hinged in the flight frame.
The flying frame comprises a lower ball cup, a first annular cover, a first brushless motor, a first propeller, first support posts, battery plates, a control box, a cantilever, a first electric push rod, a spherical cover, a transparent ball baffle, an air bag and an upper ball cup, wherein the four first support posts, the four battery plates and the four cantilever are uniformly and fixedly arranged around the lower side of the lower ball cup respectively; a first annular cover is fixedly arranged on each cantilever, a first brushless motor is fixedly arranged on the lower side of each first annular cover, and a first propeller is fixedly arranged on a motor shaft of each first brushless motor; a control box is fixedly arranged on each battery plate, a first electric push rod is fixedly arranged on each control box, and a transparent ball baffle is fixedly arranged at the end of each first electric push rod; the upper ball cup is fixedly arranged on the lower ball cup; the spherical cover is hinged in a spherical hinge formed by the upper ball cup and the lower ball cup; four air bags are uniformly distributed and fixedly arranged around the inner part of the spherical cover.
The universal driving device comprises a chassis, a spring, a first support, a hollow column, a first servo motor, a drum wheel, a second annular cover, a second propeller, a second brushless motor, a second support, a controller, a second support, a camera and a second electric push rod, and is characterized in that: the four first brackets are uniformly hinged on the chassis, a spring is hinged on each first bracket, and the other end of the spring is hinged on the chassis; the four hollow columns are uniformly distributed and fixedly arranged on the chassis; the second bracket is fixedly arranged on the chassis, and the controller and the second electric push rod are respectively and fixedly arranged on the upper side and the lower side of the second bracket; the camera is fixedly arranged at the push rod end of the second electric push rod; each first bracket is hinged with a drum wheel which is fixedly connected with a motor shaft of a first servo motor fixedly arranged on the first bracket; the two second support posts are symmetrically arranged and fixedly arranged on the chassis, each second support post is fixedly provided with a second annular cover, each second annular cover is fixedly provided with a second brushless motor, and each second brushless motor shaft is fixedly provided with a second propeller.
The four-degree-of-freedom laser positioning device comprises a third bracket, a first support, a first double-shaft motor, a first gear, a second gear, a fourth bracket, a second support, a third gear, a second double-shaft motor, a fourth gear, a second servo motor, a third support, a friction wheel, an electric telescopic laser chamber, a laser emitting hole, a laser receiving hole, a turntable and a sleeve cup, wherein the fourth bracket is in a cross shape, and two branches at the lower side and two branches at the upper side are respectively symmetrically hinged with the first gear, the second gear, the third gear and the fourth gear in pairs; the two ends of the third bracket are fixedly arranged on the two second gears; the first support and the second support are respectively and fixedly arranged on the upper side and the lower side of the fourth support; the first double-shaft motor is fixedly arranged on the first support, and motor shafts on two sides are fixedly connected with two first gears; the second double-shaft motor is fixedly arranged on the second support, and motor shafts on two sides are fixedly connected with two third gears; the two sides of the sleeve cup are fixedly arranged on the two fourth gears; the two third supports are fixedly arranged on two sides of the sleeve cup, each third support is fixedly provided with a second servo motor, and the output shaft of each third servo motor is fixedly provided with a friction wheel; the turntable is hinged in the sleeve cup, and the side wall of the turntable is tightly attached to the two friction wheels; the electric telescopic laser chamber is fixedly arranged in the rotary table, and four groups of laser emitting holes and laser receiving holes are uniformly and fixedly arranged on the electric telescopic laser chamber.
Due to the adoption of the technical scheme, the invention has the following advantages: (1) The universal driving device carries out pose rough adjustment, the four-degree-of-freedom laser positioning device carries out pose fine adjustment, and real-time steady operation is realized; (2) Laser positioning can be carried out on a plurality of targets in a plurality of directions at the same time; (3) The operation of the three-in-one of the sea, the land and the air can be realized, and the flying tracking, the handheld tracking and the underwater tracking can be realized; (4) simple structure, the operating efficiency is high.
Drawings
Fig. 1 and 2 are schematic views of the overall structure of the present invention.
Fig. 3 and 4 are schematic views of the flight frame structure of the present invention.
Fig. 5 is a schematic structural view of the universal driving device of the present invention.
Fig. 6 and 7 are schematic structural diagrams of a four-degree-of-freedom laser positioning device according to the present invention.
Reference numerals: 1-a flight frame; 2-universal driving device; a 3-four degree of freedom laser positioning device; 101-ball feeding cup; 102-a first annular shroud; 103-a first brushless motor; 104-a first propeller; 105-a first leg; 106-a battery plate; 107-control box; 108-cantilever; 109-a first electric putter; 110-a spherical cap; 111-transparent ball baffles; 112-an air bag; 113-ball feeding cup; 201-chassis; 202-a spring; 203-a first scaffold; 204-hollow columns; 205-a first servomotor; 206-a drum; 207-a second annular shroud; 208-a second propeller; 209-a second brushless motor; 210-a second leg; 211-a controller; 212-a second scaffold; 213-camera; 214-a second electric putter; 301-a third rack; 302-a first support; 303-a first biaxial motor; 304-a first gear; 305-a second gear; 306-fourth rack; 307-a second support; 308-a third gear; 309-a second double-shaft motor; 310-fourth gear; 311-a second servo motor; 312-a third support; 313-friction wheel; 314-an electric telescopic laser chamber; 315-laser emitting holes; 316-a laser receiving aperture; 317-turntable; 318-sleeve cup.
Detailed Description
The invention will be further described with reference to specific examples, illustrative examples and illustrations of which are provided herein to illustrate the invention, but are not to be construed as limiting the invention.
Examples: an intelligent laser positioning and tracking system as shown in fig. 1, 2, 3, 4, 5, 6 and 7 comprises a flying frame 1, a universal driving device 2 and a four-degree-of-freedom laser positioning device 3, wherein the flying frame 1 is fixedly arranged on the universal driving device 2. The four-degree-of-freedom laser positioning device 3 is hinged in the flight frame 1.
Four first struts 105, four battery plates 106 and four cantilevers 108 of the flying frame 1 are respectively and uniformly distributed and fixedly arranged around the lower side of the lower ball cup 101. A first annular cover 102 is fixedly arranged on each cantilever 108, a first brushless motor 103 is fixedly arranged on the lower side of each first annular cover 102, and a first propeller 104 is fixedly arranged on a motor shaft of each first brushless motor 103. Each battery plate 106 is fixedly provided with a control box 107, each control box 107 is fixedly provided with a first electric push rod 109, and the push rod end of each first electric push rod 109 is fixedly provided with a transparent ball baffle 111. The upper ball cup 113 is fixedly mounted on the lower ball cup 101. The spherical cap 110 is hinged in a spherical hinge formed by the upper ball cup 113 and the lower ball cup 101. Four air bags 112 are uniformly distributed and fixedly arranged around the inner part of the spherical cover 110.
Four first brackets 203 of the universal driving device 2 are uniformly hinged on the chassis 201, each first bracket 203 is hinged with a spring 202, and the other end of each spring 202 is hinged on the chassis 201. Four hollow columns 204 are uniformly and fixedly arranged on the chassis 201. The second bracket 212 is fixedly installed on the chassis 201, and the controller 211 and the second electric push rod 214 are fixedly installed at the upper side and the lower side of the second bracket 212, respectively. The camera 213 is fixedly arranged at the push rod end of the second electric push rod 214. Each first bracket 203 is hinged with a drum 206, and the drum 206 is fixedly connected with the motor shaft of the first servo motor 205 fixedly mounted on the first bracket 203. Two second struts 210 are symmetrically arranged and fixedly mounted on the chassis 201, a second annular cover 207 is fixedly mounted on each second strut 210, a second brushless motor 209 is fixedly mounted on each second annular cover 207, and a second propeller 208 is fixedly mounted on a motor shaft of each second brushless motor 209.
The fourth bracket 306 of the four-degree-of-freedom laser positioning device 3 is cross-shaped, and the two lower branches and the two upper branches are symmetrically hinged with a first gear 304, a second gear 305, a third gear 308 and a fourth gear 310 in pairs respectively. The third bracket 301 is fixedly mounted on two second gears 305 at both ends. The first and second holders 302 and 307 are fixedly installed at upper and lower sides of the fourth bracket 306, respectively. The first double-shaft motor 303 is fixedly arranged on the first support 302, and motor shafts on two sides are fixedly connected with two first gears 304. The second dual-axis motor 309 is fixedly mounted on the second support 307, and motor shafts on both sides are fixedly connected with two third gears 308. The sleeve cups 318 are fixedly mounted on both sides on the two fourth gears 310. Two third supports 312 are fixedly mounted on two sides of the sleeve cup 318, a second servo motor 311 is fixedly mounted on each third support 312, and a friction wheel 313 is fixedly mounted on an output shaft of the third servo motor. The turntable 317 is hinged within the sleeve cup 318 and the side wall of the turntable 317 is in close abutment with the two friction wheels 313. The electric telescopic laser chamber 314 is fixedly arranged in a rotary table 317, and four groups of laser emitting holes 315 and laser receiving holes 316 are uniformly and fixedly arranged on the electric telescopic laser chamber.
The four degrees of freedom of the four-degree-of-freedom laser positioning device 3 of the present invention are three-directional rotation and one-directional movement, specifically: rotation of the fourth bracket 306 about the centerline of the second gear 305 driven by the first biaxial motor 303; rotation of the sleeve 318 driven by the second dual-axis motor 309 about the centerline of the fourth gear 310; the friction wheel 313 driven by the second servo motor 311, the rotation of the turntable 317 around its own axis driven by friction force, and the reciprocating movement of the electric telescopic laser chamber 314 in the direction of the center line.
The principle of the universal driving device 2 is as follows: the four drums 206 are tightly attached to the outer surface of the spherical cover 110 hinged in the lower ball cup 101, the cross-section axis of each drum 206 forms an included angle of 45 degrees with the horizontal plane, and when the four drums 206 rotate in the same direction, the spherical cover 110 spins along the vertical axis; when two drums 206 on one side are turned the same and two drums 206 on the other side are turned the same and opposite to the opposite side, the spherical cap 110 can be rotated along two orthogonal axes of the horizontal plane, respectively.
The flying frame 1 adopts a fixed four-rotor structure, and four transparent ball baffles 111 on the upper side are closed when the flying frame works underwater, a sealed spherical space is formed between the transparent ball baffles 111 and the spherical cover 110, and laser can be transmitted through the transparent ball baffles 111 without affecting laser ranging. The four first propellers 104 provide lift in air or water, lateral thrust and steering in water, provided by the two second propellers 208. The bladder 112 houses a chemical reaction source that generates a gas by a chemical reaction for providing lift underwater.
Four groups of laser ranging units can realize laser ranging tracking operation in four directions at most.
The invention can realize the three-dimensional integrated operation of sea, land and air, can realize remote measurement, has relatively low remote measurement precision, can also realize close measurement, adopts flying or underwater sliding, tracks objects in real time in close range, and has relatively high precision. During measurement, the pose of the spherical cover 110 is initially determined by the four drums 206, and then the pose is regulated and controlled in real time by the four-degree-of-freedom laser positioning device 3, so that accurate and stable operation is realized.
Claims (5)
1. An intelligent laser positioning tracking system comprises a flight frame (1), a universal driving device (2) and a four-degree-of-freedom laser positioning device (3), and is characterized in that: the flying frame (1) is fixedly arranged on the universal driving device (2); the four-degree-of-freedom laser positioning device (3) is hinged in the flight frame (1);
the flying frame (1) comprises a lower ball cup (101), a first annular cover (102), a first brushless motor (103), a first propeller (104), a first support column (105), a battery plate (106), a control box (107), a cantilever (108), a first electric push rod (109), a spherical cover (110), a transparent ball baffle (111), an air bag (112) and an upper ball cup (113), wherein the four first support columns (105), the four battery plates (106) and the four cantilever (108) are uniformly and fixedly arranged around the lower side of the lower ball cup (101) respectively; a first annular cover (102) is fixedly arranged on each cantilever (108), a first brushless motor (103) is fixedly arranged on the lower side of each first annular cover (102), and a first propeller (104) is fixedly arranged on a motor shaft of each first brushless motor (103); a first electric push rod (109) is fixedly arranged on each control box (107), and a transparent ball baffle (111) is fixedly arranged at the push rod end of each first electric push rod (109); the upper ball cup (113) is fixedly arranged on the lower ball cup (101); the spherical cover (110) is hinged in a spherical hinge formed by the upper ball cup (113) and the lower ball cup (101); four air bags (112) are uniformly distributed and fixedly arranged around the inner part of the spherical cover (110);
the universal driving device (2) comprises a chassis (201), springs (202), first supports (203), hollow columns (204), a first servo motor (205), a drum wheel (206), a second annular cover (207), a second propeller (208), a second brushless motor (209), a second support (210), a controller (211), second supports (212), cameras (213) and second electric push rods (214), wherein the four first supports (203) are uniformly hinged on the chassis (201), each first support (203) is hinged with one spring (202), and the other end of each spring (202) is hinged on the chassis (201); each first bracket (203) is hinged with a drum wheel (206), and the drum wheel (206) is fixedly connected with a motor shaft of a first servo motor (205) fixedly arranged on the first bracket (203); two second struts (210) are symmetrically arranged and fixedly arranged on the chassis (201), each second strut (210) is fixedly provided with a second annular cover (207), each second annular cover (207) is fixedly provided with a second brushless motor (209), and each second brushless motor (209) is fixedly provided with a second propeller (208) on a motor shaft;
the four-degree-of-freedom laser positioning device (3) comprises a third bracket (301), a first support (302), a first double-shaft motor (303), a first gear (304), a second gear (305), a fourth bracket (306), a second support (307), a third gear (308), a second double-shaft motor (309), a fourth gear (310), a second servo motor (311), a third support (312), a friction wheel (313), an electric telescopic laser chamber (314), a laser emitting hole (315), a laser receiving hole (316), a turntable (317) and a sleeve cup (318), wherein the fourth bracket (306) is in a cross shape, and two lower side branches and two upper side branches are respectively symmetrically hinged with the first gear (304) and the second gear (305), the third gear (308) and the fourth gear (310) in pairs; both ends of the third bracket (301) are fixedly arranged on two second gears (305); the first support (302) and the second support (307) are respectively and fixedly arranged on the upper side and the lower side of the fourth bracket (306); the first double-shaft motor (303) is fixedly arranged on the first support (302), and motor shafts on two sides are fixedly connected with two first gears (304); the second double-shaft motor (309) is fixedly arranged on the second support (307), and motor shafts on two sides are fixedly connected with two third gears (308); both sides of the sleeve cup (318) are fixedly arranged on the two fourth gears (310); the two third supports (312) are fixedly arranged on two sides of the sleeve cup (318), a second servo motor (311) is fixedly arranged on each third support (312), and a friction wheel (313) is fixedly arranged on the output shaft of the third servo motor; the turntable (317) is hinged in the sleeve cup (318), and the side wall of the turntable (317) is tightly attached to the two friction wheels (313).
2. An intelligent laser positioning tracking system as defined in claim 1, wherein: a control box (107) is fixedly arranged on each battery plate (106).
3. An intelligent laser positioning tracking system as defined in claim 1, wherein: the four hollow columns (204) are uniformly distributed and fixedly arranged on the chassis (201); the second bracket (212) is fixedly arranged on the chassis (201), and the controller (211) and the second electric push rod (214) are respectively and fixedly arranged on the upper side and the lower side of the second bracket (212).
4. An intelligent laser positioning tracking system as defined in claim 1, wherein: and a camera (213) is fixedly arranged at the push rod end of the second electric push rod (214).
5. An intelligent laser positioning tracking system as defined in claim 1, wherein: the electric telescopic laser chamber (314) is fixedly arranged in the rotary table (317), and four groups of laser emitting holes (315) and laser receiving holes (316) are uniformly and fixedly arranged on the electric telescopic laser chamber.
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| CN201910953679.9A CN110726997B (en) | 2019-10-09 | 2019-10-09 | Intelligent laser positioning and tracking system |
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| CN201910953679.9A CN110726997B (en) | 2019-10-09 | 2019-10-09 | Intelligent laser positioning and tracking system |
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| CN110726997B true CN110726997B (en) | 2023-11-03 |
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