CN114132501A - A microminiature unmanned aerial vehicle for low latitude remote sensing survey and drawing task - Google Patents
A microminiature unmanned aerial vehicle for low latitude remote sensing survey and drawing task Download PDFInfo
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- CN114132501A CN114132501A CN202111565862.5A CN202111565862A CN114132501A CN 114132501 A CN114132501 A CN 114132501A CN 202111565862 A CN202111565862 A CN 202111565862A CN 114132501 A CN114132501 A CN 114132501A
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- 230000006835 compression Effects 0.000 claims description 23
- 238000007906 compression Methods 0.000 claims description 23
- 238000013507 mapping Methods 0.000 claims description 23
- 238000001514 detection method Methods 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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Abstract
The invention discloses a microminiature unmanned aerial vehicle for a low-altitude remote sensing surveying task, and particularly relates to the technical field of unmanned aerial vehicles, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body, an anti-shaking device is arranged at the top of the unmanned aerial vehicle body, a surveying component is detachably mounted at the top of the anti-shaking device, and the surveying component comprises a three-dimensional laser scanner, a main camera and an auxiliary camera; the anti-shake device is including fixed hollow post, the inner wall slidable mounting of fixed hollow post has the removal fore-set, the bottom fixedly connected with decompression ejector pin of removal fore-set, the bottom fixed mounting of decompression ejector pin has first removal dish. In the above scheme, through setting up the navigation positioning unit, be connected between navigation positioning unit and the three-dimensional laser scanner to confirm three-dimensional laser scanner's initial position and real-time position, utilize GPS orientation module and IMU assistance-localization real-time module to use under Kalman filter's effect, thereby reduce position error.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a microminiature unmanned aerial vehicle for a low-altitude remote sensing surveying and mapping task.
Background
Surveying and mapping are based on computer technology, photoelectric technology, network communication technology, space science and information science, a global navigation satellite positioning system (GNSS), Remote Sensing (RS) and a Geographic Information System (GIS) are taken as technical cores, existing feature points and boundary lines on the ground are selected, and graph and position information reflecting the current situation of the ground is obtained through a measuring means, so that the surveying and mapping method is used for engineering construction, planning and design and administrative management.
According to a surveying and mapping unmanned aerial vehicle disclosed by a patent net CN 111348187B, a mounting box, a protective cover, a camera and a mounting mechanism are arranged below an unmanned aerial vehicle body of the surveying and mapping unmanned aerial vehicle, and the camera is fixed on the mounting mechanism and extends into the protective cover; a plurality of piston rods are arranged above the protective cover, and a support frame is connected below the protective cover; a first piston cylinder and a second piston cylinder are arranged in the mounting box, a first piston is connected in the first piston cylinder in a sliding manner, and a second piston is connected in the second piston cylinder in a sliding manner; the first piston cylinder and the second piston cylinder are filled with transmission media positioned between the first piston and the second piston; the upper end of the piston rod is connected to the first piston; the second piston is connected with a connecting rod, and the connecting rod is provided with a wiping strip. Use this technical scheme can effectively solve the camera and expose outside, lead to the camera lens to cover dirt easily, and when unmanned aerial vehicle descended in addition, the impulsive force that unmanned aerial vehicle received is great, makes the problem that the camera head takes place the loss easily, however, the device is when using the camera to survey and drawing, when having ignored unmanned aerial vehicle shake, the camera also can shake, and the photo that causes the shooting is unclear, leads to the result of survey and drawing accurate inadequately, lacks anti-shake device.
Therefore, it is highly desirable to provide a micro unmanned aerial vehicle for low-altitude remote sensing mapping tasks.
Disclosure of Invention
In order to overcome the above defects in the prior art, embodiments of the present invention provide a micro unmanned aerial vehicle for low-altitude remote sensing surveying and mapping tasks, so as to solve the problem that the existing surveying and mapping unmanned aerial vehicle lacks an anti-shake device.
In order to solve the technical problems, the invention provides the following technical scheme: a microminiature unmanned aerial vehicle for a low-altitude remote sensing surveying task comprises an unmanned aerial vehicle body, wherein an anti-shake device is arranged at the top of the unmanned aerial vehicle body, a surveying and mapping assembly is detachably mounted at the top of the anti-shake device, and the surveying and mapping assembly comprises a three-dimensional laser scanner, a main camera and an auxiliary camera;
the anti-shake device is including fixed hollow post, the inner wall slidable mounting of fixed hollow post has the removal fore-set, the bottom fixedly connected with decompression ejector pin of removing the fore-set, the bottom fixed mounting of decompression ejector pin has first removal dish, the bottom fixedly connected with compression spring of first removal dish, compression spring's bottom and the inner wall fixed connection of fixed hollow post, the inside of first removal dish is provided with the check valve, the top surface fixedly connected with pressure spring of first removal dish, pressure spring's top fixedly connected with second removal dish, the bleeder vent has been seted up to the inner wall at fixed hollow top of the post, the inside of fixed hollow post is equipped with hydraulic oil.
Preferably, the extension of the compression spring is greater than that of the pressure spring, a round hole is formed in the second movable disc, and the second movable disc is slidably mounted on the pressure reduction ejector rod through the round hole.
Preferably, the inside controller, navigation positioning unit, low-altitude flight unit and the safe anticollision unit that still is equipped with of unmanned aerial vehicle body, the controller respectively with navigation positioning unit, low-altitude flight unit and safe anticollision unit between electric connection.
Preferably, the navigation positioning unit includes a GPS positioning module, an IMU assisted positioning module, and a kalman filter, the kalman filter is configured to reduce a positioning error and update data, and the GPS positioning module and the IMU assisted positioning module perform positioning alternately under the action of the kalman filter.
Preferably, the safety collision avoidance unit comprises a radar detector and an alarm.
Preferably, the low-altitude flight control unit comprises a laser range finder and a distance detection module, wherein the laser range finder is used for detecting the distance between the unmanned aerial vehicle and the ground, and the distance detection module is used for judging whether the distance exceeds a threshold limit value.
Preferably, low-altitude flight unit and safe anticollision unit all with time control module between electric connection, time control module is used for starting radar detection instrument or laser range finder in the unit interval.
The technical scheme of the invention has the following beneficial effects:
in the scheme, the anti-shake device is arranged, the clear picture shot by the camera can be ensured, the error of the mapping graph obtained by the cooperation of the three-dimensional laser scanner and the camera is small, when the unmanned aerial vehicle starts shaking, the first movable disk starts to press the compression spring downwards firstly, meanwhile, hydraulic oil starts to pass through the one-way valve after being extruded, the resistance of liquid pressure is generated, meanwhile, liquid on the first movable disk is increased, the second movable disk starts to be extruded, the pressure spring is stretched, so that when the movable top pillar moves downwards, the movable top pillar is sequentially subjected to liquid pressure, the supporting force of the compression spring and the receiving force of the pressure spring, finally, the air pressure strength above the second movable disk is added, when the movable top pillar moves upwards in a similar manner, the counter force can be also received, the effect of gradually reducing the force is achieved, and when the movable top pillar moves upwards and downwards, the speed is reduced and the pressure is reduced at every time, thereby ensuring the stability of the working process of the surveying and mapping component;
in the above scheme, through setting up the navigation positioning unit, be connected between navigation positioning unit and the three-dimensional laser scanner to confirm three-dimensional laser scanner's initial position and real-time position, utilize GPS orientation module and IMU assistance-localization real-time module to use under Kalman filter's effect, for example: the GPS positioning module is 10 Hz, and the IMU auxiliary positioning module is 100 Hz, so the position information is updated by the IMU auxiliary positioning module every 0.01 second after the GPS positioning module starts, and the data is updated for the second time by the GPS positioning module in 0.1 second, thereby reducing the position error;
in the scheme, the laser range finder and the distance detection module of the low-altitude flight control unit can prevent the height of the unmanned aerial vehicle from being changed when the unmanned aerial vehicle crosses over an obstacle or turns over the obstacle, so that the flight height is too low or too high, the low-altitude flight of the unmanned aerial vehicle cannot be ensured, and the measurement result has deviation;
in the above scheme, through setting up safe anticollision unit, can avoid unmanned aerial vehicle and barrier collision, in time send out the police dispatch newspaper, remind the operator to avoid the barrier.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a structural diagram of the anti-shake apparatus of the present invention;
FIG. 3 is a block diagram of the system of the present invention;
FIG. 4 is a diagram illustrating a working sequence of the navigational positioning unit according to the present invention.
[ reference numerals ]
1. Fixing the hollow column; 2. moving the top pillar; 3. a pressure reducing ejector rod; 4. a first movable tray; 5. a compression spring; 6. a one-way valve; 7. a pressure spring; 8. a second movable tray; 9. and (4) air holes.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Example one
The embodiment of the invention provides a microminiature unmanned aerial vehicle for low-altitude remote sensing surveying and mapping tasks as shown in the attached drawings 1-2, which comprises an unmanned aerial vehicle body, wherein an anti-shaking device is arranged at the top of the unmanned aerial vehicle body, a surveying and mapping assembly is detachably mounted at the top of the anti-shaking device, and the surveying and mapping assembly comprises a three-dimensional laser scanner, a main camera and an auxiliary camera;
anti-shake device is including fixed hollow post 1, the inner wall slidable mounting of fixed hollow post 1 has removal fore-set 2, remove the bottom fixedly connected with decompression ejector pin 3 of fore-set 2, the bottom fixed mounting of decompression ejector pin 3 has first removal dish 4, the bottom fixedly connected with compression spring 5 of first removal dish 4, the bottom of compression spring 5 and the inner wall fixed connection of fixed hollow post 1, the inside of first removal dish 4 is provided with check valve 6, the top surface fixedly connected with pressure spring 7 of first removal dish 4, the top fixedly connected with second removal dish 8 of pressure spring 7, bleeder vent 9 has been seted up to the inner wall at fixed hollow post 1 top, the inside of fixed hollow post 1 is equipped with hydraulic oil.
Wherein, compression spring 5's elongation and compression are greater than pressure spring 7, and the round hole has been seted up to the inside of second removal dish 8, and second removal dish 8 passes through round hole slidable mounting in decompression ejector pin 3.
Specifically, the extension amount and the compression amount of the compression spring 5 are larger than those of the compression spring 7, so that the compression spring 7 can do stretching movement in the process of moving the first moving plate 4 downwards.
In particular, the number of one-way valves 6 is two or more and it is ensured that at least two one-way valves allow the liquid flow in opposite directions.
In particular, in order to ensure that the picture shot by the camera is clear, the three-dimensional laser scanner is matched with the camera to obtain a mapping graph with smaller error, anti-shake means may be provided, when the drone starts to shake, the first mobile disc 4 starts to press the compression spring 5 downwards first, at the same time, the hydraulic oil is extruded to start to pass through the one-way valve 6, and the resistance of the liquid pressure is generated, the second movable disk 8 is extruded, the pressure spring 7 is stretched, so that when the moving top pillar 2 moves downwards, the liquid pressure force, the supporting force of the compression spring 5 and the retracting force of the pressure spring 7 are sequentially received, and finally the air pressure force above the second moving plate 8 is added, and similarly, when the moving top pillar moves upwards, the moving top pillar also receives the counter force, thereby played and carried out the effect that reduces one by one with power, removed every up-and-down motion of fore-set, all can slow down the decompression to guarantee the stability of survey and drawing subassembly working process.
Example two
As shown in fig. 1 to 4, the second embodiment is different from the first embodiment in that: the unmanned aerial vehicle body is also internally provided with a controller, a navigation positioning unit, a low-altitude flight unit and a safety anti-collision unit, wherein the controller is respectively and electrically connected with the navigation positioning unit, the low-altitude flight unit and the safety anti-collision unit; the safety anti-collision unit comprises a radar detector and an alarm; the low-altitude flight control unit comprises a laser range finder and a distance detection module, the laser range finder is used for detecting the distance between the unmanned aerial vehicle and the ground, and the distance detection module is used for judging whether the distance exceeds a threshold limit value; the low-altitude flight unit and the safe anti-collision unit are electrically connected with the time control module, and the time control module is used for starting the radar detector or the laser range finder in unit time.
Specifically, through the laser range finder and the distance detection module of low-altitude flight control unit, can avoid unmanned aerial vehicle when strideing across the obstacle or crossing the obstacle, highly changed to lead to the flying height to hang down or too high, can't guarantee that unmanned aerial vehicle low-altitude flight leads to the measuring result to have the deviation.
Specifically, through setting up safe anticollision unit, can avoid unmanned aerial vehicle and barrier collision, in time send out the police dispatch newspaper, remind the operator to avoid the barrier.
The navigation positioning unit comprises a GPS positioning module, an IMU auxiliary positioning module and a Kalman filter, the Kalman filter is used for reducing positioning errors and updating data, and the GPS positioning module and the IMU auxiliary positioning module alternately perform positioning under the action of the Kalman filter.
Specifically, the IMU assisted positioning module comprises three mutually perpendicular accelerometers and three angular velocity meters.
Specifically, as shown in fig. 4, the GPS positioning module is set to be 10 hz, the IMU-assisted positioning module is set to be 100 hz, the first arrow represents that the GPS positioning module starts positioning, after positioning, the IMU-assisted positioning module updates the position every 0.01 second by using the kalman filter within an interval of 0.1 second for 9 times in total, and in the tenth time, the GPS positioning module performs the second updating positioning, thereby ensuring that the deviation of the position is minimum.
The working process of the invention is as follows:
according to the scheme, when the unmanned aerial vehicle starts shaking, the first movable disc 4 starts to press the compression spring 5 downwards firstly, meanwhile, hydraulic oil is extruded to start to pass through the one-way valve 6, resistance of liquid pressure is generated, the second movable disc 8 starts to be extruded, and the pressure spring 7 is stretched, so that when the movable ejection column 2 moves downwards, the hydraulic pressure force, the supporting force of the compression spring 5 and the receiving force of the pressure spring 7 are sequentially received, finally, the air pressure force above the second movable disc 8 is added, and similarly, when the movable ejection column moves upwards, the counter force can be received, so that the effect of gradually reducing the force is achieved, and when the movable ejection column moves upwards and downwards, the speed is reduced and the pressure is reduced, so that the stability of the working process of the surveying and mapping assembly is guaranteed;
according to the scheme, when positioning is carried out, the GPS positioning module starts positioning, and then the IMU auxiliary positioning module starts to update the position by using the Kalman filter within the next updating time of the GPS positioning module, so that the positioning precision is improved.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. A microminiature unmanned aerial vehicle for a low-altitude remote sensing surveying task comprises an unmanned aerial vehicle body and is characterized in that an anti-shake device is arranged at the top of the unmanned aerial vehicle body, a surveying and mapping assembly is detachably mounted at the top of the anti-shake device, and the surveying and mapping assembly comprises a three-dimensional laser scanner, a main camera and an auxiliary camera;
the anti-shake device comprises a fixed hollow column (1), a movable top column (2) is slidably mounted on the inner wall of the fixed hollow column (1), the bottom of the movable ejection column (2) is fixedly connected with a decompression ejection rod (3), the bottom of the decompression ejection rod (3) is fixedly provided with a first movable disc (4), the bottom of the first movable disc (4) is fixedly connected with a compression spring (5), the bottom of the compression spring (5) is fixedly connected with the inner wall of the fixed hollow column (1), a one-way valve (6) is arranged in the first movable disc (4), a pressure spring (7) is fixedly connected with the top surface of the first movable disc (4), the top of the pressure spring (7) is fixedly connected with a second movable disc (8), the inner wall at the top of the fixed hollow column (1) is provided with an air hole (9), and hydraulic oil is arranged inside the fixed hollow column (1).
2. The microminiature unmanned aerial vehicle for low-altitude remote sensing mapping task of claim 1, wherein the extension and compression of compression spring (5) are greater than that of compression spring (7), a round hole is opened in the second movable disk (8), and the second movable disk (8) is slidably mounted on the decompression ejector rod (3) through the round hole.
3. The microminiature unmanned aerial vehicle for low-altitude remote sensing surveying and mapping task of claim 1, wherein the inside of the unmanned aerial vehicle body is further provided with a controller, a navigation positioning unit, a low-altitude flight unit and a safety anti-collision unit, and the controller is respectively electrically connected with the navigation positioning unit, the low-altitude flight unit and the safety anti-collision unit.
4. The micro unmanned aerial vehicle for low-altitude remote sensing and surveying task of claim 1, wherein the navigational positioning unit comprises a GPS positioning module, an IMU assisted positioning module and a Kalman filter, the Kalman filter is used for reducing positioning errors and updating data, and the GPS positioning module and the IMU assisted positioning module alternately perform positioning under the action of the Kalman filter.
5. The micro unmanned aerial vehicle for low-altitude remote sensing surveying task of claim 1, wherein the safety collision avoidance unit comprises a radar detector and an alarm.
6. The microminiature unmanned aerial vehicle for low-altitude remote sensing mapping task of claim 1, wherein the low-altitude flight control unit comprises a laser range finder and a distance detection module, the laser range finder is used for detecting the distance between the unmanned aerial vehicle and the ground, and the distance detection module is used for judging whether the distance exceeds a threshold limit value.
7. The micro unmanned aerial vehicle for low-altitude remote sensing and mapping task of claim 1, wherein the low-altitude flight unit and the safety collision avoidance unit are electrically connected with a time control module, and the time control module is used for starting a radar detector or a laser range finder in unit time.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111565862.5A CN114132501A (en) | 2021-12-20 | 2021-12-20 | A microminiature unmanned aerial vehicle for low latitude remote sensing survey and drawing task |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111565862.5A CN114132501A (en) | 2021-12-20 | 2021-12-20 | A microminiature unmanned aerial vehicle for low latitude remote sensing survey and drawing task |
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| CN114132501A true CN114132501A (en) | 2022-03-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114877872A (en) * | 2022-07-01 | 2022-08-09 | 北京今日蓝天科技有限公司 | Unmanned aerial vehicle, operating system thereof, method, medium and equipment for generating map |
-
2021
- 2021-12-20 CN CN202111565862.5A patent/CN114132501A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114877872A (en) * | 2022-07-01 | 2022-08-09 | 北京今日蓝天科技有限公司 | Unmanned aerial vehicle, operating system thereof, method, medium and equipment for generating map |
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Application publication date: 20220304 |