Laser radar device carried by aircraft

Abstract

A laser radar device used for aircraft carrying comprises a main machine shell, an aircraft connecting base is arranged on the outer side of the main machine shell, the main machine shell comprises a main machine cover body and a main machine shell body, a laser, an emergent light adjusting assembly and a scanning assembly are arranged in the main machine shell, the scanning assembly comprises a rotatable tower mirror, and the main machine cover body is provided with a transparent window mirror. The laser emits pulse laser beams, the angles of the pulse laser beams are adjusted through the emergent light adjusting assembly and then reach the scanning assembly, and the laser beams are reflected by the scanning assembly and then penetrate through the window mirror to reach the outside. The laser is reflected by a target, penetrates through the window mirror, reaches the tower mirror, is reflected to the light gathering cover and is finally gathered to the light receiving plate; an L-shaped air channel is arranged in the main machine shell, air enters from one end of the L-shaped air channel, air exits from the other end of the L-shaped air channel, and the problems that a traditional laser radar structure is high in wind resistance, heavy in weight and unsmooth in heat dissipation are solved.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and in particular to a laser radar device for use in an aircraft. Background Art

[0002] The laser radar device used for aircraft is a complex system that integrates multiple technologies, such as global positioning system, inertial navigation system, laser radar, digital camera, central control unit, data processing software, multi-sensor fusion and other technologies. The core component is the internal laser scanning device. The laser radar device used for aircraft transmits laser pulses to the ground through the laser transmitter and receives the laser pulses reflected by the ground. By measuring the time interval from the emission to the return of the laser pulse, combined with the speed of light constant, the propagation distance of the laser pulse can be calculated, and then the precise position of the ground point can be determined.

[0003] Most existing laser radars are large in size and heavy in weight, and have protruding external structures that do not conform to the streamlined design, so they are not suitable for use on drones. In addition, since they are used on drones and are in an external operating ring, the electrical components are mainly packaged inside the device, which inevitably leads to poor heat dissipation. Summary of the invention

[0004] The present invention provides a laser radar device for aircraft, which solves the problems of high wind resistance, heavy weight and poor heat dissipation of a traditional laser radar structure.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a laser radar device for aircraft, including a mainframe shell, an aircraft connecting seat is arranged on the outside of the mainframe shell, the mainframe shell includes a mainframe cover and a mainframe shell, a laser, an output light adjustment component and a scanning component are arranged in the mainframe shell, the scanning component includes a rotatable tower mirror, the mainframe cover is provided with a transparent window mirror, the laser emits a pulsed laser beam, and the angle is adjusted by the output light adjustment component before reaching the scanning component, the laser is reflected by the scanning component and passes through the window mirror to the outside; a light collecting plate and a condenser are also provided, the laser is reflected by the target, passes through the window mirror to the tower mirror, is reflected to the condenser and finally converges on the light collecting plate; an L-shaped air duct is arranged in the mainframe shell, the air is taken in at one end of the L-shaped air duct, and the air is discharged at the other end of the L-shaped air duct.

[0006] In the preferred scheme, the output light adjustment component includes a right-angle reflection prism and a mounting base block. The right-angle reflection prism is arranged in the center of one side of the condenser, and a light collecting plate is arranged on the other side of the condenser. The mounting base block is provided with a central hollow hole, and the right-angle reflection prism is arranged in the central hollow hole. A collimator is provided on one side of the mounting base block, and an inclined plane reflection mirror is provided on the end of the collimator. The laser starts from the collimator, is reflected by the plane reflection mirror to the right-angle reflection prism, and is reflected again. The collimator is rotatable, and a swivel seat is provided on one side of the right-angle reflection prism. The swivel seat is rotatably connected to the inner wall of the central hollow hole, and the rotation axis of the collimator and the axis of the swivel seat are arranged in skew planes.

[0007] In the preferred scheme, a side ear seat is provided on the side wall of the mounting base block, and the side ear seat is provided with a through hole. The through hole of the side ear seat is rotatably sleeved with the collimator, and a first adjustment seat is provided between the end of the collimator and the plane reflector. A first base block is provided at the end of the side ear seat, and a first adjustment top screw and a second adjustment top screw which are threadedly connected are provided on the first base block. The ends of the first adjustment top screw and the second adjustment top screw pass through the first base block to abut against the first adjustment seat; a first arc hole and a pin hole are provided on the first adjustment seat, and a first locking screw is provided in the first arc hole. The first locking screw is threadedly connected to the side ear seat, and a countersunk hole is provided on the side ear seat, and the countersunk hole is connected to the pin hole, and the diameter of the countersunk hole is larger than the pin hole.

[0008] In a preferred embodiment, a rotatable second adjustment seat is provided on the outer wall of the central hollow hole, and the second adjustment seat is connected to the swivel seat of the right-angle reflecting prism. A second base block is provided on one side of the central hollow hole port, and a third adjustment top screw and a fourth adjustment top screw are threadedly connected on the second base block. The ends of the third adjustment top screw and the fourth adjustment top screw pass through the second base block to rest on the second adjustment seat.

[0009] In a preferred embodiment, the scanning assembly includes a main frame, a tower mirror is arranged on the main frame, the tower mirror has multiple reflecting surfaces along the circumference of the main axis, and the scanning assembly also includes a rotatable main axis. The main frame is provided with a first vertical plate portion and a second vertical plate portion, and both ends of the main axis are rotatably connected to the first vertical plate portion and the second vertical plate portion respectively, and the tower mirror is sleeved on the main axis and located between the first vertical plate portion and the second vertical plate portion.

[0010] In the preferred scheme, the first vertical plate part is provided with a first bearing, the second vertical plate part is provided with a second bearing, the two ends of the main shaft are respectively sleeved with the first bearing and the second bearing, the two ends of the main shaft are respectively provided with a first shaft shoulder part and a second shaft shoulder part, the first shaft shoulder part abuts against the end of the first bearing, the second shaft shoulder part abuts against the inner ring of the second bearing, and a corrugated spring is provided on the side of the second bearing on the second vertical plate part away from the first bearing, and one end of the corrugated spring squeezes the outer ring of the second bearing; the second vertical plate part is provided with a groove space, the corrugated spring is arranged in the groove space, a pressure cover is provided at the open end of the groove space, the pressure cover abuts against the other end of the corrugated spring, the pressure cover is provided with a clamping screw, and the clamping screw is threadedly connected to the second vertical plate part.

[0011] In the preferred scheme, a tower mirror driving motor is also provided, which includes a motor stator and a motor rotor which are socketed with each other. A motor seat is provided on the inner side of the second vertical plate portion, and the motor stator is socketed on the motor seat. The tower mirror is provided with a flange, and the motor rotor is socketed on the inner side of the flange. An encoder is provided on the second vertical plate portion, and one end of the main shaft close to the tower mirror driving motor is socketed with the encoder.

[0012] In a preferred embodiment, the main body shell includes an L-shaped shell plate and a shell bottom cover that are locked together, the L-shaped air duct is arranged between the L-shaped shell plate and the shell bottom cover, the shell bottom cover is provided with an air inlet, the L-shaped shell plate is provided with a rear vertical plate portion, and the side wall of the rear vertical plate portion is provided with an exhaust port connected to the L-shaped air duct, a plurality of heat-conducting seats for installing heating elements are provided on the inner side of the L-shaped shell plate, a plurality of heat-dissipating fins are provided on a side of the L-shaped shell plate close to the L-shaped air duct, and the plurality of heat-dissipating fins are arranged in parallel to form an air duct, and a centrifugal fan is provided at the air inlet in the L-shaped air duct, and the air outlet of the centrifugal fan is toward the side close to the exhaust port.

[0013] In the preferred scheme, the heat-conducting seat at one end of the inner side of the L-shaped shell plate near the exhaust port is used to install the laser, an isolation groove is provided at the L-shaped bend on the inner side of the L-shaped shell plate, a heat-insulating semi-arc sleeve is provided at the isolation groove, a sealant layer is provided between the heat-insulating semi-arc sleeve and the inner wall of the isolation groove, a phase change material is provided in the heat-insulating semi-arc sleeve, and a sealing plate is also provided at one end of the isolation groove, which seals the heat-insulating semi-arc sleeve and the port of the isolation groove near the inner side of the L-shaped shell plate.

[0014] In the preferred solution, a data processing and central control module, an analog-to-digital conversion board and a multi-function board are also provided in the main housing, and a camera interface and a power supply and signal interface are also provided on the outside of the main housing.

[0015] The beneficial effects of the present invention are as follows: a smooth outer shell is used to encapsulate the main components inside, and the pulse laser is mainly received and transmitted through a transparent window on the outer shell, which effectively reduces wind resistance; a compact component arrangement is adopted, and each component is lightweight in design, which reduces the total volume and total weight of the device; it has an output light adjustment function and can quickly correct the optical axis; the scanning tower mirror adopts a double-support point structure, which effectively reduces the swing and axial movement of the tower mirror during rotation and improves the scanning accuracy; an L-shaped heat dissipation duct is adopted, and high-heat generating components such as lasers are arranged closer to the duct outlet to prevent hot air reflux from affecting the normal operation of the main control chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the internal components of the host housing.

[0018] Figure 2 It is a schematic diagram of the main scanning mechanism.

[0019] Figure 3This is a schematic diagram of the back side of the mounting base block.

[0020] Figure 4 This is a schematic diagram of the exploded circuit boards.

[0021] Figure 5 This is a schematic diagram of the bottom interface.

[0022] Figure 6 This is the schematic diagram of the output light adjustment component Figure 1 .

[0023] Figure 7 This is the schematic diagram of the output light adjustment component Figure 2 .

[0024] Figure 8 It is a schematic diagram of the fixing structure of the adjustment seat.

[0025] Fig. 9 It is a structural diagram of the scanning component.

[0026] Fig.10 is a cross-sectional view of the scanning assembly.

[0027] Fig.11 It is a cross-sectional view of the scanning component part.

[0028] Fig.12 This is a cross-sectional view of the tower mirror.

[0029] Fig.13 This is a diagram of the tower mirror structure.

[0030] Fig.14 It is a simplified schematic diagram of the air duct.

[0031] Fig.15 This is a schematic diagram of the host housing.

[0032] Fig.16 This is a bottom view of the host housing.

[0033] Fig.17 It is a schematic diagram of the outer side of the L-shaped shell plate.

[0034] Fig.18 This is an enlarged view of the isolation groove.

[0035] In the figure: the output light adjustment component 1; the collimator 101; the plane reflector 102; the first adjustment seat 103; the mounting base block 104; the first base block 105; the first adjustment screw 106; the second adjustment screw 107; the right-angle reflecting prism 108; the rotating seat 109; the second adjustment seat 110; the second base block 111; the third adjustment screw 112; the fourth adjustment screw 113; the right-angle prism reflecting light 114; the optical axis 115; the central hollow hole 116; the side ear seat 117; the light hole 11 8; first arc hole 119; first locking screw 120; countersunk hole 121; pin hole 122; outlet position 2; laser moving line 201; scanning assembly 3; spindle 301; first bearing 302; second bearing 303; main frame 304; first end locking nut 305; end cover 306; motor seat 307; retaining ring 308; end locking screw 309; corrugated spring 310; pressure cover 311; tower mirror 312; second end locking nut 313; motor rotor 314; flange 315; motor stator 316; first vertical plate portion 317; second vertical plate portion 318; reflecting surface 319; first shaft shoulder portion 320; second shaft shoulder portion 321; pressing screw 322; sinking space 323; encoder 4; data processing and central control module 5; host cover 6; window mirror 601; laser 7; host housing 8; L-shaped shell plate 801; housing bottom cover 802; L-shaped air duct 803; front vertical plate portion 804; rear vertical plate portion 805; heat conducting seat 806; air inlet 807; exhaust port 80 8; heat dissipation fins 809; air duct 810; raised frame 811; centrifugal fan 812; weight reduction groove 813; isolation groove 814; heat insulation semi-arc sleeve 815; sealing plate 816; sealant layer 817; phase change material 818; data interface 9; switch device 10; multi-function board 11; analog-to-digital conversion board 12; light receiving board 13; light receiving adjustment device 14; seed light board 15; condenser 16; camera interface 17; power and signal interface 18; aircraft connection seat 19; inertial sensor 20. DETAILED DESCRIPTION

[0036] like Figure 1-18In the invention, a laser radar device for aircraft includes a mainframe housing, an aircraft connection seat 19 is arranged on the outer side of the mainframe housing, the mainframe housing includes a mainframe cover body 6 and a mainframe shell 8, a laser 7, an output light adjustment component 1 and a scanning component 3 are arranged in the mainframe housing, the scanning component 3 includes a main frame 304, a rotatable tower mirror 312 is arranged on the main frame 304, the tower mirror 312 has a plurality of reflecting surfaces 319 along the circumference of the main axis 301, the mainframe cover body 6 is provided with a transparent window mirror 601, the output light adjustment component 1 includes a right-angle reflecting prism 108, the laser 7 emits a pulsed laser beam through After adjusting the angle through the right-angle reflection prism 108, the laser reaches the scanning component 3. After being reflected by the reflection surface 319, the laser passes through the window mirror 601 to reach the outside. A condenser 16 is also provided. The right-angle reflection prism 108 is arranged in the center of one side of the condenser 16. A light receiving plate 13 is provided on the other side of the condenser 16. After being reflected by the target, the laser passes through the window mirror 601 and reaches the tower mirror 312. It is reflected to the condenser 16 through the reflection surface 319 and finally converges on the light receiving plate 13. An L-shaped air duct 803 is provided in the main body shell 8, and air is taken in at one end of the L-shaped air duct 803 and air is discharged at the other end of the L-shaped air duct 803.

[0037] The focusing cover 16 is a conical surface or an arc surface, and a photoelectric detector is provided on the light receiving plate 13, which can receive the laser reflected light and convert it into an electrical signal.

[0038] The L-shaped air duct 803 is separated from the internal component space formed by the main unit cover 6 and the main unit housing 8, so that the interior has a good sealing effect, and the L-shaped air duct 803 is connected to the outside to quickly conduct the heat of the internal component space. The L-shaped structure widens the contact area with the heat dissipation duct, which can effectively improve the heat dissipation efficiency.

[0039] In a preferred embodiment, the output light adjustment component 1 includes a mounting base block 104, the mounting base block 104 is provided with a central hollow hole 116, a right-angle reflection prism 108 is arranged in the central hollow hole 116, a collimator 101 is provided on one side of the mounting base block 104, and an inclined plane reflection mirror 102 is provided at the end of the collimator 101. The laser starts from the collimator 101, is reflected by the plane reflection mirror 102 to the right-angle reflection prism 108, and is reflected again. The collimator 101 is rotatable, and a swivel seat 109 is provided on one side of the right-angle reflection prism 108. The swivel seat 109 is rotatably connected to the inner wall of the central hollow hole 116, and the rotation axis of the collimator 101 and the axis of the swivel seat 109 are arranged in a non-planar cross manner.

[0040] A light hole 118 is provided on the side wall of the central hollow hole 116 for reflecting light from the plane reflector 102 to the right-angle reflective prism 108. The central axis direction of the central hollow hole 116 is the direction of the theoretical optical axis 115. The reflected light 114 of the right-angle prism that is reflected again needs to be parallel to the optical axis 115.

[0041] The axis of the rotating seat 109 is perpendicular to the central axis of the central hollow hole 116 .

[0042] One of the surfaces of the mounting base block 104 is a reference mounting surface, and the reference mounting surface must be perpendicular to the optical axis 115 .

[0043] The rotation axis of the collimator 101 and the axis of the rotating seat 109 of the right-angle reflection prism 108 can be arranged in different planes and perpendicularly. When they are in different planes and perpendicularly, the adjustment of the plane reflection mirror 102 only changes a single swing angle component. However, considering the actual position of the wire outlet position 2, the vertical arrangement causes the bending angle of the wire to be too large. Therefore, the collimator 101 is arranged at a certain angle to ensure that the wire is at a safe angle.

[0044] In the preferred embodiment, a side ear seat 117 is provided on the side wall of the mounting base block 104, and the side ear seat 117 is provided with a through hole. The through hole of the side ear seat 117 is rotatably connected to the collimator 101, and a first adjustment seat 103 is provided between the end of the collimator 101 and the plane reflector 102. A first base block 105 is provided at the end of the side ear seat 117, and a first adjustment top screw 106 and a second adjustment top screw 107 are threadedly connected on the first base block 105. The ends of the first adjustment top screw 106 and the second adjustment top screw 107 pass through the first base block 105 to abut against the first adjustment seat 103; a first arc hole 119 and a pin hole 122 are provided on the first adjustment seat 103, and a first locking screw 120 is provided in the first arc hole 119, and the first locking screw 120 is threadedly connected to the side ear seat 117, and a countersunk hole 121 is provided on the side ear seat 117, and the countersunk hole 121 is connected to the pin hole 122, and the diameter of the countersunk hole 121 is larger than the pin hole 122.

[0045] The side ear seat 117 can be arranged at a certain angle so that the central axis of the collimator 101 is not perpendicular to the central axis of the rotating seat 109, and a reasonable bending angle of the wire is ensured when the mechanism is compactly arranged. At this time, the collimator 101 is adjusted and rotated, and the line drawn by the laser on the right-angle reflection prism 108, such as the laser moving line 201, is an oblique line.

[0046] The first base block 105 is provided with a through hole and embedded with a threaded sleeve for mounting a first adjusting top screw 106 and a second adjusting top screw 107 .

[0047] The first adjusting top screw 106 pushes out the second adjusting top screw 107 and retracts, and the first adjusting seat 103 rotates clockwise; the second adjusting top screw 107 pushes out the first adjusting top screw 106 and retracts, and the output light adjustment component 1 rotates counterclockwise.

[0048] Initially, the first locking screw 120 is loosened, and after the optical axis is adjusted, the first locking screw 120 is tightened. Then, glue is poured into the pin hole 122, and part of the glue flows into the sink hole 121, waiting to solidify, and the angle between the first adjustment seat 103 and the side ear seat 117 is fixed.

[0049] In the preferred embodiment, a rotatable second adjustment seat 110 is provided on the outer wall of the central hollow hole 116, and the second adjustment seat 110 is connected to the swivel seat 109 of the right-angle reflecting prism 108. A second base block 111 is provided on one side of the port of the central hollow hole 116, and a third adjustment top screw 112 and a fourth adjustment top screw 113 which are threadedly connected are provided on the second base block 111. The ends of the third adjustment top screw 112 and the fourth adjustment top screw 113 pass through the second base block 111 to abut against the second adjustment seat 110.

[0050] The pushing and rotating principle of the second adjustment seat 110 is similar to that of the first adjustment seat 103 , and the locking structure can also adopt the same method as the locking structure of the first adjustment seat 103 .

[0051] In a preferred embodiment, the scanning assembly 3 includes a rotatable main shaft 301, a main frame 304 is provided with a first vertical plate portion 317 and a second vertical plate portion 318, two ends of the main shaft 301 are respectively rotatably connected to the first vertical plate portion 317 and the second vertical plate portion 318, and the tower mirror 312 is sleeved on the main shaft 301 and located between the first vertical plate portion 317 and the second vertical plate portion 318.

[0052] The main frame 304 is a U-shaped structure, and the main shaft 301 is supported at both ends, which is more stable and prevents swinging similar to a cantilever structure.

[0053] A concave cavity is provided in the center of the tower mirror 312, a positioning flange is provided in the middle of the main shaft 301, the bottom end of the concave cavity abuts against the positioning flange, and a second end locking nut 313 is provided on the other side to be threadedly connected with the Forbidden City to fix and clamp the tower mirror 312.

[0054] The main frame 304 is a U-shaped structure, and the main shaft 301 is supported at both ends, which is more stable and prevents swinging similar to a cantilever structure.

[0055] A concave cavity is provided in the center of the tower mirror 312, a positioning flange is provided in the middle of the main shaft 301, the bottom end of the concave cavity abuts against the positioning flange, and a second end locking nut 313 is provided on the other side to be threadedly connected with the Forbidden City to fix and clamp the tower mirror 312.

[0056] In the preferred embodiment, the first vertical plate portion 317 is provided with a first bearing 302, the second vertical plate portion 318 is provided with a second bearing 303, the two ends of the main shaft 301 are respectively sleeved with the first bearing 302 and the second bearing 303, the two ends of the main shaft 301 are respectively provided with a first shaft shoulder 320 and a second shaft shoulder 321, the first shaft shoulder 320 abuts against the end of the first bearing 302, the second shaft shoulder 321 abuts against the inner ring of the second bearing 303, and the second shaft shoulder 321 on the second vertical plate portion 318 is provided with a first shaft shoulder 320 and a second shaft shoulder 321. A corrugated spring 310 is provided on the side of the bearing 303 away from the first bearing 302, and one end of the corrugated spring 310 squeezes the outer ring of the second bearing 303; the second vertical plate portion 318 is provided with a groove space 323, and the corrugated spring 310 is arranged in the groove space 323. A pressure cover 311 is provided at the open end of the groove space 323, and the pressure cover 311 abuts against the other end of the corrugated spring 310. The pressure cover 311 is provided with a clamping screw 322, and the clamping screw 322 is threadedly connected to the second vertical plate portion 318.

[0057] The rotating tower mirror 312 can adjust the distance between the inner end of the pressure cover 311 and the bottom of the sink space 323 to change the degree of compression of the corrugated spring 310, thereby changing the compression force on the outer ring of the second bearing 303 and adjusting the clearance of the second bearing 303.

[0058] An end locking screw 309 and a retaining ring 308 are also provided. The inner ring of the second bearing 303 abuts against the retaining ring 308 on the side away from the first bearing 302. One end of the end locking screw 309 is threadedly connected to the end of the main shaft 301 and presses the retaining ring 308. The other end of the main shaft 301 is provided with a first end locking nut 305 that abuts against the outer inner ring of the first bearing 302. The second vertical plate portion 318 is also provided with an end cover 306 that abuts against the outer outer ring of the first bearing 302.

[0059] In the preferred embodiment, a tower mirror driving motor is further provided, which includes a motor stator 316 and a motor rotor 314 which are socketed with each other; a motor seat 307 is provided on the inner side of the second vertical plate portion 318, and the motor stator 316 is socketed on the motor seat 307; a flange 315 is provided on the tower mirror 312, and the motor rotor 314 is socketed on the inner side of the flange 315; an encoder 4 is provided on the second vertical plate portion 318, and one end of the main shaft 301 close to the tower mirror driving motor is socketed with the encoder 4.

[0060] The flange 315 is fixedly connected to the tower mirror 312, and the tower mirror 312 is integrally sleeved with the main shaft 301 and rotates synchronously.

[0061] The motor drives the middle of the main shaft 301 so that the end is exposed for mounting the encoder 4 .

[0062] In a preferred embodiment, the main body shell 8 includes an L-shaped shell plate 801 and a shell bottom cover 802 that are locked together. The L-shaped air duct 803 is arranged between the L-shaped shell plate 801 and the shell bottom cover 802. The shell bottom cover 802 is provided with an air inlet 807. The L-shaped shell plate 801 is provided with a rear vertical plate portion 805. The side wall of the rear vertical plate portion 805 is provided with an exhaust port 808 connected to the L-shaped air duct 803. A plurality of heat-conducting seats 806 for mounting heating elements are provided on the inner side of the L-shaped shell plate 801. A plurality of heat dissipating fins 809 are provided on the side of the L-shaped shell plate 801 close to the L-shaped air duct 803. The plurality of heat dissipating fins 809 are arranged in parallel to form an air duct 810. A centrifugal fan 812 is provided at the air inlet 807 in the L-shaped air duct 803, and the air outlet of the centrifugal fan 812 is directed toward the side close to the exhaust port 808.

[0063] The heat dissipation fins 809 increase the contact area with the air, and the heat in the component installation space is quickly transferred to each heat dissipation fin 809 through the heat conduction seat 806 and carried away by the wind. The centrifugal fan 812 takes in air from the air inlet 807, and the air outlet of the centrifugal fan 812 blows from the starting end of the air duct 810 to the exhaust port 808, quickly taking away the heat on the heat dissipation fins 809.

[0064] A thermally conductive silicon wafer is disposed on each thermally conductive seat 806 , and the thermally conductive silicon wafer is disposed between the thermally conductive seat 806 and components such as a core board and a laser to ensure a good thermal conductivity.

[0065] A raised frame portion 811 is provided in the middle of one side of the L-shaped shell plate 801 close to the L-shaped air duct 803, and the raised frame portion 811 abuts against the shell bottom cover 802. The L-shaped shell plate 801 is also provided with a plurality of raised screw mounting columns, and the edge of the shell bottom cover 802 is snap-fitted and sealed with the edge of the L-shaped shell plate 801. The screw mounting columns and the raised frame portion 811 stop the shell bottom cover 802 and are connected here with screws, which not only ensures a stable connection, but also prevents the middle part of the L-shaped shell plate 801 from collapsing, thereby improving the structural strength of the host shell 8.

[0066] A front vertical plate portion 804 is disposed at one end of the L-shaped shell plate 801 away from the rear vertical plate portion 805 , and a heat conducting seat 806 is disposed on the inner side of the front vertical plate portion 804 .

[0067] The rear vertical plate 805 and the weight-reducing groove 813 make the L-shaped shell plate 801 present an asymmetric U-shaped structure, forming a clamping limit for the host cover 6, so that the host cover 6 is more firmly fixed on the host shell 8. The air inlet 807 is close to one side of the weight-reducing groove 813, and part of the heating element is attached to the inner side of the weight-reducing groove 813, which expands the area of ​​the component installation space where components can be installed.

[0068] A weight-reducing groove 813 is disposed on the outer side of the front vertical plate portion 804 , and the weight-reducing groove 813 does not penetrate the front vertical plate portion 804 .

[0069] In the preferred embodiment, the heat-conducting seat 806 at one end of the inner side of the L-shaped shell plate 801 near the exhaust port 808 is used to install the laser 7, and an isolation groove 814 is provided at the L-shaped bend on the inner side of the L-shaped shell plate 801, and an insulating semi-arc sleeve 815 is provided at the isolation groove 814. A sealant layer 817 is provided between the insulating semi-arc sleeve 815 and the inner wall of the isolation groove 814, and a phase change material 818 is provided in the insulating semi-arc sleeve 815. A sealing plate 816 is also provided at one end of the isolation groove 814, and the sealing plate 816 blocks the ports of the insulating semi-arc sleeve 815 and the isolation groove 814 near the inner side of the L-shaped shell plate 801.

[0070] The heat-conducting seat 806 at the end away from the exhaust port 808 is used to install the heat-generating chip in contact with the data processing and central control module 5. The phase change material 818 is a solid-liquid phase change material. Since the laser 7 is closer to the exhaust port 808 and is at the rear vertical plate 805, the heat is quickly conducted by the rear vertical plate 805 after being generated and is discharged from the exhaust port 808 by the wind flow. The heat-insulating semi-arc sleeve 815 is made of heat-insulating material. The residual heat of the laser 7 is blocked by the isolation groove 814 and the heat-insulating semi-arc sleeve 815, and it is not easy to be directly transferred to the heat-conducting seat 806 where the data processing and central control module 5 is located through the L-shaped shell plate 801, and the phase change material 818 will also absorb part of the transferred heat to maintain temperature stability and keep the chip temperature below the safety line.

[0071] In a preferred solution, a data processing and central control module 5, an analog-to-digital conversion board 12 and a multi-function board 11 are further disposed in the main housing, and a camera interface 17 and a power and signal interface 18 are further disposed on the outside of the main housing.

[0072] The host housing includes a host cover 6 and a host shell 8. The host cover 6 is provided with a window mirror 601. The host cover 6 takes into account the requirements of structural strength and lightness. The window mirror 601 has good light transmittance and can reduce the reflection loss and scattering of incident light. At the same time, a heating function is added to the window mirror 601, so that the window mirror 601 still maintains good performance under extreme environments.

[0073] The body module integrates a laser 7, a data processing and central control module 5, an analog-to-digital conversion board 12, a multi-function board 11, a heat dissipation module, a switch device 10, a data interface 9, a camera interface 17, an aircraft connection socket 19, and a power and signal interface 18.

[0074] Laser 7 is a customized high-precision laser, which is more compatible with the laser radar device used for aircraft in terms of size, parameters, interface, precision, etc.; The data processing and central control module 5 integrates the functions of processing point cloud data and operating control of the entire laser radar system. The core heating unit of the module is in effective contact with the body through the heat sink, which efficiently conducts the heat to ensure the normal operation of the module; The analog-to-digital conversion board 12 can realize the function of converting analog signals into digital signals; The multifunctional board 11 integrates functions such as motor control, power supply, GPS, encoder data conversion, and various peripheral interfaces; The heat dissipation module uses the heat sink to efficiently transfer heat to the body. The body is equipped with heat sinks. The cover plate and the heat sink on the body form an effective air duct. Two fans effectively transfer the heat on the heat sink to the outside of the device through the fans, ensuring the normal operation of the entire LiDAR system in extreme environments. The data interface 9 can be in the form of USB or Type-C; The camera interface 17 can be connected to an external camera device and integrated into the laser radar system for use; The aircraft connection seat 19 is the mechanical structure of the laser radar system and the UAV, and the installation is simple and reliable; A power and signal interface 18, which can be used to power the laser radar system through the drone and connect to the antenna and data on the drone; The scanning mirror module is mainly used to emit outgoing light and recover incident light, which is mainly accomplished through a tower mirror 312. The tower mirror is fixed on the main shaft, and both ends of the main shaft are supported by bearings. One side of the bearing is equipped with a corrugated spring 310 to eliminate bearing clearance. The tower mirror 312 is driven by a motor, and an encoder 4 for controlling the motor is provided on the end face of the main shaft.

[0075] The light receiving module can not only recycle the incident light, but also adjust the outgoing light and the incident light. The light receiving module mainly comprises: a focusing cover 16, a light receiving plate 13, a light receiving adjustment device 14, a seed light plate 15, an inertial sensor 20, an outgoing light adjustment device 1, and a collimator 101.

[0076] The laser radar is mounted on the drone and emits a pulsed laser beam through a high-precision laser 7. The laser beam is emitted through a collimator 101 and then passes through two reflectors. After the light reaches the reflecting surface of the rotating tower mirror 312, it is emitted through the window mirror 601.

[0077] The emitted laser pulse passes through the atmosphere to the surface of the target object and is reflected back from there. Since laser has high directionality, it can be accurately pointed to a specific target.

[0078] When the laser pulse is reflected by the target, part of the energy will pass through the window mirror 601, the tower mirror 312, and the focusing cover 16 in sequence, and finally be received by the detector (the detector is integrated on the light receiving plate 13), and the time taken for this process is recorded. According to the time required for the laser to go back and forth and the speed of light, the distance between the emission point and the target can be calculated.

[0079] By using the global positioning system (GPS integrated on the multifunction board 11) to determine the position of the aircraft and the inertial navigation system (INS) to monitor the change of the aircraft's attitude, the exact position and attitude of the aircraft when each laser pulse is emitted can be known, and the measured distance can be converted into three-dimensional coordinates.

[0080] All the data collected, including the position and intensity of the laser point and other possible information (such as the number of echoes), will be integrated to form point cloud data. Point cloud is a collection of points in three-dimensional space, each of which represents the location information of a point in the real world.

[0081] After the point cloud is filtered and classified by data processing software, the final products are digital terrain model (DTM), digital surface model (DSM), vegetation height model (CHM), etc. These models can be used in various applications, such as urban planning, forest resource survey, disaster risk assessment, etc.

[0082] In addition, the onboard laser scanning system also has an interface for connecting a digital camera. When the laser radar device carried by the aircraft is used with a camera, the onboard laser scanning can obtain optical images, thereby providing richer geographic information. Combining laser radar data and optical images can further enhance the data quality of the point cloud through color information and help better understand and interpret the collected data.

[0083] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A laser radar device for use in an aircraft, characterized in that: The invention comprises a mainframe housing, an aircraft connection seat (19) is arranged on the outer side of the mainframe housing, the mainframe housing comprises a mainframe cover (6) and a mainframe shell (8), a laser (7), an output light adjustment component (1) and a scanning component (3) are arranged inside the mainframe housing, the scanning component (3) comprises a rotatable tower mirror (312), the mainframe cover (6) is provided with a transparent window mirror (601), the laser (7) emits a pulse laser beam, which reaches the scanning component (3) after the output light adjustment component (1) adjusts the angle of the beam, and the laser beam is reflected by the scanning component (3) and passes through the window mirror (601) to reach the outside; a light receiving plate (13) and a condenser (16) are also provided, the laser beam is reflected by a target and passes through the window mirror (601) to reach the tower mirror (312), is reflected to the condenser (16) and finally converges to the light receiving plate (13); an L-shaped air duct (803) is arranged inside the mainframe shell (8), air is inlet at one end of the L-shaped air duct (803) and air is outlet at the other end of the L-shaped air duct (803).

2. The laser radar device for aircraft according to claim 1, characterized in that: The output light adjustment component (1) comprises a right-angle reflection prism (108) and a mounting base block (104), wherein the right-angle reflection prism (108) is arranged at the center of one side of a condenser (16), and a light receiving plate (13) is arranged on the other side of the condenser (16), and the mounting base block (104) is provided with a central hollow hole (116), and the right-angle reflection prism (108) is arranged in the central hollow hole (116), and a collimator (101) is arranged on one side of the mounting base block (104), and the collimator (101) ) is provided with an inclined plane reflector (102) at the end thereof, the laser light originates from the collimator (101), is reflected by the plane reflector (102) to the right-angle reflective prism (108), and is reflected again, the collimator (101) is rotatable, a rotating seat (109) is provided on one side of the right-angle reflective prism (108), the rotating seat (109) is rotatably connected to the inner wall of the central hollow hole (116), and the rotation axis of the collimator (101) and the axis of the rotating seat (109) are arranged in a non-planar cross pattern.

3. The laser radar device for aircraft according to claim 2, characterized in that: A side ear seat (117) is provided on the side wall of the mounting base block (104), the side ear seat (117) is provided with a through hole, the through hole of the side ear seat (117) is rotatably sleeved with the collimator (101), a first adjustment seat (103) is provided between the end of the collimator (101) and the plane reflector (102), a first base block (105) is provided at the end of the side ear seat (117), a first adjustment top screw (106) and a second adjustment top screw (107) are provided on the first base block (105), and the first adjustment top screw (106) and the second adjustment top screw (107) are threadedly connected. The end of the joint top screw (107) passes through the first base block (105) to abut against the first adjustment seat (103); the first adjustment seat (103) is provided with a first arc-shaped hole (119) and a pin hole (122); a first locking screw (120) is provided in the first arc-shaped hole (119); the first locking screw (120) is threadedly connected to the side ear seat (117); a countersunk hole (121) is provided on the side ear seat (117); the countersunk hole (121) is communicated with the pin hole (122); and the diameter of the countersunk hole (121) is larger than the pin hole (122).

4. The laser radar device for aircraft according to claim 2, characterized in that: A rotatable second adjustment seat (110) is provided on the outer wall of the central hollow hole (116); the second adjustment seat (110) is connected to a rotating seat (109) of the right-angle reflection prism (108); a second base block (111) is provided on one side of the end of the central hollow hole (116); a third adjustment top screw (112) and a fourth adjustment top screw (113) which are threadedly connected are provided on the second base block (111); ends of the third adjustment top screw (112) and the fourth adjustment top screw (113) pass through the second base block (111) to abut against the second adjustment seat (110).

5. The laser radar device for aircraft according to claim 1, characterized in that: The scanning assembly (3) comprises a main frame (304), a tower mirror (312) is arranged on the main frame (304), the tower mirror (312) has a plurality of reflection surfaces (319) along the circumference of the main axis (301), and the scanning assembly (3) also comprises a rotatable main axis (301), the main frame (304) is provided with a first vertical plate portion (317) and a second vertical plate portion (318), two ends of the main axis (301) are respectively rotatably connected to the first vertical plate portion (317) and the second vertical plate portion (318), and the tower mirror (312) is sleeved on the main axis (301) and is located between the first vertical plate portion (317) and the second vertical plate portion (318).

6. The laser radar device for aircraft according to claim 5, characterized in that: The first vertical plate portion (317) is provided with a first bearing (302), the second vertical plate portion (318) is provided with a second bearing (303), the two ends of the main shaft (301) are respectively sleeved with the first bearing (302) and the second bearing (303), the two ends of the main shaft (301) are respectively provided with a first shaft shoulder portion (320) and a second shaft shoulder portion (321), the first shaft shoulder portion (320) abuts against the end of the first bearing (302), the second shaft shoulder portion (321) abuts against the inner ring of the second bearing (303), and the second vertical plate portion (318) is provided with the second bearing (303) A corrugated spring (310) is provided on a side away from the first bearing (302), and one end of the corrugated spring (310) presses the outer ring of the second bearing (303); the second vertical plate portion (318) is provided with a sinking groove space (323), the corrugated spring (310) is arranged in the sinking groove space (323), and a pressure cover (311) is provided at the open end of the sinking groove space (323), the pressure cover (311) abuts against the other end of the corrugated spring (310), and the pressure cover (311) is provided with a clamping screw (322), and the clamping screw (322) is threadedly connected to the second vertical plate portion (318).

7. The laser radar device for aircraft according to claim 5, characterized in that: A tower mirror driving motor is also provided, the tower mirror driving motor comprises a motor stator (316) and a motor rotor (314) which are sleeved together; a motor seat (307) is provided on the inner side of the second vertical plate portion (318), the motor stator (316) is sleeved on the motor seat (307); a flange (315) is provided on the tower mirror (312), the motor rotor (314) is sleeved on the inner side of the flange (315); an encoder (4) is provided on the second vertical plate portion (318), and one end of the main shaft (301) close to the tower mirror driving motor is sleeved on the encoder (4).

8. The laser radar device for aircraft according to claim 1, characterized in that: The main body housing (8) comprises an L-shaped housing plate (801) and a housing bottom cover (802) that are locked together. An L-shaped air passage (803) is provided between the L-shaped housing plate (801) and the housing bottom cover (802). An air inlet (807) is provided on the housing bottom cover (802). The L-shaped housing plate (801) is provided with a rear vertical plate portion (805). A side wall of the rear vertical plate portion (805) is provided with an exhaust port (808) that is in communication with the L-shaped air passage (803). 01) is provided with a plurality of heat-conducting seats (806) for mounting heating elements on the inner side, a plurality of heat-dissipating fins (809) are provided on a side of the L-shaped shell plate (801) close to the L-shaped air duct (803), the plurality of heat-dissipating fins (809) are arranged in parallel to form an air duct (810), a centrifugal fan (812) is provided at an air inlet (807) in the L-shaped air duct (803), and an air outlet of the centrifugal fan (812) faces a side close to the exhaust port (808).

9. The laser radar device for aircraft according to claim 8, characterized in that: A heat conducting seat (806) at one end of the inner side of the L-shaped shell plate (801) near the exhaust port (808) is used to install a laser (7); an isolation groove (814) is provided at the L-shaped bend on the inner side of the L-shaped shell plate (801); a heat insulating semi-arc sleeve (815) is provided at the isolation groove (814); a sealing rubber layer (817) is provided between the heat insulating semi-arc sleeve (815) and the inner wall of the isolation groove (814); a phase change material (818) is provided in the heat insulating semi-arc sleeve (815); a sealing plate (816) is further provided at one end of the isolation groove (814); the sealing plate (816) blocks the ports of the heat insulating semi-arc sleeve (815) and the isolation groove (814) near the inner side of the L-shaped shell plate (801).

10. The laser radar device for aircraft according to claim 1, characterized in that: A data processing and central control module (5), an analog-to-digital conversion board (12) and a multifunctional board (11) are also provided inside the main housing, and a camera interface (17) and a power supply and signal interface (18) are also provided outside the main housing.

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