Unmanned aerial vehicle mounted laser radar equipment capable of adaptively selecting GNSS signal source and unmanned aerial vehicle

Abstract

The invention provides unmanned aerial vehicle mounted laser radar equipment capable of adaptively selecting a GNSS signal source and an unmanned aerial vehicle. An antenna power supply module supplies power to a special GNSS antenna, outputs a current value as a preset value under the condition of entering a short-circuit protection state, and outputs a current within a preset current value range under the condition of normally supplying power to the special GNSS antenna; the current detection module detects a current value input into the special GNSS antenna in real time; the control module acquires a current value detected by the current detection module in real time, and controls the single-pole double-throw switch to be switched to the unmanned aerial vehicle GNSS source when the current value is a preset value or zero, so that the laser radar module and the data processing unit are communicated with the unmanned aerial vehicle GNSS source; and under the condition that the current value is within the preset current value range, the single-pole double-throw switch is controlled to be switched to the special GNSS antenna, so that the laser radar module and the data processing unit are communicated with the special GNSS antenna.

Description

Technical Field

[0001] The present invention relates to the field of UAV surveying and mapping, and in particular to the field of laser radar equipment technology, and discloses a UAV-mounted laser radar equipment and a UAV that can adaptively select a GNSS signal source. Background Art

[0002] UAV lidar systems are widely used in terrain surveying, power transmission line inspection and other fields. In these scenarios, lidar equipment usually needs to use a GNSS system to obtain precise time and location information to ensure the accuracy of the measurement data.

[0003] At present, due to location and other reasons, GNSS signal reception may be poor or even interrupted, which seriously affects the detection accuracy of terrain surveying, line inspection, etc. In order to solve this problem, many drones have integrated GNSS receiving modules. At the same time, in order to improve positioning accuracy, they are also equipped with dedicated GNSS antennas. However, these devices or systems usually require users to manually switch GNSS signal sources or configure them at the software level, which is cumbersome, error-prone, and inefficient. Summary of the invention

[0004] The present disclosure at least provides a UAV-mounted laser radar device and a UAV that can adaptively select a GNSS signal source, so as to solve the defects of complex operation and low efficiency in switching the GNSS signal source of the laser radar in the prior art.

[0005] According to one aspect of the present disclosure, a UAV-mounted laser radar device for adaptively selecting a GNSS signal source is provided, comprising:

[0006] A laser radar module, a data processing unit, a GNSS signal source selection circuit, a UAV GNSS source, and a dedicated GNSS antenna; wherein the laser radar module and the GNSS signal source selection circuit are both connected to the data processing unit, and the UAV GNSS source and the dedicated GNSS antenna are connected to the GNSS signal source selection circuit;

[0007] The GNSS signal source selection circuit includes a single-pole double-throw switch, an antenna power supply module, a current detection module, a control module and a GNSS module; wherein the UAV GNSS source is connected to one contact of the single-pole double-throw switch, and the dedicated GNSS antenna is connected to another contact of the single-pole double-throw switch through the GNSS module; the antenna power supply module is connected to the dedicated GNSS antenna through the current detection module connected in series; the current detection module is connected to the control module, and the control module is connected to the single-pole double-throw switch;

[0008] The antenna power supply module is used to supply power to the dedicated GNSS antenna, and when entering a short circuit protection state, the output current value is a predetermined value, and when supplying power to the dedicated GNSS antenna normally, the output current is within a predetermined current value range;

[0009] The current detection module is used to detect the current value input to the dedicated GNSS antenna;

[0010] The control module is used to obtain the current value detected by the current detection module in real time, and when the current value is the predetermined value or zero, control the single-pole double-throw switch to switch to the UAV GNSS source so that the laser radar module and the data processing unit are connected to the UAV GNSS source; when the current value is within the predetermined current value range, control the single-pole double-throw switch to switch to the dedicated GNSS antenna so that the laser radar module and the data processing unit are connected to the dedicated GNSS antenna.

[0011] In a possible implementation, the control module is connected to the current detection module via an I2C interface.

[0012] In a possible implementation, the antenna power supply module is a low voltage drop linear regulator chip.

[0013] In a possible implementation manner, the predetermined current value ranges from 30 mA to 55 mA.

[0014] In a possible implementation manner, the dedicated GNSS antenna is pluggable.

[0015] In a possible implementation manner, the antenna power supply module has a short circuit protection function.

[0016] In a possible implementation manner, the detection sensitivity of the current detection module is at the milliampere level.

[0017] In a possible implementation, the control module controls the single-pole double-throw switch to connect the dedicated GNSS antenna or the UAV GNSS source through the level of the SEL pin.

[0018] According to another aspect of the present disclosure, a drone is provided, which includes a drone body and a laser radar device mounted on the drone body, wherein the laser radar device is a drone-mounted laser radar device that adaptively selects a GNSS signal source as described in any of the above items.

[0019] The UAV-mounted laser radar device for adaptively selecting a GNSS signal source disclosed in the present invention comprises a laser radar module, a data processing unit, a GNSS signal source selection circuit, a UAV GNSS source, and a dedicated GNSS antenna; wherein the laser radar module and the GNSS signal source selection circuit are both connected to the data processing unit, and the UAV GNSS source and the dedicated GNSS antenna are connected to the GNSS signal source selection circuit; the GNSS signal source selection circuit comprises a single-pole double-throw switch, an antenna power supply module, a current detection module, a control module, and a GNSS module; wherein the UAV GNSS source is connected to one contact of the single-pole double-throw switch, and the dedicated GNSS antenna is connected to the other contact of the single-pole double-throw switch through the GNSS module; the antenna power supply module is connected to the dedicated GNSS antenna through the current detection module connected in series; the current detection module is connected to the control module, and the control module is connected to the single-pole double-throw switch. The antenna power supply module is used to power the dedicated GNSS antenna, and when entering the short-circuit protection state, the output current value is a predetermined value, and when the dedicated GNSS antenna is normally powered, the current within the predetermined current value range is output; the current detection module is used to detect the current value input to the dedicated GNSS antenna; the control module is used to obtain the current value detected by the current detection module in real time, and when the current value is the predetermined value or zero, control the single-pole double-throw switch to switch to the drone GNSS source, so that the laser radar module and the data processing unit are connected to the drone GNSS source; when the current value is within the predetermined current value range, control the single-pole double-throw switch to switch to the dedicated GNSS antenna, so that the laser radar module and the data processing unit are connected to the dedicated GNSS antenna. The technical solution disclosed in the present invention can automatically detect and select the best GNSS signal source through an automated GNSS signal source selection mechanism, significantly improving the convenience and switching efficiency of the operation of the drone laser radar device in the process of switching the GNSS signal source, and improving the efficiency of GNSS signal acquisition, and is suitable for high-precision measurement tasks in various complex environments. At the same time, by automatically selecting the best GNSS signal source, it is possible to ensure the most accurate time and location information, improve data accuracy, and thus help improve the positioning accuracy of the drone. In addition, the solution disclosed in the present invention simplifies the operation process of switching the GNSS signal source, and the user does not need to manually switch the signal source or perform complex configurations, thereby improving the user experience. Furthermore, the solution disclosed in the present invention has high scene applicability and flexibility, and is suitable for drones with different configurations.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0022] Figure 1 It is a structural schematic diagram of a UAV-mounted laser radar device that adaptively selects a GNSS signal source according to the present disclosure;

[0023] Figure 2 is a schematic diagram of the structure of a GNSS signal source selection circuit according to an embodiment of the present disclosure;

[0024] Figure 3 Schematic diagram of the structure of a drone according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0026] A drone, also known as an unmanned aircraft, is an aircraft that flies autonomously through remote control or preset programs. In recent years, drone technology has developed rapidly, and its flight stability, maneuverability and load capacity have been significantly improved. LiDAR is a sensor that measures distance by emitting lasers and receiving reflected signals. It has the advantages of high precision, high resolution and high efficiency, and can obtain three-dimensional information of target objects in real time.

[0027] Drones equipped with LiDAR have the following advantages:

[0028] High-precision mapping: The high-precision measurement capability of LiDAR enables drones to accurately map the ground from the air and generate high-resolution three-dimensional topographic maps. This is of great significance in areas such as terrain monitoring, urban planning, and forestry surveys.

[0029] Efficient data collection: Drones equipped with LiDAR can cover large areas in a short period of time and collect data quickly. Compared with traditional manual surveying methods, drone surveying greatly improves work efficiency.

[0030] All-weather operation: LiDAR is not affected by weather and lighting conditions and can operate in a variety of environments. This makes UAV-mounted LiDAR an all-weather mapping tool.

[0031] In the agricultural field, drones equipped with LiDAR can be used for precise mapping of farmland and crop growth monitoring. By collecting three-dimensional terrain data and crop growth information of farmland, farmers can formulate more scientific planting plans and management strategies. In the forestry field, drones equipped with LiDAR can be used for forest resource survey and monitoring. By obtaining three-dimensional topographic maps of forests and tree growth information, forestry departments can more accurately assess the quantity and quality of forest resources and provide strong support for the sustainable development of forestry. In the field of urban planning, drones equipped with LiDAR can be used for three-dimensional modeling and planning of cities. By collecting three-dimensional information and terrain data of urban buildings, planning departments can more intuitively understand the current situation and development potential of cities and provide a more scientific basis for urban planning. In the field of environmental monitoring, drones equipped with LiDAR can be used for air quality monitoring, water quality monitoring and ecological protection. By collecting three-dimensional information of the atmosphere, water bodies and vegetation, environmental protection departments can more accurately assess environmental quality and provide more effective means for environmental protection.

[0032] Drone-mounted LiDAR has broad application prospects and huge market potential. With the continuous advancement of technology and the expansion of the market scale, drone-mounted LiDAR will play an important role in more fields.

[0033] However, there are defects in the process of switching GNSS data sources of drones. In view of the defects of complex operation and low efficiency in switching GNSS signal sources of lidars in the prior art, the present invention provides a drone-mounted lidar device and a drone that can adaptively select GNSS signal sources, wherein the drone-mounted lidar device includes a lidar module, a data processing unit, a GNSS signal source selection circuit, a drone GNSS source, and a dedicated GNSS antenna; the GNSS signal source selection circuit includes a single-pole double-throw switch, an antenna power supply module, a current detection module, a control module, and a GNSS module; the antenna power supply module supplies power to the dedicated GNSS antenna and, in the event of a short circuit, the GNSS antenna is powered on. When the protection state is on, the output current value is a predetermined value, and when the dedicated GNSS antenna is normally powered, the current within the predetermined current value range is output; the current detection module detects the current value input to the dedicated GNSS antenna in real time; the control module obtains the current value detected by the current detection module in real time, and when the current value is a predetermined value or zero, controls the single-pole double-throw switch to switch to the UAV GNSS source, so that the laser radar module and the data processing unit are connected to the UAV GNSS source; when the current value is within the predetermined current value range, controls the single-pole double-throw switch to switch to the dedicated GNSS antenna, so that the laser radar module and the data processing unit are connected to the dedicated GNSS antenna. The technical solution disclosed in the present invention can automatically detect and select the best GNSS signal source through an automated GNSS signal source selection mechanism, significantly improving the convenience and switching efficiency of the operation of the UAV laser radar device in the process of switching the GNSS signal source, and improving the efficiency of GNSS signal acquisition, and is suitable for high-precision measurement tasks in various complex environments. At the same time, by automatically selecting the best GNSS signal source, it can ensure the acquisition of the most accurate time and location information, improve the data accuracy, and thus help improve the positioning accuracy of the UAV. In addition, the solution disclosed in the present invention simplifies the operation process of switching the GNSS signal source, and the user does not need to manually switch the signal source or perform complex configuration, thereby improving the user experience. Furthermore, the solution disclosed in the present invention has high scene applicability and flexibility, and is suitable for drones with different configurations.

[0034] The technical solution of the present disclosure is described below through specific embodiments.

[0035] like Figure 1As shown, it is a schematic diagram of the structure of the UAV-mounted laser radar device that adaptively selects the GNSS signal source of this embodiment. Specifically, the UAV-mounted laser radar device that adaptively selects the GNSS signal source of this embodiment may include the following components: a laser radar module, a data processing unit, a GNSS signal source selection circuit, a UAV GNSS source, and a dedicated GNSS antenna. The laser radar module and the GNSS signal source selection circuit are both connected to the data processing unit, and the UAV GNSS source and the dedicated GNSS antenna are both connected to the GNSS signal source selection circuit.

[0036] In addition to the above-mentioned lidar module, data processing unit, GNSS signal source selection circuit, etc., the drone-mounted lidar equipment can also include components such as interface circuits. This architecture ensures the stable operation of the drone-mounted lidar equipment in different environments and supports multiple drone platforms.

[0037] like Figure 2 As shown, it is a structural schematic diagram of the GNSS signal source selection circuit of this embodiment, and the GNSS signal source selection circuit includes a single-pole double-throw switch, an antenna power supply module, a current detection module, a control module and a GNSS module; wherein the UAV GNSS source is connected to one contact of the single-pole double-throw switch, and the dedicated GNSS antenna is connected to the other contact of the single-pole double-throw switch through the GNSS module; the antenna power supply module is connected to the dedicated GNSS antenna through the current detection module connected in series; the current detection module is connected to the control module, and the control module is connected to the single-pole double-throw switch.

[0038] The antenna power supply module is used to power the dedicated GNSS antenna, and when entering a short-circuit protection state, the output current value is a predetermined value, and when normally powering the dedicated GNSS antenna, the output current is within a predetermined current value range.

[0039] The above-mentioned predetermined value is the short-circuit current of the antenna power supply module. Specifically, the antenna power supply module provides power for the dedicated GNSS antenna. The antenna power supply module can use a high-precision, low-noise low-voltage difference linear regulator chip LDO chip with a rated output current of 400mA, which can provide a stable and clean current for the dedicated GNSS antenna. Since the dedicated GNSS antenna interface belongs to the external interface of the laser radar module and has a pluggable property, the antenna power supply module has the characteristic of short-circuit protection to prevent line damage caused by abnormal wiring short circuit. The antenna power supply module has a short-circuit protection function. After entering the short-circuit protection state, the output current is controlled to 70mA to ensure that the circuit board and related components are not damaged due to excessive current after the short circuit. It can be seen that the above-mentioned predetermined value can be set to 70mA.

[0040] The current detection module is used to detect the current value input to the dedicated GNSS antenna in real time. The control module is used to obtain the current value detected by the current detection module in real time, and when the current value is the predetermined value or zero, control the single-pole double-throw switch to switch to the UAV GNSS source so that the laser radar module and the data processing unit are connected to the UAV GNSS source; when the current value is within the predetermined current value range, control the single-pole double-throw switch to switch to the dedicated GNSS antenna so that the laser radar module and the data processing unit are connected to the dedicated GNSS antenna.

[0041] A current detection module is connected in series in the power supply path of the dedicated GNSS antenna to sense the working current output by the antenna power supply module. The sensitivity of the current detection module used in the circuit is at the milliampere level, with an error of only 1%. The normal working current range of the commonly used dedicated GNSS antenna is 30-55mA, so the real-time working current of the dedicated GNSS antenna can be accurately monitored.

[0042] If a dedicated GNSS antenna is connected to the circuit of the drone mounted laser radar device, the real-time current data recorded by the current detection module is 30-55mA; if a dedicated GNSS antenna is not connected to the circuit of the drone mounted laser radar device, the real-time current data recorded by the current detection module is 0; if the dedicated GNSS antenna wiring is abnormal and short-circuited, the real-time current data recorded by the current detection module is 70mA. It can be seen that the above-mentioned predetermined current value range can be set to 30-55mA.

[0043] A control module is connected to the GNSS signal source selection circuit. This control module can be a CPU, which is connected to the current detection module through an I2C interface. It can obtain current data in real time and control the single-pole double-throw switch SPDT chip to switch the GNSS signal source accordingly. Finally, the selected GNSS signal is sent to the lidar module and the data processing unit.

[0044] When the current detection module detects a stable working current in the range of 30 to 55mA, the control module determines that the dedicated GNSS antenna is working normally and selects the dedicated GNSS antenna as the source of time information; when the current detection module detects that the working current is 0 or 70mA, the control module determines that the dedicated GNSS antenna is not connected or the dedicated GNSS antenna wiring is short-circuited, and the control module controls the UAV-mounted laser radar equipment to automatically switch the signal source to the UAV's built-in GNSS receiving module, that is, the above-mentioned UAV GNSS source.

[0045] The single-pole double-throw switch SPDT chip uses a small package, low impedance, low power consumption, and fast analog switch chip. The level of the SEL pin controls the selection of the GNSS signal source. The delay caused to the GNSS signal can be controlled at the nanosecond level, which is much lower than the microsecond level requirement of the laser radar for time synchronization.

[0046] In some embodiments, a workflow is provided for installing the above-mentioned drone-mounted laser radar device on a drone and using it:

[0047] Step 1: The user installs the lidar device including the lidar module, data processing unit, and GNSS signal source selection circuit on the drone, and connects the dedicated GNSS antenna to the GNSS signal source selection circuit. If you plan not to use the signal source of the dedicated GNSS antenna, you can choose not to connect the dedicated GNSS antenna in this step.

[0048] Step 2: After turning on the UAV mounted laser radar device, the GNSS signal source selection circuit automatically monitors the current state of the GNSS antenna.

[0049] Step 3: Acquire the detection result in real time. When the detected current value is the predetermined value or zero, control the single-pole double-throw switch to switch to the UAV GNSS source, so that the laser radar module and the data processing unit are connected to the UAV GNSS source; when the detected current value is within the predetermined current value range, control the single-pole double-throw switch to switch to the dedicated GNSS antenna, so that the laser radar module and the data processing unit are connected to the dedicated GNSS antenna. Here, the best GNSS signal source is automatically selected without manual intervention.

[0050] Based on the same inventive concept, the present disclosure provides a drone, the functions of the components of the drone are the same or similar to the functions of the above components, so similar parts will not be repeated. Figure 3 As shown, the drone of this embodiment includes:

[0051] An unmanned aerial vehicle body and a laser radar device mounted on the unmanned aerial vehicle body, wherein the laser radar device is a unmanned aerial vehicle mounted laser radar device that adaptively selects a GNSS signal source according to any of the above embodiments.

[0052] Specifically, the UAV-mounted laser radar device includes: a laser radar module, a data processing unit, a GNSS signal source selection circuit, a UAV GNSS source, and a dedicated GNSS antenna; wherein the laser radar module and the GNSS signal source selection circuit are both connected to the data processing unit, and the UAV GNSS source and the dedicated GNSS antenna are connected to the GNSS signal source selection circuit.

[0053] The GNSS signal source selection circuit includes a single-pole double-throw switch, an antenna power supply module, a current detection module, a control module and a GNSS module; wherein the UAV GNSS source is connected to one contact of the single-pole double-throw switch, and the dedicated GNSS antenna is connected to the other contact of the single-pole double-throw switch through the GNSS module; the antenna power supply module is connected to the dedicated GNSS antenna through the current detection module connected in series; the current detection module is connected to the control module, and the control module is connected to the single-pole double-throw switch.

[0054] The antenna power supply module is used to power the dedicated GNSS antenna, and when entering a short-circuit protection state, the output current value is a predetermined value, and when normally powering the dedicated GNSS antenna, the output current is within a predetermined current value range.

[0055] The current detection module is used to detect the current value input to the dedicated GNSS antenna; the control module is used to obtain the current value detected by the current detection module in real time, and when the current value is the predetermined value or zero, control the single-pole double-throw switch to switch to the UAV GNSS source so that the laser radar module and the data processing unit are connected to the UAV GNSS source; when the current value is within the predetermined current value range, control the single-pole double-throw switch to switch to the dedicated GNSS antenna so that the laser radar module and the data processing unit are connected to the dedicated GNSS antenna.

[0056] In some embodiments, the control module is connected to the current detection module via an I2C interface.

[0057] In some embodiments, the antenna power supply module is a low voltage drop linear regulator chip.

[0058] In some embodiments, the predetermined current value ranges from 30 mA to 55 mA.

[0059] In some embodiments, the dedicated GNSS antenna has a pluggable feature.

[0060] In some embodiments, the antenna power supply module has a short circuit protection function.

[0061] In some embodiments, the detection sensitivity of the current detection module is at the milliampere level.

[0062] In some embodiments, the control module controls the single-pole double-throw switch to turn on the dedicated GNSS antenna or the UAV GNSS source through the level of the SEL pin.

[0063] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0064] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0065] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0066] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0067] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0068] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0069] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0070] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A UAV-mounted laser radar device that adaptively selects GNSS signal sources, characterized in that: include: A laser radar module, a data processing unit, a GNSS signal source selection circuit, a UAV GNSS source, and a dedicated GNSS antenna; wherein the laser radar module and the GNSS signal source selection circuit are both connected to the data processing unit, and the UAV GNSS source and the dedicated GNSS antenna are connected to the GNSS signal source selection circuit; The GNSS signal source selection circuit includes a single-pole double-throw switch, an antenna power supply module, a current detection module, a control module and a GNSS module; wherein the UAV GNSS source is connected to one contact of the single-pole double-throw switch, and the dedicated GNSS antenna is connected to another contact of the single-pole double-throw switch through the GNSS module; the antenna power supply module is connected to the dedicated GNSS antenna through the current detection module connected in series; the current detection module is connected to the control module, and the control module is connected to the single-pole double-throw switch; The antenna power supply module is used to supply power to the dedicated GNSS antenna, and when entering a short circuit protection state, the output current value is a predetermined value, and when supplying power to the dedicated GNSS antenna normally, the output current is within a predetermined current value range; The current detection module is used to detect the current value input to the dedicated GNSS antenna; The control module is used to obtain the current value detected by the current detection module in real time, and when the current value is the predetermined value or zero, control the single-pole double-throw switch to switch to the UAV GNSS source so that the laser radar module and the data processing unit are connected to the UAV GNSS source; when the current value is within the predetermined current value range, control the single-pole double-throw switch to switch to the dedicated GNSS antenna so that the laser radar module and the data processing unit are connected to the dedicated GNSS antenna.

2. The device according to claim 1, characterized in that The control module is connected to the current detection module via an I2C interface.

3. The device according to claim 1, characterized in that The antenna power supply module is a low voltage drop linear regulator chip.

4. The device according to claim 1, characterized in that The predetermined current value ranges from 30 mA to 55 mA.

5. The device according to claim 1, characterized in that The dedicated GNSS antenna has a pluggable characteristic.

6. The device according to claim 1, characterized in that The antenna power supply module has a short circuit protection function.

7. The device according to claim 1, characterized in that The detection sensitivity of the current detection module is at the milliampere level.

8. The device according to claim 1, characterized in that The control module controls the single-pole double-throw switch to connect the dedicated GNSS antenna or the UAV GNSS source through the level of the SEL pin.

9. A drone, characterized in that: It comprises a drone body and a laser radar device mounted on the drone body, wherein the laser radar device is a drone-mounted laser radar device that adaptively selects a GNSS signal source as described in any one of claims 1 to 8.

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