Laser radar device for aircraft

Abstract

The present application discloses a laser radar device for aircraft, comprising a host housing, an aircraft connection seat being provided on the outside of the host housing, the host housing comprising a host cover and a host shell, a laser, an output light adjustment component and a scanning component being provided inside the host housing, the scanning component comprising a rotatable tower mirror, the host cover being provided with a transparent window mirror, the laser emitting a pulsed laser beam reaching the scanning component after the angle is adjusted by the output light adjustment component, the laser being reflected by the scanning component and passing through the window mirror to the outside; a light receiving plate and a light collecting cover being further provided, the laser being reflected by the target and passing through the window mirror to the tower mirror, being reflected to the light collecting cover and finally converging onto the light receiving plate; an L-shaped air duct being provided inside the host shell, the air being taken in at one end of the L-shaped air duct and being discharged at the other end, thereby solving the problems of high wind resistance, heavy weight and poor heat dissipation of the traditional laser radar structure.

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 aircraft. Background Art

[0002] Aircraft-mounted LiDAR systems are complex systems that integrate multiple technologies, including a global positioning system (GPS), an inertial navigation system (INS), LiDAR, a digital camera, a central control unit, data processing software, and multi-sensor fusion. A core component is the internal laser scanning device. Aircraft-mounted LiDAR systems use a laser transmitter to emit laser pulses toward the ground and receive the reflected laser pulses. By measuring the time interval between the emission and return of the laser pulse and combining it with the speed of light, the propagation distance of the laser pulse can be calculated, thereby determining the precise location of the ground point.

[0003] Most existing lidars are bulky and heavy, with protruding external structures that defy streamlined design, making them unsuitable for use on drones. Furthermore, since drones operate in a circular fashion, electrical components are primarily encapsulated within the device, inevitably leading 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 traditional laser radar structures.

[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 main body shell, an aircraft connecting seat is provided on the outside of the main body shell, the main body shell includes a main body cover and a main body shell, a laser, an output light adjustment component and a scanning component are provided in the main body shell, the scanning component includes a rotatable tower mirror, the main body 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 it reaches the scanning component, the laser is reflected by the scanning component and passes through the window mirror to the outside; a light receiving plate and a focusing cover are also provided, the laser is reflected by the target, passes through the window mirror to the tower mirror, is reflected to the focusing cover and finally converges on the light receiving plate; an L-shaped air duct is provided in the main body 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 solution, 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-receiving plate is provided 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 reflector is provided at the end of the collimator. The laser starts from the collimator, is reflected by the plane reflector 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 solution, 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 socketed 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 are provided on the first base block, and the ends of the first adjustment top screw and the second adjustment top screw pass through the first base block to rest on 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, and 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 the preferred embodiment, a rotatable second adjustment seat is provided on the outer wall of the central hollow hole, 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 provided on the second base block with threaded connections, and 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 solution, 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 the two ends of the main axis are respectively rotatably connected to the first vertical plate portion and the second vertical plate portion, 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 solution, the first vertical plate portion is provided with a first bearing, the second vertical plate portion 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 portion and a second shaft shoulder portion, the first shaft shoulder portion abuts against the end of the first bearing, the second shaft shoulder abuts against the inner ring of the second bearing, a corrugated spring is provided on the side of the second bearing on the second vertical plate portion away from the first bearing, and one end of the corrugated spring squeezes the outer ring of the second bearing; the second vertical plate portion is provided with a groove space, the corrugated spring is provided 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 portion.

[0011] In the preferred solution, a tower mirror drive motor is also provided, which includes a motor stator and a motor rotor that are socketed together. 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 the encoder is socketed on one end of the main shaft close to the tower mirror drive motor.

[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. 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 mounting heating elements are provided on the inner side of the L-shaped shell plate. A plurality of heat dissipating fins are provided on the side of the L-shaped shell plate close to the L-shaped air duct. The plurality of heat dissipating fins are arranged in parallel to form an air duct. A centrifugal fan is provided at the air inlet in the L-shaped air duct, and the air outlet of the centrifugal fan is directed to the side close to the exhaust port.

[0013] In the preferred solution, 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, an insulating semi-arc sleeve is provided at the isolation groove, a sealant layer is provided between the insulating semi-arc sleeve and the inner wall of the isolation groove, a phase change material is provided in the insulating semi-arc sleeve, and a sealing plate is also provided at one end of the isolation groove, which seals the insulating semi-arc sleeve and the port of the isolation groove near the inner side of the L-shaped shell plate.

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

[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 transmitted and received 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-heating components such as the laser are arranged closer to the duct outlet to avoid hot air backflow affecting the normal operation of the main control chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and examples.

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

[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 installation 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] Figure 9 This is a diagram of the scanning component structure.

[0026] Figure 10 is a cross-sectional view of the scanning component.

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

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

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

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

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

[0032] Figure 16 This is the bottom side view of the host housing.

[0033] Figure 17 This is a schematic diagram of the outer side of the L-shaped shell.

[0034] Figure 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 light reflected by the right-angle prism 114; the optical axis 115; the central hollow hole 116; the side ear seat 117; the light hole 11 8; first arc-shaped hole 119; first locking screw 120; countersunk hole 121; pin hole 122; outlet position 2; laser moving line 201; scanning assembly 3; main shaft 301; first bearing 302; second bearing 303; main frame 304; first end locking nut 305; end cover 306; motor base 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; reflective surface 319; first shaft shoulder portion 320; second shaft shoulder portion 321; pressing screw 322; sink space 323; encoder 4; data processing and central control module 5; mainframe cover 6; window mirror 601; laser 7; mainframe 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; thermal conductive 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; thermal 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 is provided, comprising a mainframe housing, an aircraft connection seat 19 is provided on the outside 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 provided in the mainframe housing, the scanning component 3 comprises a mainframe 304, a rotatable tower mirror 312 is provided on the mainframe 304, the tower mirror 312 has multiple reflecting surfaces 319 along the circumference of the main axis 301, the mainframe cover 6 is provided with a transparent window mirror 601, the output light adjustment component 1 comprises 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. The laser is reflected by the reflection surface 319 and passes through the window mirror 601 to the outside. A focus cover 16 is also provided. The right-angle reflection prism 108 is arranged in the center of one side of the focus cover 16. A light receiving plate 13 is provided on the other side of the focus cover 16. After being reflected by the target, the laser passes through the window mirror 601 and reaches the tower mirror 312. It is reflected by the reflection surface 319 to the focus cover 16 and finally converges on the light receiving plate 13. An L-shaped air duct 803 is provided in the main body shell 8. Air enters one end of the L-shaped air duct 803 and air exits the other end of the L-shaped air duct 803.

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

[0038] L-shaped air duct 803 separates the internal component space formed by the main unit cover 6 and the main unit housing 8, ensuring a good internal seal. L-shaped air duct 803 communicates with the outside, quickly dissipating heat from the internal component space. The L-shaped structure widens the contact area with the heat dissipation duct, effectively improving heat dissipation efficiency.

[0039] In a preferred embodiment, the output light adjustment component 1 includes a mounting base block 104, which is provided with a central hollow hole 116, and a right-angle reflection prism 108 is provided in the central hollow hole 116. A collimator 101 is provided on one side of the mounting base block 104, and an inclined plane reflector 102 is provided at the end of the collimator 101. The laser starts from the collimator 101, is reflected by the plane reflector 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 pattern.

[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 light 114 reflected again by the right-angle prism needs to be parallel to the optical axis 115.

[0041] The axis of the swivel 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 reflecting prism 108 can be arranged in different planes and perpendicularly. When they are in different planes and perpendicularly, the adjustment of the plane reflecting 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. 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. 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 bracket 117 can be tilted at a certain angle so that the central axis of the collimator 101 is not perpendicular to the central axis of the rotating base 109, thereby ensuring a reasonable bending angle of the wire 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 reflecting 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 screw 106 pushes out the second adjusting screw 107 and retracts, and the first adjusting seat 103 rotates clockwise; the second adjusting screw 107 pushes out the first adjusting screw 106 and retracts, and the output light adjustment component 1 rotates counterclockwise.

[0048] Initially, the first locking screw 120 is loosened. After the optical axis is adjusted, the first locking screw 120 is tightened. Glue is then poured into the pin hole 122, and some of the glue flows into the sink hole 121 and waits for solidification. 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 rotating 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 are threadedly connected 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 rest on 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 the preferred embodiment, the scanning assembly 3 includes a rotatable main shaft 301, the main frame 304 is provided with a first vertical plate portion 317 and a second vertical plate portion 318, the 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 the occurrence of swinging similar to a cantilever structure.

[0053] A concave cavity is provided in the center of the tower mirror 312, and a positioning flange is provided in the middle of the main shaft 301. The bottom end of the concave cavity rests on the positioning flange, and a second end lock 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 the occurrence of swinging similar to a cantilever structure.

[0055] A concave cavity is provided in the center of the tower mirror 312, and a positioning flange is provided in the middle of the main shaft 301. The bottom end of the concave cavity rests on the positioning flange, and a second end lock 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 is provided on the second vertical plate portion 318. 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 drive motor is further provided, which includes a motor stator 316 and a motor rotor 314 that are socketed together. A motor seat 307 is provided on the inner side of the second vertical plate 318, and the motor stator 316 is socketed on the motor seat 307. The tower mirror 312 is provided with a flange 315, 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 318, and the main shaft 301 is socketed with the encoder 4 at one end close to the tower mirror drive motor.

[0060] The flange 315 is fixedly connected to the tower mirror 312, and the tower mirror 312 and the main shaft 301 are sleeved together and rotate synchronously.

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

[0062] In the 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. The inner side of the L-shaped shell plate 801 is provided with a plurality of heat-conducting seats 806 for installing heating elements. The side of the L-shaped shell plate 801 close to the L-shaped air duct 803 is provided with a plurality of heat dissipation fins 809. The plurality of heat dissipation 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 their contact area with the air. Heat within the component mounting space is quickly transferred to the heat dissipation fins 809 through the heat conduction base 806 and carried away by the airflow. A centrifugal fan 812 draws air in through the air inlet 807 and blows air out from the starting end of the air duct 810 toward the exhaust port 808, quickly removing heat from the heat dissipation fins 809.

[0064] Each heat-conducting seat 806 is provided with a heat-conducting silicon chip, and the heat-conducting silicon chip is arranged between the heat-conducting seat 806 and components such as the core board and the laser to ensure a good thermal conductivity coefficient.

[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 bottom cover 802 of the shell. The L-shaped shell plate 801 is also provided with a plurality of raised screw mounting columns. The edge of the shell bottom cover 802 is buckled and sealed with the edge of the L-shaped shell plate 801. The screw mounting columns and the raised frame portion 811 stop the bottom cover 802 of the shell and are connected with screws here, 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 main body shell 8.

[0066] A front vertical plate portion 804 is provided 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 provided on the inner side surface of the front vertical plate portion 804 .

[0067] The rear upright 805 and the weight-reducing groove 813 give the L-shaped shell 801 an asymmetrical U-shaped structure, forming a snap-fit ​​stop for the main unit cover 6, facilitating a more secure attachment of the main unit cover 6 to the main unit housing 8. The air inlet 807 is located near one side of the weight-reducing groove 813, and some heating components rest against the inner side of the groove 813, expanding the component installation space.

[0068] A weight-reducing groove 813 is provided 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. 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. 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. The sealing plate 816 blocks the insulating semi-arc sleeve 815 and the port of 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 is not easy to be directly transferred through the L-shaped shell plate 801 to the heat-conducting seat 806 where the data processing and central control module 5 is located. In addition, 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 provided in the main body shell, and a camera interface 17 and a power and signal interface 18 are further provided on the outside of the main body shell.

[0072] The main unit housing comprises a main unit cover 6 and a main unit casing 8. Cover 6 is provided with a window mirror 601, which balances structural strength with lightweight design. Window mirror 601 offers excellent light transmittance, reducing reflection loss and scattering of incident light. Furthermore, a heating function is incorporated into window mirror 601, ensuring it maintains excellent performance even in extreme environments.

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

[0074] Laser 7 is a customized high-precision laser that is more compatible with the aircraft-mounted laser radar device in terms of dimensions, parameters, interfaces, and accuracy.

[0075] The data processing and central control module 5 integrates the functions of processing point cloud data and controlling the operation of the entire lidar system. The core heating unit of this module is in effective contact with the body through the heat sink, which efficiently conducts heat away to ensure the normal operation of the module.

[0076] The analog-to-digital conversion board 12 can convert analog signals into digital signals;

[0077] The multifunctional board 11 integrates functions such as motor control, power supply, GPS, encoder data conversion, and various peripheral interfaces;

[0078] The heat dissipation module uses heat sinks to efficiently transfer heat to the body. The body is equipped with heat sinks. The cover and the heat sinks on the body form an effective air duct. Two fans effectively transfer the heat from the heat sink to the outside of the device through the fans, ensuring the normal operation of the entire LiDAR system in extreme environments.

[0079] The data interface 9 can be in the form of USB or Type-C;

[0080] The camera interface 17 can be connected to an external camera device and integrated into the laser radar system;

[0081] The aircraft connection seat 19 is the mechanical structure of the laser radar system and the UAV, which is simple and reliable to install;

[0082] The power supply and signal interface 18 can be used to power the lidar system through the drone and connect to the antenna and data on the drone;

[0083] The scanning mirror module is mainly used to emit outgoing light and recover incident light, which is mainly accomplished through the tower mirror 312. The tower mirror is fixed on the main shaft, and the two 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 the end face of the main shaft is provided with an encoder 4 for controlling the motor.

[0084] The light receiving module not only recycles the incident light but also adjusts the outgoing and incoming light. The main components of the light receiving module are: 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.

[0085] The laser radar is mounted on the UAV 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.

[0086] The emitted laser pulse passes through the atmosphere and reaches the surface of the target object, from where it is reflected back. Since the laser has high directionality, it can accurately point to a specific target.

[0087] After a laser pulse is reflected by a target, a portion of its energy passes through window mirror 601, tower mirror 312, and focusing shield 16, ultimately being received by a detector (integrated into light-receiving plate 13). The time taken for this process is recorded. Based on the round-trip time and the speed of light, the distance between the emission point and the target can be calculated.

[0088] By using the global positioning system (GPS integrated on the multi-function board 11) to determine the position of the aircraft and the inertial navigation system (INS) to monitor the changes in 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.

[0089] All the collected data, including the laser point's position, intensity, and possibly other information (such as the number of echoes), is combined to form a point cloud. A point cloud is a collection of points in three-dimensional space, each representing the location of a specific point in the real world.

[0090] After data processing software filters and classifies the point cloud, products such as digital terrain models (DTMs), digital surface models (DSMs), and vegetation height models (CHMs) can be obtained. These models can be used in various applications, such as urban planning, forest resource surveys, and disaster risk assessments.

[0091] The onboard laser scanning system also features an interface for connecting to a digital camera. When used with a camera, the aircraft's onboard laser radar (LiDAR) device can capture optical images, providing even richer geographic information. Combining LiDAR data with optical images further enhances point cloud data quality through color information, aiding in better understanding and interpretation of the collected data.

[0092] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A laser radar device for use on an aircraft, characterized by: The invention comprises a mainframe housing, an aircraft connection seat (19) is provided on the outside 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 provided in 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 pulsed laser beam, which reaches the scanning component (3) after adjusting the angle by the output light adjustment component (1), 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 light collecting cover (16) are also provided, the laser beam is reflected by the target and passes through the window mirror (601) to reach the tower mirror (312), is reflected to the light collecting cover (16) and finally converges to the light receiving plate (13); an L-shaped air duct (803) is provided in the mainframe shell (8), one end of the L-shaped air duct (803) is for air intake, and the other end of the L-shaped air duct (803) is for air discharge; The output light adjustment component (1) includes 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 the condenser (16), and a light receiving plate (13) is provided 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 provided 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 starts 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 swivel seat (109) is provided on one side of the right-angle reflective prism (108). The swivel seat (109) is rotatably connected to the inner wall of the central hollow hole (116). The rotation axis of the collimator (101) and the axis of the swivel seat (109) are arranged in a non-planar cross pattern.

2. The laser radar device for aircraft according to claim 1, characterized in that: The side wall of the mounting base block (104) is provided with a side ear seat (117), 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), the end of the side ear seat (117) is provided with a first base block (105), a first adjustment screw (106) and a second adjustment screw (107) are provided on the first base block (105), the first adjustment screw (106) and the second adjustment screw (107) are screwed together, and the first adjustment screw (106) and the second adjustment screw (107) are screwed together. The end of the joint top wire (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 hole (119) and a pin hole (122), the first arc hole (119) is provided with a first locking screw (120), the first locking screw (120) is threadedly connected to the side ear seat (117), the side ear seat (117) is provided with a sink hole (121), the sink hole (121) is communicated with the pin hole (122), and the diameter of the sink hole (121) is larger than the pin hole (122).

3. The laser radar device for aircraft according to claim 1, characterized in that: 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 rotating seat (109) of the right-angle reflecting prism (108). A second base block (111) is provided on one side of the end of the central hollow hole (116), and a third adjustment top screw (112) and a fourth adjustment top screw (113) are provided on the second base block (111) in threaded connection. 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).

4. The laser radar device for aircraft according to claim 1, characterized in that: The scanning assembly (3) includes a main frame (304), a tower mirror (312) is arranged on the main frame (304), and the tower mirror (312) has multiple reflecting surfaces (319) along the circumference of the main shaft (301). The scanning assembly (3) also includes a rotatable main shaft (301), the main frame (304) is provided with a first vertical plate portion (317) and a second vertical plate portion (318), and the 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).

5. The laser radar device for aircraft according to claim 4, 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 bearing (303) is on the second vertical plate portion (318). 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).

6. The laser radar device for aircraft according to claim 4, characterized in that: A tower mirror drive motor is also provided, and the tower mirror drive motor includes a motor stator (316) and a motor rotor (314) that are sleeved together. A motor seat (307) is provided on the inner side of the second vertical plate portion (318), and the motor stator (316) is sleeved on the motor seat (307). The tower mirror (312) is provided with a flange (315), and 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 drive motor is sleeved with the encoder (4).

7. The laser radar device for aircraft according to claim 1, characterized in that: The main body shell (8) includes an L-shaped shell plate (801) and a shell bottom cover (802) that are fastened together. The L-shaped air duct (803) is provided 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) that is in communication with the L-shaped air duct (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).

8. The laser radar device for aircraft use according to claim 7, 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 the 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), and a sealing plate (816) is further provided at one end of the isolation groove (814), and the sealing plate (816) blocks the heat insulating semi-arc sleeve (815) and the isolation groove (814) near the inner side of the L-shaped shell plate (801).

9. 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 multi-function board (11) are also provided in the main housing, and a camera interface (17) and a power supply and signal interface (18) are also provided on the outside of the main housing.

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