CN104571126A - Unmanned aerial vehicle remote sensing device and method - Google Patents
Unmanned aerial vehicle remote sensing device and method Download PDFInfo
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- CN104571126A CN104571126A CN201410815753.8A CN201410815753A CN104571126A CN 104571126 A CN104571126 A CN 104571126A CN 201410815753 A CN201410815753 A CN 201410815753A CN 104571126 A CN104571126 A CN 104571126A
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Abstract
The embodiment of the invention discloses an unmanned aerial vehicle remote sensing device and method. The unmanned aerial vehicle remote sensing device comprises a first support bearing, a second support bearing, a first motor, a second motor, a third motor, a first azimuth regulation unit, a second azimuth regulation unit, a third azimuth regulation unit and an azimuth control unit, wherein the azimuth control unit is connected with the first azimuth regulation unit, the second azimuth regulation unit and the third azimuth regulation unit respectively; the first azimuth regulation unit is further connected with the first support bearing and the first motor respectively; the second azimuth regulation unit is connected with the second support bearing and the second motor respectively; the third azimuth regulation unit is connected with the third motor. Due to the application of the unmanned aerial vehicle remote sensing device disclosed by the invention, the accuracy and efficiency of aerial photography can be improved effectively.
Description
Technical field
The present invention relates to photogrammetric measurement and remote sensing technology, particularly relate to a kind of unmanned vehicle sensoring and unmanned vehicle remote sensing technique.
Background technology
Along with growing continuously and fast of the communication technology and air photo technique, the industry-by-industry fields such as zonule planning, industrial and mining area planning, New Town Construction, band shape construction project more and more need to carry out high-level efficiency, the mapping of high-precision geography information by aeroplane photography, with the planning of the science of carrying out and rational layout, make the effect of geography information in macro-level policy-making and daily life day by day remarkable.
In aeroplane photography, because unmanned vehicle sensoring has, cost performance is high, landing is flexible, the advantages such as suitable environment condition is wide, to make with unmanned vehicle sensoring be carrier, and geography information mapping holder for aerial photographing gets more and more, namely by aerial camera being arranged on unmanned vehicle sensoring, and unmanned vehicle sensoring is fixed on rotor flight device, the mapping of composition geography information takes photo by plane system to carry out geography information mapping.
In geography information mapping, if need to obtain high-precision geography information, ensure higher aeroplane photography precision, need in aeroplane photography process, make aerial camera keep taking vertically downward all the time.That is, need the tangential movement that geography information mapping holder for aerial photographing (unmanned vehicle sensoring) requiring to be provided with aerial camera remains a constant speed, like this, can keep the consistance of aerial images quality, being convenient to the later stage carries out image procossing effectively to obtain geography information.But the existing unmanned vehicle sensoring being provided with aerial camera, due to the impact by various disturbance, the motion of geography information mapping holder for aerial photographing is actual is the multimode high-order random motion of a complexity, make unmanned vehicle sensoring flight attitude changeable, cannot ensure that aerial camera is taken all the time vertically downward, cause remote sensing aerial images image quality to decline and even degenerate, greatly have impact on the precision of remote sensing achievement, make aeroplane photography precision lower, application is narrower, further, because remote sensing technology mainly gathers towards large-scale geographic information data, existing photogrammetric measurement and sensoring many employings high-altitude vehicle, light-small aircraft are as carrying platform, and high-altitude vehicle and light-small aircraft require higher to flying condition, the geographic information data collection of the low latitude high-precision quick response of more difficult realization among a small circle, in zonule, and, image sensor in unmanned vehicle sensoring, high-precision attitude sensor equipment needs scene to assemble in use, make geographic information data collecting efficiency lower, simultaneously, when carrying out geographic information data and gathering, repeat device context installation to be also unfavorable for catching favo(u)rable weather, especially in calamity emergency reaction, to cause cannot gathering geographic information data in time, and due to removing and installing between geographic information data collecting device and aircraft, make also to need between attitude sensor and image sensor frequently to carry out dismounting, the installation parameter of attitude sensor and image sensor all can be made during each dismounting to change, thus, after Installation posture sensor and image sensor, need to carry out installation parameter calibration, cause geographic information data collecting efficiency lower, and reduce aeroplane photography precision, use value is finally caused to fall the third constellations.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of unmanned vehicle sensoring, and unmanned vehicle remote sensing technique, promotes aeroplane photography precision and efficiency.
For achieving the above object, embodiments of the invention adopt following technical scheme:
On the one hand, the embodiment of the present invention provides a kind of unmanned vehicle sensoring, comprise: the first spring bearing, the second spring bearing, the first motor, the second motor, the 3rd motor, first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon and position angle control module, wherein
In the hollow region that the rotor flight device that first party parallactic angle regulon is placed in geography information mapping holder for aerial photographing is arranged, be set to hollow, be fixed in the first spring bearing, in the clutch shaft bearing seat that the rotor flight device that described first spring bearing is contained in geography information mapping holder for aerial photographing is arranged, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing,
Second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
Third party's parallactic angle regulon is fixed on second party parallactic angle regulon, aerial camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described aerial camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
Position angle control module, for receiving the attitude information of the attitude sensor sensing be arranged on described aerial camera, described aerial camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle sensoring pre-set respectively, to determine described aerial camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor, second motor and the corresponding angle of the 3rd motor-driven rotation.
The unmanned vehicle sensoring that the embodiment of the present invention provides, third party's parallactic angle regulon and geography information are surveyed and drawn holder for aerial photographing and are connected, it is consistent that attitude surveys and draws holder for aerial photographing with geography information all the time, third party's parallactic angle regulon is placed in second party parallactic angle regulon, second party parallactic angle regulon is placed in first party parallactic angle regulon, and be connected with corresponding motor respectively, simultaneously, the attitude information of three axles is passed to position angle control module, position angle control module after treatment, generate corresponding control signal and pass to corresponding three motors, three motors compensate correction according to the angle offset compensation value that control signal is corresponding.Like this, first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon can the mapping motion of holder for aerial photographing of effectively perception geography information and Orientation differences, position angle control module generates control signal according to attitude information, motor is adopted directly to drive according to control signal, the impact of various disturbance can be eliminated, the stable of unmanned vehicle sensoring flight attitude can be ensured, aerial camera can be taken all the time vertically downward, improve remote sensing aerial images image quality, improve aeroplane photography precision.
On the other hand, the embodiment of the present invention provides a kind of unmanned vehicle remote sensing technique, comprising:
In the hollow region that rotor flight device first party parallactic angle regulon being placed in geography information mapping holder for aerial photographing is arranged, be set to hollow, be fixed in the first spring bearing, in the clutch shaft bearing seat that the rotor flight device that described first spring bearing is contained in geography information mapping holder for aerial photographing is arranged, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing,
Second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
Arranging third party's parallactic angle regulon is fixed on second party parallactic angle regulon, aerial camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described aerial camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
Receive the attitude information of the attitude sensor sensing be arranged on described aerial camera, described aerial camera is analyzed respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation according to described attitude information, and compare with each rotating shaft angle information of the unmanned vehicle sensoring pre-set respectively, to determine described aerial camera respectively along the adjusting angle information needed for described first rotating shaft, the second rotating shaft and the 3rd axis of rotation, and by described first motor, the second motor and the corresponding angle of the 3rd motor-driven rotation.
The unmanned vehicle remote sensing technique that the embodiment of the present invention provides, the attitude information of three axles is passed to position angle control module by third party's parallactic angle regulon, second party parallactic angle regulon and first party parallactic angle regulon respectively, position angle control module after treatment, generate corresponding control signal and pass to corresponding three motors, three motors compensate correction according to the angle offset compensation value that control signal is corresponding.So just can realize exporting the attitude information of perception to position angle control module by first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon, position angle control module generates control signal according to attitude information and exports corresponding motor to, adopts motor directly to drive according to control signal.This way can eliminate the impact of various disturbance, can ensure the stable of unmanned vehicle sensoring flight attitude, aerial camera can be taken all the time vertically downward, improve remote sensing aerial images image quality, improve aeroplane photography precision.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the unmanned vehicle sensoring structural representation of the embodiment of the present invention;
Fig. 2 is the inner ring plan structure schematic diagram of the unmanned vehicle sensoring of the embodiment of the present invention;
Fig. 3 is inner ring and the ring structures schematic diagram of the unmanned vehicle sensoring of the embodiment of the present invention;
Fig. 4 is the unmanned vehicle sensoring plan structure schematic diagram of the embodiment of the present invention;
Fig. 5 is the unmanned vehicle remote sensing technique schematic flow sheet of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is described in detail.
Should be clear and definite, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the unmanned vehicle sensoring structural representation of the embodiment of the present invention.See Fig. 1, this unmanned vehicle sensoring comprises: the first spring bearing 101, second spring bearing 104, first motor 103, second motor 106, the 3rd motor 108, first party parallactic angle regulon 102, second party parallactic angle regulon 105, third party's parallactic angle regulon 107 and position angle control module 109, wherein
Position angle control module 109 is connected with first party parallactic angle regulon 102, second party parallactic angle regulon 105 and third party's parallactic angle regulon 107 respectively, first party parallactic angle regulon 102 is also connected with the first spring bearing 101 and the first motor 103 respectively, second party parallactic angle regulon 105 is also connected with the second spring bearing 104 and the second motor 106 respectively, and third party's parallactic angle regulon 107 is also connected with the 3rd motor 108.
In the hollow region that the rotor flight device that first party parallactic angle regulon 102 is placed in geography information mapping holder for aerial photographing is arranged, be set to hollow, be fixed in the first spring bearing 101, in the clutch shaft bearing seat that the rotor flight device that described first spring bearing 101 is contained in geography information mapping holder for aerial photographing is arranged, described first party parallactic angle regulon 102 is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor 103, to make described first party parallactic angle regulon 102 along the first axis of rotation formed by the first spring bearing 101,
In the embodiment of the present invention, preferably, the quantity of the first spring bearing 101 is two, and be arranged on respectively in two corresponding clutch shaft bearing seats, two clutch shaft bearing seats are symmetricly set on rotor flight device.Certainly, in practical application, also according to mapping needs, multiple first spring bearing 101 and corresponding clutch shaft bearing seat can be set.
As embodiment, first party parallactic angle regulon 102 comprises: the first half supports, the second half support, the first back shaft, the second back shaft, the second bearing seat and the first driven tooth bar (not shown)s, wherein,
The quantity of described second bearing seat is two, is symmetricly set on described first party parallactic angle regulon 102;
The two ends of the first half supports of horizontal positioned are connected with described the second half supports respectively by described second bearing seat, and described the first half supports, the second half supports to be connected on described second bearing seat and to form the hollow region closed;
First back shaft is arranged on described the first half supports, described second back shaft is arranged on described the second half supports, described first back shaft and the second back shaft are symmetrical arranged on described first party parallactic angle regulon 102, the axis collinear of described first back shaft and the second back shaft, described the first half supports, the second half support, the first back shaft, the second back shaft and the second bearing seats are uniform on described first party parallactic angle regulon 102;
Described first back shaft and the second back shaft are placed in respectively and are arranged in the first spring bearing 101 of symmetrically arranged clutch shaft bearing seat on rotor flight device;
Second bearing seat connects and be connected described the first half supports and the second half supports;
First driven tooth bar is connected on described the first half supports or the second half supports, described first driven tooth bar is driven by the first driving gear be connected with the first motor 103, to make described first party parallactic angle regulon 102 along the first axis of rotation formed by the first spring bearing 101.
In the embodiment of the present invention, with the axis of the first back shaft and the second back shaft for X-axis, the axis of symmetrically arranged two the second bearing seats is Y-axis, and the axis of the plane of vertical X axis and Y-axis composition is Z axis.Then the first rotating shaft is X-axis, and the second rotating shaft is Y-axis, and the 3rd rotating shaft is Z axis.
Preferably, the quantity of the first driven tooth bar is the first shaft parallel that the axis of the 1, first driven tooth bar and the first driving gear and the first spring bearing 101 are formed, and that is, the axis being parallel of the first driving gear is in X-axis.Like this, by the rotation of the first driving gear, drive the first driven racks turn, the first half supports that the first driven rack drives of rotation is connected and the second half supports rotate around X-axis.
In the embodiment of the present invention, as another embodiment, the quantity of the first driven tooth bar also can be set to multiple, such as, can be set to two, two the first driven tooth bars can be arranged on the same side of the first rotating shaft, also can be arranged on the phase heteropleural of the first rotating shaft.When two the first driven tooth bars are arranged on the same side of the first rotating shaft, two the first driven tooth bar rotating in same directions; When two the first driven tooth bars are arranged on the phase heteropleural of the first rotating shaft, two the first driven tooth bars rotate backward.
Second party parallactic angle regulon 105 is placed in the hollow region of described first party parallactic angle regulon 102, be set to hollow, be fixed in described second spring bearing 104, described second spring bearing 104 is contained in the second bearing seat of described first party parallactic angle regulon 102 setting, described second party parallactic angle regulon 105 is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor 106, to make described second party parallactic angle regulon 105 along the second axis of rotation formed by the second spring bearing 104;
In the embodiment of the present invention, the hollow region size of described first party parallactic angle regulon 102 is greater than the size of described second party parallactic angle regulon 105.
As embodiment, second party parallactic angle regulon 105 comprises: the 3rd support, the 3rd back shaft, the 4th back shaft and the second driven tooth bar (not shown), wherein,
Described 3rd support forms closed hollow region;
Described 3rd back shaft, the 4th back shaft are symmetricly set on described 3rd support, the axis collinear of described 3rd back shaft and the 4th back shaft;
Described 3rd back shaft and the 4th back shaft be placed in respectively be arranged on symmetrically arranged second bearing seat on described first party parallactic angle regulon 102 the second spring bearing 104 in;
Second driven tooth bar is connected on described 3rd support, and described second driven tooth bar is driven by the second driving gear be connected with the second motor 106, to make described second party parallactic angle regulon 105 along the second axis of rotation formed by the second spring bearing 104.
In the embodiment of the present invention, preferably, the 3rd back shaft and the 4th back shaft are arranged at the middle part of the 3rd support outer rim.
Preferably, the second shaft parallel that the axis of the second driven tooth bar and the second driving gear and the second spring bearing 104 are formed, that is, the axis being parallel of the second driving gear is in Y-axis.Like this, by the rotation of the second driving gear, drive the second driven racks turn, the 3rd support that the second driven rack drives of rotation is connected rotates around Y-axis in the hollow region of described first party parallactic angle regulon 102.
Third party's parallactic angle regulon 107 is fixed on second party parallactic angle regulon 105, aerial camera is installed, described third party's parallactic angle regulon 107 is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor 108, to make described aerial camera on described third party's parallactic angle regulon 107, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
In the embodiment of the present invention, preferably, the axis of the 3rd driven tooth bar and the 3rd driving gear and the 3rd shaft parallel, that is, the axis being parallel of the 3rd driving gear is in Z axis.Like this, by the rotation of the 3rd driving gear, drive the 3rd driven racks turn, the aerial camera that the 3rd driven rack drives of rotation is connected rotates around Z axis in the hollow region of described second party parallactic angle regulon 105.
Position angle control module 109, for receiving the attitude information of the attitude sensor sensing be arranged on described aerial camera, described aerial camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle sensoring pre-set respectively, to determine described aerial camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor 103, second motor 106 and the 3rd motor 108 drive and rotate corresponding angle.
In the embodiment of the present invention, as an embodiment, position angle control module 109 comprises: attitude information acquisition module, parsing module, comparing module, adjustment module and control signal generation module (not shown), wherein,
Attitude information acquisition module, for receiving the attitude information of the attitude sensor sensing be arranged on described aerial camera, exports parsing module to;
In the embodiment of the present invention, be known technology about attitude sensor sensing attitude information, omit detailed description at this.
Parsing module, for analyzing described aerial camera respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation according to described attitude information;
In the embodiment of the present invention, analyzing aerial camera according to attitude information is known technology along the angle information of the first rotating shaft, the second rotating shaft and the 3rd axis of rotation respectively, omits detailed description at this.
Comparing module, for the angle information of the described aerial camera analyzed along described first axis of rotation is compared with the unmanned vehicle sensoring first rotating shaft angle information pre-set, obtain the first comparison result, the angle information of the described aerial camera analyzed along described second axis of rotation is compared with the unmanned vehicle sensoring second rotating shaft angle information pre-set, obtain the second comparison result, and, the angle information of the described aerial camera analyzed along described 3rd axis of rotation is compared with unmanned vehicle sensoring the 3rd rotating shaft angle information pre-set, obtain the 3rd comparison result,
Adjustment module, for determining that described aerial camera is along the first adjusting angle information needed for described first axis of rotation according to the first comparison result, determine that described aerial camera is along the second adjusting angle information needed for described second axis of rotation according to the second comparison result, and, determine that described aerial camera is along the 3rd adjusting angle information needed for described 3rd axis of rotation according to the 3rd comparison result;
Control signal generation module, for generating the first control signal according to the first adjusting angle information, described first party parallactic angle regulon 102 is driven to rotate described first adjusting angle to control described first motor 103, the second control signal is generated according to the second adjusting angle information, described second party parallactic angle regulon 105 is driven to rotate described second adjusting angle to control described second motor 106, generate the 3rd control signal according to the 3rd adjusting angle information, drive described aerial camera to rotate described 3rd adjusting angle to control described 3rd motor 108.
In the embodiment of the present invention, as embodiment, control signal generation module can be proportional-integral-differential (PID, Proportion-Integral-Differential coefficient) controller.
In the embodiment of the present invention, position angle control module 109 can survey and draw the X-axis of holder for aerial photographing for geography information, Y-axis and Z axis three axial attitudes control, attitude sensor can be 3-axis acceleration sensor, attitude information (angle the is worth partially) data run aerial camera by 3-axis acceleration sensor carry out AD sampling, and be sent to position angle control module 109, according to the attitude information that 3-axis acceleration sensor is sampled, the process chip of position angle control module 109 inside determines that aerial camera departs from the X-axis in the course line pre-set, the deflection angle of Y-axis and Z axis, generate corresponding (motor) control signal according to the deflection angle determined and pass to corresponding three motors, three motors adjust aerial camera along X-axis respectively according to the angle offset compensation value that control signal is corresponding, the deflection angle of Y-axis and Z axis, thus aerial camera course line is adjusted, make aerial camera maintenance level and make aerial camera vertical ground all the time, to ensure accuracy and the picture quality of shooting.That is, the first motor 103 is X-axis adjustment motor, and the second motor 106 is Y-axis adjustment motor, and the 3rd motor 108 is that Z axis regulates motor.
Preferably, control signal adopts width modulation (PWM, Pulse-Width Modulation) signal, and the adjustment in aerial camera course can be made more accurate.
In the embodiment of the present invention, as embodiment, first motor 103, second motor 106 and the 3rd motor 108 can be arranged on first party parallactic angle regulon 102, also can be arranged on second party parallactic angle regulon 105, can also be arranged on third party's parallactic angle regulon 107, can also be arranged on position angle control module 109.Certainly, in practical application, also the first motor 103, second motor 106 and the 3rd motor 108 can be separately positioned on positions different in unmanned vehicle sensoring, such as, first motor 103 is arranged on first party parallactic angle regulon 102, second motor 106 is arranged on second party parallactic angle regulon 105, the 3rd motor 108 is arranged on third party's parallactic angle regulon 107.
In the embodiment of the present invention, as embodiment, high speed photo coupling circuit can also be adopted to isolate the output of unmanned vehicle sensoring and input, to guarantee that motor-drive circuit can not affect the control circuit of position angle control module 109; The driving voltage of motor can adopt the reference voltage of the inner 2.56V of Atmega128L, thus can guarantee that the reference voltage of drive motor can not change with the change of supply voltage, and make the attitude regulation of aerial camera more stable, error is less.
In the embodiment of the present invention, preferably, can also respectively in aerial camera and attitude sensor arrange there is the standard flash memory card that can store data.
As embodiment, control signal generation module can be connected with the first motor 103, second motor 106 and the 3rd motor 108 respectively by wired mode, also can be connected with the first motor 103, second motor 106 and the 3rd motor 108 respectively to wirelessly.Such as, wireless signal transmitter can be set in control signal generation module, and, corresponding wireless signal receiver is set in motor.
As another embodiment, attitude information acquisition module can be connected with attitude sensor by wired mode, also can be connected with attitude sensor to wirelessly.
Preferably, attitude sensor comprises: first party parallactic angle attitude sensor, second party parallactic angle attitude sensor and third party's parallactic angle attitude sensor, wherein, first party parallactic angle attitude sensor is laid on first party parallactic angle regulon 102, second party parallactic angle attitude sensor is laid on second party parallactic angle regulon 105, and third party's parallactic angle attitude sensor is laid on the aerial camera in third party's parallactic angle regulon 107.
In the embodiment of the present invention, 3-axis acceleration sensor (attitude sensor) is stable inertia device (IMU, Inertial Measurement Unit), for the spatial movement of effective perception unmanned vehicle sensoring; Third party's parallactic angle regulon is equivalent to the inner ring of unmanned vehicle sensoring, the outer shroud that second party parallactic angle regulon is equivalent to the middle ring of unmanned vehicle sensoring, first party parallactic angle regulon 102 is equivalent to unmanned vehicle sensoring, inner ring, middle ring and outer shroud are all for sensing and compensating remote sensing load attitude; Motor is used for take over party's parallactic angle control module to carry out according to the attitude information of stable inertia device transmission processing the pose compensation parameter obtained, and drives inner ring, middle ring, outer shroud to compensate remote sensing load attitude.
In the embodiment of the present invention, stable inertia device and geography information are surveyed and drawn holder for aerial photographing and are connected (connecting firmly), and it is consistent that attitude surveys and draws holder for aerial photographing with geography information all the time; Inner ring, middle ring, the drive motor that outer shroud is corresponding with it are respectively connected, inner ring is for installing remote sensing load (aerial camera), stable inertia device is connected with the motor that inner ring, middle ring, outer shroud are installed by signal wire, and the angle of three axles (X-axis, Y-axis, Z axis) is worth (attitude information) partially passes to position angle control module, position angle control module after treatment, generate corresponding control signal and pass to corresponding three motors, three motors compensate correction according to the angle offset compensation value that control signal is corresponding.Like this, the unmanned vehicle sensoring of the embodiment of the present invention adopts stable inertia device, can move by effectively perception geography information mapping holder for aerial photographing; Inner ring, middle ring, outer shroud all adopt motor straight to tap into row cutting, the impact of various disturbance can be eliminated, the stable of unmanned vehicle sensoring flight attitude can be ensured, aerial camera can be taken all the time vertically downward, improve remote sensing aerial images image quality, improve aeroplane photography precision; And the space layout can surveying and drawing holder for aerial photographing according to geography information suitably adjusts, and is suitable for multiple unmanned flight's platform, requires lower to flying condition, easily realizes among a small circle, low latitude high precision geographic information data in zonule gathers; And, image sensor in unmanned vehicle sensoring, high-precision attitude sensor equipment are assembled without the need to scene in use, improve geographic information data collecting efficiency, and due to without the need to removing and installing, thus, without the need to carrying out installation parameter verification to attitude sensor and image sensor, effectively promoting geographic information data collecting efficiency, improving aeroplane photography precision.
Fig. 2 is the inner ring plan structure schematic diagram of the unmanned vehicle sensoring of the embodiment of the present invention.
Fig. 3 is inner ring and the ring structures schematic diagram of the unmanned vehicle sensoring of the embodiment of the present invention.
Fig. 4 is the unmanned vehicle sensoring plan structure schematic diagram of the embodiment of the present invention.
See Fig. 2 to Fig. 4, the driven tooth bar of inner ring (the 3rd driven tooth bar) of this unmanned vehicle sensoring can drive inner ring bearing (the 3rd bearing) to rotate, corresponding 3rd motor of inner ring drive motor, corresponding second motor of middle ring drive motor, corresponding first motor of outer shroud drive motor, the corresponding second driven tooth bar of the driven tooth bar of middle ring, corresponding second driving gear of middle ring driving gear, the corresponding first driven tooth bar of the driven tooth bar of outer shroud, corresponding first driving gear of outer shroud driving gear.
Fig. 5 is the unmanned vehicle remote sensing technique schematic flow sheet of the embodiment of the present invention.See Fig. 5, this flow process comprises:
Step 501, in the hollow region that rotor flight device first party parallactic angle regulon being placed in geography information mapping holder for aerial photographing is arranged, be set to hollow, be fixed in the first spring bearing, in the clutch shaft bearing seat that the rotor flight device that described first spring bearing is contained in geography information mapping holder for aerial photographing is arranged, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing,
In this step, first party parallactic angle regulon comprises: the first half supports, the second half support, the first back shaft, the second back shaft, the second bearing seat and the first driven tooth bars, wherein,
The quantity of described second bearing seat is two, is symmetricly set on described first party parallactic angle regulon;
The two ends of the first half supports of horizontal positioned are connected with described the second half supports respectively by described second bearing seat respectively, and described the first half supports, the second half supports to be connected on described second bearing seat and to form the hollow region closed;
First back shaft is arranged on described the first half supports, described second back shaft is arranged on described the second half supports, described first back shaft and the second back shaft are symmetrical arranged on described first party parallactic angle regulon, the axis collinear of described first back shaft and the second back shaft, described the first half supports, the second half support, the first back shaft, the second back shaft and the second bearing seats are uniform on described first party parallactic angle regulon;
Described first back shaft and the second back shaft be placed in respectively be arranged on symmetrically arranged clutch shaft bearing seat on rotor flight device the first spring bearing in;
Second bearing seat connects and be connected described the first half supports and the second half supports;
First driven tooth bar is connected on described the first half supports or the second half supports, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing.
Step 502, second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
In this step, second party parallactic angle regulon comprises: the 3rd support, the 3rd back shaft, the 4th back shaft and the second driven tooth bar, wherein,
Described 3rd support forms closed hollow region;
Described 3rd back shaft, the 4th back shaft are symmetricly set on described 3rd support, the axis collinear of described 3rd back shaft and the 4th back shaft;
Described 3rd back shaft and the 4th back shaft be placed in respectively be arranged on symmetrically arranged second bearing seat on described first party parallactic angle regulon the second spring bearing in;
Second driven tooth bar is connected on described 3rd support, and described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing.
In this step, the 3rd back shaft and the 4th back shaft are arranged at the middle part of the 3rd support outer rim.
Preferably, the second shaft parallel of being formed of the axis of the second driven tooth bar and the second driving gear and the second spring bearing.
Step 503, arranging third party's parallactic angle regulon is fixed on second party parallactic angle regulon, aerial camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described aerial camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
In this step, the axis of the 3rd driven tooth bar and the 3rd driving gear and the 3rd shaft parallel.
Step 504, receive the attitude information of the attitude sensor sensing be arranged on described aerial camera, described aerial camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle sensoring pre-set respectively, to determine described aerial camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor, second motor and the corresponding angle of the 3rd motor-driven rotation.
In this step, position angle control module comprises: attitude information acquisition module, parsing module, comparing module, adjustment module and control signal generation module, wherein,
Attitude information acquisition module, for receiving the attitude information of the attitude sensor sensing be arranged on described aerial camera, exports parsing module to;
Parsing module, for analyzing described aerial camera respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation according to described attitude information;
Comparing module, for the angle information of the described aerial camera analyzed along described first axis of rotation is compared with the unmanned vehicle sensoring first rotating shaft angle information pre-set, obtain the first comparison result, the angle information of the described aerial camera analyzed along described second axis of rotation is compared with the unmanned vehicle sensoring second rotating shaft angle information pre-set, obtain the second comparison result, and, the angle information of the described aerial camera analyzed along described 3rd axis of rotation is compared with unmanned vehicle sensoring the 3rd rotating shaft angle information pre-set, obtain the 3rd comparison result,
Adjustment module, for determining that described aerial camera is along the first adjusting angle information needed for described first axis of rotation according to the first comparison result, determine that described aerial camera is along the second adjusting angle information needed for described second axis of rotation according to the second comparison result, and, determine that described aerial camera is along the 3rd adjusting angle information needed for described 3rd axis of rotation according to the 3rd comparison result;
Control signal generation module, for generating the first control signal according to the first adjusting angle information, described first party parallactic angle regulon is driven to rotate described first adjusting angle to control described first motor, the second control signal is generated according to the second adjusting angle information, described second party parallactic angle regulon is driven to rotate described second adjusting angle to control described second motor, generate the 3rd control signal according to the 3rd adjusting angle information, drive described aerial camera to rotate described 3rd adjusting angle to control described 3rd motor.
In the embodiment of the present invention, attitude sensor can be 3-axis acceleration sensor, and control signal adopts width modulation (PWM, Pulse-Width Modulation) signal.
As embodiment, the method comprises further:
High speed photo coupling circuit is adopted to isolate the output of unmanned vehicle sensoring and input.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (RandomAccess Memory, RAM) etc.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (10)
1. a unmanned vehicle sensoring, is characterized in that, this device comprises:
First spring bearing, the second spring bearing, the first motor, the second motor, the 3rd motor, first party parallactic angle regulon, second party parallactic angle regulon, third party's parallactic angle regulon and position angle control module, wherein:
In the hollow region that the rotor flight device that first party parallactic angle regulon is placed in geography information mapping holder for aerial photographing is arranged, be set to hollow, be fixed in the first spring bearing, in the clutch shaft bearing seat that the rotor flight device that described first spring bearing is contained in geography information mapping holder for aerial photographing is arranged, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing,
Second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
Third party's parallactic angle regulon is fixed on second party parallactic angle regulon, aerial camera is installed, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described aerial camera on described third party's parallactic angle regulon, along three axis of rotation vertical with the second rotating shaft with the first rotating shaft;
Position angle control module, for receiving the attitude information of the attitude sensor sensing be arranged on described aerial camera, described aerial camera is analyzed respectively along described first rotating shaft according to described attitude information, the angle information of the second rotating shaft and the 3rd axis of rotation, and compare with each rotating shaft angle information of the unmanned vehicle sensoring pre-set respectively, to determine described aerial camera respectively along described first rotating shaft, second rotating shaft and the adjusting angle information needed for the 3rd axis of rotation, and by described first motor, second motor and the corresponding angle of the 3rd motor-driven rotation.
2. device according to claim 1, is characterized in that, the quantity of described first spring bearing is two, and be arranged on respectively in two corresponding clutch shaft bearing seats, two clutch shaft bearing seats are symmetricly set on rotor flight device.
3. device according to claim 2, is characterized in that, described first party parallactic angle regulon comprises: the first half supports, the second half support, the first back shaft, the second back shaft, the second bearing seat and the first driven tooth bars, wherein,
The two ends of the first half supports of horizontal positioned are connected with described the second half supports respectively by described second bearing seat, and described the first half supports, the second half supports to be connected on described second bearing seat and to form the hollow region closed;
First back shaft is arranged on described the first half supports, described second back shaft is arranged on described the second half supports, described first back shaft and the second back shaft are symmetrical arranged on described first party parallactic angle regulon, the axis collinear of described first back shaft and the second back shaft, described the first half supports, the second half support, the first back shaft, the second back shaft and the second bearing seats are uniform on described first party parallactic angle regulon;
Described first back shaft and the second back shaft be placed in respectively be arranged on symmetrically arranged clutch shaft bearing seat on rotor flight device the first spring bearing in;
Second bearing seat connects and be connected described the first half supports and the second half supports;
First driven tooth bar is connected on described the first half supports or the second half supports, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing.
4. device according to claim 2, is characterized in that, the quantity of described first driven tooth bar is one, the first shaft parallel that the axis of described first driven tooth bar and the first driving gear and the first spring bearing are formed.
5. device according to claim 2, is characterized in that, described second party parallactic angle regulon comprises: the 3rd support, the 3rd back shaft, the 4th back shaft and the second driven tooth bar, wherein,
Described 3rd support forms closed hollow region;
Described 3rd back shaft, the 4th back shaft are symmetricly set on described 3rd support, the axis collinear of described 3rd back shaft and the 4th back shaft;
Described 3rd back shaft and the 4th back shaft be placed in respectively be arranged on symmetrically arranged second bearing seat on described first party parallactic angle regulon the second spring bearing in;
Second driven tooth bar is connected on described 3rd support, and described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing.
6. device according to claim 2, is characterized in that, described position angle control module comprises: attitude information acquisition module, parsing module, comparing module, adjustment module and control signal generation module, wherein,
Attitude information acquisition module, for receiving the attitude information being arranged on the attitude sensor on described aerial camera and sensing, exports parsing module to;
Parsing module, the attitude information for receiving described in basis analyzes described aerial camera respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation;
Comparing module, for the angle information of the described aerial camera analyzed along described first axis of rotation is compared with the unmanned vehicle sensoring first rotating shaft angle information pre-set, obtain the first comparison result, the angle information of the described aerial camera analyzed along described second axis of rotation is compared with the unmanned vehicle sensoring second rotating shaft angle information pre-set, obtain the second comparison result, and, the angle information of the described aerial camera analyzed along described 3rd axis of rotation is compared with unmanned vehicle sensoring the 3rd rotating shaft angle information pre-set, obtain the 3rd comparison result,
Adjustment module, for determining that described aerial camera is along the first adjusting angle information needed for described first axis of rotation according to the first comparison result, determine that described aerial camera is along the second adjusting angle information needed for described second axis of rotation according to the second comparison result, and, determine that described aerial camera is along the 3rd adjusting angle information needed for described 3rd axis of rotation according to the 3rd comparison result;
Control signal generation module, for generating the first control signal according to the first adjusting angle information, described first party parallactic angle regulon is driven to rotate described first adjusting angle to control described first motor, the second control signal is generated according to the second adjusting angle information, described second party parallactic angle regulon is driven to rotate described second adjusting angle to control described second motor, generate the 3rd control signal according to the 3rd adjusting angle information, drive described aerial camera to rotate described 3rd adjusting angle to control described 3rd motor.
7. device according to claim 2, is characterized in that, described attitude sensor is 3-axis acceleration sensor, and described first motor is that X-axis regulates motor, and the second motor is that Y-axis regulates motor, and the 3rd motor is that Z axis regulates motor.
8. device according to claim 2, is characterized in that, described device comprises further:
For the high speed photo coupling circuit of isolating output and the input of unmanned vehicle sensoring;
The driving voltage of described first motor, the second motor and the 3rd motor adopts the reference voltage of the inner 2.56V of Atmegal28L.
9. device according to claim 2, is characterized in that, arranges further and have the standard flash memory card that can store data in described aerial camera and attitude sensor.
10. a unmanned vehicle remote sensing technique, is characterized in that, the method comprises:
In the hollow region that rotor flight device first party parallactic angle regulon being placed in geography information mapping holder for aerial photographing is arranged, be set to hollow, be fixed in the first spring bearing, in the clutch shaft bearing seat that the rotor flight device that described first spring bearing is contained in geography information mapping holder for aerial photographing is arranged, described first party parallactic angle regulon is provided with the second bearing seat and the first driven tooth bar, described first driven tooth bar is driven by the first driving gear be connected with the first motor, to make described first party parallactic angle regulon along the first axis of rotation formed by the first spring bearing,
Second party parallactic angle regulon is placed in the hollow region of described first party parallactic angle regulon, be set to hollow, be fixed in described second spring bearing, described second spring bearing is contained in the second bearing seat of described first party parallactic angle regulon setting, described second party parallactic angle regulon is provided with the second driven tooth bar, described second driven tooth bar is driven by the second driving gear be connected with the second motor, to make described second party parallactic angle regulon along the second axis of rotation formed by the second spring bearing;
Third party's parallactic angle regulon is set, be fixed on second party parallactic angle regulon, third party's parallactic angle regulon is provided with aerial camera, described third party's parallactic angle regulon is provided with the 3rd driven tooth bar, described 3rd driven tooth bar is driven by the 3rd driving gear be connected with the 3rd motor, to make described aerial camera on described third party's parallactic angle regulon, the 3rd axis of rotation of the plane orthogonal that edge and the first rotating shaft and the second rotating shaft are formed;
Receive the attitude information of the attitude sensor sensing be arranged on described aerial camera, described aerial camera is analyzed respectively along the angle information of described first rotating shaft, the second rotating shaft and the 3rd axis of rotation according to described attitude information, and compare with each rotating shaft angle information of the unmanned vehicle sensoring pre-set respectively, to determine described aerial camera respectively along the adjusting angle information needed for described first rotating shaft, the second rotating shaft and the 3rd axis of rotation, and by described first motor, the second motor and the corresponding angle of the 3rd motor-driven rotation.
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