AU2021105565A4

AU2021105565A4 - Automatic deviation correction device for measuring yaw angle by oblique photography of unmanned aerial vehicle

Info

Publication number: AU2021105565A4
Application number: AU2021105565A
Authority: AU
Inventors: Youkuo Chen; Chuanxiang Song; Zhe Wang; Chao Xu; Lin Zhu
Original assignee: YANKUANG DONGHUA CONSTRUCTION CO Ltd
Current assignee: Yankuang Donghua Construction Co ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2021-10-14
Anticipated expiration: 2029-08-16

Abstract

The invention relates to the technical field of unmanned aerial vehicle oblique photography detection, and particularly discloses an automatic deviation correcting device for measuring yaw angle of unmanned aerial vehicle oblique photography. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein a control module is arranged on the upper surface of the unmanned aerial vehicle body, a lifting bracket is fixed on the lower surface of the unmanned aerial vehicle body, laser angle detection devices are arranged on the lower surface of the unmanned aerial vehicle body in both longitudinal and transverse directions, and the laser angle detection devices are electrically connected with the control module. 1/4 Figure 501 504 A- 503 3 502 Figure I

Description

1/4

Figure

501 504

A- 503

3 502

Figure I

Automatic deviation correction device for measuring yaw angle by oblique

photography of unmanned aerial vehicle

TECHNICAL FIELD

The invention relates to the technical field of unmanned aerial vehicle oblique

photography detection, and particularly discloses an automatic deviation correcting

device for measuring yaw angle of unmanned aerial vehicle oblique photography.

BACKGROUND

Oblique photography is a new high technology developed in the field of

international surveying and mapping in recent years. It overturns the limitation that

orthophoto images can only be taken from the vertical angle in the past. By carrying

multiple high-definition cameras on the same flight platform, the number of high

definition cameras is generally set to five, so that images can be collected from five

different angles, such as one vertical angle and four obliques, and users can be introduced

into the real and intuitive world in line with human vision. It can not only truly reflect the

situation of ground objects, obtain texture information of objects with high precision, but

also pass advanced positioning.

During surveying and mapping, the UAV usually flies along the planned route,

and the yaw angle of the UAV should not be too large (no more than 15 degree). When

the yaw angle is greater than 15 degree, it will cause difficulties in later image mosaic, so

automatic correction devices are needed. At present, the cameras on inclined photography

unmanned aerial vehicles are all fixed, one of which is fixed perpendicular to the ground,

and several other cameras are set at an angle of 30 to 45 degree with the ground, so it is

impossible to avoid the problems caused by unmanned aerial vehicles flying.

The invention with the patent number of CN110015414A discloses a multi-angle

oblique photographing device for unmanned aerial vehicles, which comprises an

unmanned aerial vehicle body, a shell, a water inlet pipe, a water outlet pipe, a first

conveyor belt, a second conveyor belt and a connecting pipe, wherein the left side of the

lower end inside the unmanned aerial vehicle body is provided with a storage battery and

a GPS locator. The unmanned aerial vehicle multi-angle oblique photography equipment

disclosed by the invention can drive the camera to rotate through the motor, so as to

realize angle adjustment, but in the process of flying oblique photography of the

unmanned aerial vehicle, after the camera rotates, the camera photography points which

are obliquely arranged to do not coincide, so that focusing from multiple directions can

not be achieved, and the situation of ground objects can not be truly reflected, that is, the

technical effect of oblique photography can not be achieved. In addition, the UAV

oblique camera can't monitor the yaw angle of UAV in real time. Because of the distance

between the UAV and the UAV, so the operator can't automatically adjust according to

the actual yaw angle. Therefore, aiming at the above shortcomings of the existing UAV

multi-angle oblique photography equipment, it is a technical problem to design an

automatic deviation correction device which can monitor the yaw angle of UAV in real

time, adjust the camera angle according to the yaw angle, and focus the adjusted cameras

to realize oblique photography.

SUMMARY

The purpose of the invention is to solve the problems that the camera shooting

points of the inclined set of unmanned aerial vehicle (UAV) do not coincide after the

camera shooting rotates, so that it can not focus from multiple directions, can not truly reflect the situation of ground objects, can not achieve the technical effect of inclined photography, and can not detect the yaw angle in real time, and to design an automatic yaw angle correction device for UAV inclined photography measurement, which can effectively solve the above technical problems.

The invention is realized by the following technical scheme:

The invention relates to an automatic deviation correction device for oblique

photogrammetry of unmanned aerial vehicle, which comprises an unmanned aerial

vehicle body, wherein a control module is arranged on the upper surface of the unmanned

aerial vehicle body, a lifting bracket is fixed on the lower surface of the unmanned aerial

vehicle body, laser angle detection devices are arranged on the lower surface of the

unmanned aerial vehicle body in both longitudinal and transverse directions, and the laser

angle detection devices are electrically connected with the control module;

The yaw angle correcting mechanism comprises a top plate and inclined plates

arranged at both ends of the top plate, and the upper end of the top plate is connected with

a rotating shaft; The lower surface of the unmanned aerial vehicle fuselage is provided

with a rotating drum which is rotationally connected with the rotating shaft; A first motor

is installed on the lower surface of the UAV fuselage located beside the rotating drum;

The output shaft of the first motor is connected with the drive gear; The left and right

ends of the arc-shaped rotating plate are provided with arc sliding ports, the inclined plate

is provided with convex shafts in the arc sliding ports, first rollers are rotatably arranged

at both ends of the inclined plate below the arc-shaped rotating plate, rotating parts are

fixedly arranged at both ends of the inclined plate above the arc-shaped rotating plate,

each rotating part is rotatably provided with a second roller, The lower end of the mounting plate is provided with a camera fixing block which is fixedly connected with a first camera; The upper end of the mounting plate is fixed with a rotating rod, and the rotating rod is rotationally connected with a rotating block; The left end face and right end face of the rotating block are provided with through threaded holes. One end of the lead screw is provided with a second motor, the lower ends of the two inclined plates are connected with the bottomplate, the center of the lower surface of the bottom plate is provided with a spherical hinge bracket, a second camera is arranged below the spherical hinge bracket, and the upper end of the second camera is connected with a ball head matched with the spherical hinge bracket.

As a further arrangement of the above scheme, the UAV fuselage comprises a

fuselage, four wing plates are symmetrically arranged on the fuselage in the center, the

lower surface of the outer end of each wing plate is provided with a flying motor, and the

output shaft of the flying motor passes through the upper end of the wing plate and is

provided with a propeller.

As a further arrangement of the above scheme, the lifting leg includes four

diagonal bars symmetrically arranged in the center, and the lower ends of the four

diagonal bars are connected with rectangular frame bars.

As a further arrangement of the above scheme, the laser angle detection device

comprises an L-shaped connecting plate fixedly connected with the UAV body, wherein

the lower end of the L-shaped connecting plate is connected with a light blocking plate;

The lower surface of the upper end of the L-shaped connecting plate is connected with a

rotating frame; A rotating connecting block is rotatably arranged on the rotating frame;

The lower end of the rotary connecting block is connected with a laser ranging sensor,

and the laser ranging sensor is electrically connected with a control module.

As another arrangement of the above scheme, the control module includes a

microprocessor, a memory, a GPS locator and a built-in battery.

As a further arrangement of the above scheme, the outer circumferential surfaces

of the first roller and the second roller are provided with annular grooves having the same

thickness as the arc-shaped rotating plate.

As a further arrangement of the above mentioned scheme, the first motor and the

second motor are micro servo motors and are electrically connected with the control

modules.

Beneficial effects:

1. Compared with the existing UAV multi-angle oblique shooting equipment,

when the yaw angle of UAV is greater than 15 degrees in flight, the microprocessor in its

control module will control the second motor in the yaw angle correction mechanism to

rotate, and then the whole arc-shaped rotating plate will be pushed to rotate between two

first rollers and two second rollers through the action between the screw and the screw

hole on the rotating block, thus realizing the adjustment of the shooting angle of the first

camera. It is important to note that the first camera here is the first camera when rotating.

At the same time, the second camera is connected through a spherical hinge connection

structure, so the yaw angle of the unmanned aerial vehicle is large, and the lens of the

second camera is always in a vertical state under the action of gravity, so that the lenses

of the two first cameras and the second cameras are always in a focused state, and the

focusing points of the three cameras are not affected by the outside; Therefore, it can be seen that the UAV can adjust the yaw angle in real time during oblique camera shooting, and can truly reflect the situation of ground objects in the adjustment process, thus achieving the technical effect of oblique camera shooting, effectively solving the problem that the later image mosaic is difficult when the yaw angle is greater than 15 degrees, and having novel structure, excellent effect and strong practicability.

2. According to the invention, two laser angle detection devices which are

vertically and horizontally arranged are arranged on the lower surface of the unmanned

aerial vehicle body, and can detect two longitudinal and transverse inclination of the

unmanned aerial vehicle. Specifically, the laser angle detecting device improves the

traditional laser ranging sensor. The specific principle is that the transmitting end of the

laser ranging sensor is always vertical downward, and the light blocking plate is inclined

with the fuselage through the L-shaped connecting plate. When the light baffle obliques

along with the machine body, the monitoring distance of its laser ranging sensor will

increase. At this time, the distance monitored by the laser ranging sensor is L=L/cosA,

where the angle A is the yaw angle. When L increases to a certain value, the

microprocessor in its control module will control the yaw angle correction mechanism to

run, thus realizing the angle adjustment of the first camera. It can be seen from this that

the laser angle detection device in the invention can detect the yaw angle of the

unmanned aerial vehicle in real time, and then realize timely adjustment through the

control module, which effectively solves the problem that the later-stage image mosaic is

difficult due to the large yaw angle when the existing unmanned aerial vehicle takes

oblique photography, and has simple structure, ingenious real-time monitoring principle

and excellent monitoring effect on the yaw angle.

BRIEF DESCRIPTION OF THE FIGURES

In order to explain the technical scheme of the embodiment of the present

invention more clearly, the drawings required for describing the embodiment will be

briefly introduced below. Obviously, the drawings in the following description are only

some embodiment of the present invention, and other drawings can be obtained according

to these drawings for ordinary technicians in the field without paying creative labor.

Fig. 1 is a first perspective structural diagram of the present invention;

Fig. 2 is a second perspective view of the present invention;

Fig. 3 is a perspective structural diagram of the UAV body, the upgrade bracket

and the laser angle detection device in the present invention;

Fig. 4 is a perspective structural diagram of the yaw angle correcting mechanism

of the present invention;

Fig. 5 is a perspective structural diagram of an arc-shaped rotating plate, a first

roller, a second roller and the like in the present invention;

Fig. 6 is a perspective structural view of the inclined plate and the convex shaft in

the present invention;

Fig. 7 is an enlarged structural diagram at a in fig. 2;

Fig. 8 is a perspective view of the laser angle detection device of the present

invention.

Among them, 1- UAV body, 101- airframe, 102- wing plate, 103- flight motor,

104- propeller, 2- control module, 3- lifting bracket, 301- diagonal rod, 302- rectangular

frame rod, 4- laser angle detection device, 401- L-shaped connecting plate, 402- light

barrier, 403- rotating frame, 404- rotating connecting block, 405- laser ranging sensor, 5- yaw angle correction mechanism, 501- roof, 502- inclined plate, 503- rotating shaft, 504 rotating drum, 505- first motor, 506- driving gear, 507- driven gear, 508- arc rotating plate, 509- arc sliding port, 510- convex shaft, 511- first roller, 512- rotating part, 513 second roller, 514- mounting plate, 515- camera fixing block, 516- first camera, 517 rotating bar, 518- rotating block, 519- rotary seat, 520- lead screw, 521- second motor,

522- base plate, 523- ball hinge support, 524- second camera, 525- ball head, 526- ring

groove.

DESCRIPTION OF THE INVENTION

In order to make people in the technical field better understand the scheme of this

application, the technical scheme in the embodiment of this application will be described

clearly and completely with reference to the drawings in the embodiment of this

application. Obviously, the described embodiment are only part of the embodiment of

this application, not all of them. Based on the embodiment in this application, all other

embodiment obtained by ordinary technicians in this field without creative labor should

belong to the protection scope of this application.

It should be noted that the embodiment in this application and the features in the

embodiment can be combined with each other without conflict. Referring to figs. 1-8, the

automatic deviation correction device for the yaw angle of the unmanned aerial vehicle

oblique photogrammetry of the present invention will be described in combination with

embodiment.

Embodiment 1

Embodiment 1 introduces an automatic yaw angle correction device for oblique

photogrammetry of unmanned aerial vehicle. With reference to Figures 1 and 2, its main structure includes an unmanned aerial vehicle body 1, in which the unmanned aerial vehicle body 1 includes a machine body 101, on which four wing plates 102 are arranged symmetrically in the center. The lower surface of the outer end of each wing plate 102 is provided with a flying motor 103, and the output shaft of the flying motor 103 passes through the upper end of the wing plate 102 and is provided with a propeller 104. The upper surface of the UAV body 1 is provided with a control module 2, which includes a microprocessor, a memory, a GPS locator and a built-in battery (the microprocessor, memory and GPS locator are all shown).

With reference to fig. 1 and fig. 3, a lifting bracket 3 is also fixed on the lower

surface of the unmanned aerial vehicle body 1, specifically, the lifting leg 3 of the lifting

bracket 3 includes four inclined rods 301 symmetrically arranged in the center, and the

lower ends of the four inclined rods 301 are connected with rectangular frame rods 302

together.

Referring to fig. 1, fig. 2 and fig. 4, a yaw angle correcting mechanism 5 is

provided at the center of the lower surface of the UAV body 1. The yaw angle correcting

mechanism 5 includes a top plate 501 and inclined plates 502 arranged at both ends of the

top plate 501, and the included angle between the inclined plates 502 and the top plate

501 is 45 degrees when arranged. The upper end of the top plate 501 is connected with a

rotating shaft 503. The lower surface of the UAV body 1 is provided with a rotating drum

504 rotatably connected with the rotating shaft 503. The lower surface of the UAV body

1 located beside the rotating drum 504 is provided with a first motor 505. The output

shaft of the first motor 505 is connected with a driving gear 506. The angle adjustment of the whole yaw angle correcting mechanism 5 can be realized by the driving action of the first motor 505.

With reference to fig. 4, fig. 5, fig. 6 and fig. 7, the front side of each inclined

plate 502 is provided with an arc-shaped rotating plate 508, the left and right ends of

which are provided with arc-shaped sliding openings 509, the inclined plate 502 is

provided with a convex shaft 510 in the arc-shaped sliding openings 509, and the two

ends of the inclined plate 502 below the arc-shaped rotating plate 508 are rotatably

provided with first rollers 511. Rotating parts 512 are fixedly arranged at both ends of the

inclined plate 502 located above the arc-shaped rotating plate 508, each rotating part 512

is rotatably provided with a second roller 513, and an annular groove 526 with the same

thickness as the arc-shaped rotating plate 508 is formed on the outer circumferential

surfaces of the first roller 511 and the second roller 513, so that the arc-shaped rotating

plate 508 is clamped between the two first rollers 511 and the two second rollers 513. A

mounting plate 514 is fixed at the middle of the arc-shaped rotating plate 508, a camera

fixing block 515 is fixedly connected to the lower end of the mounting plate 514, a first

camera 516 is arranged on the camera fixing block 515, a rotating bar 517 is fixed on the

upper end of the mounting plate 514, and a rotating block 518 is rotatably connected to

the upper end of the rotating bar 517, and threaded holes are formed on the left and right

end faces of the rotating block 518. Rotating seats 519 are fixed on the left and right

inclined plates 502 at the upper end of the rotating bar 517, and a lead screw 520 is

rotatably arranged between the two rotating seats 519. The lead screw 520 passes through

a threaded hole, and a second motor 521 is arranged at one end of the lead screw 520. In this embodiment, the first motor 505 and the second motor 521 are micro servo motors and are electrically connected with the microprocessor in the control module 2.

With reference to fig. 4 and fig. 7, a base plate 522 is also connected to the lower

ends of the two inclined plates 502, a ball hinge support 523 is arranged at the center of

the lower surface of the base plate 522, a second camera 524 is arranged below the ball

hinge support 523, and a ball head 525 matched with the ball hinge support 523 is

connected to the upper end of the second camera 524.

Embodiment 2

Embodiment 2 is a further improvement based on embodiment 1, which will be

further explained with reference to figs. 1 to 6.

Embodiment 2 discloses an improved automatic yaw angle correction device for

UAV oblique photogrammetry based on embodiment 1. referring to fig. 1 and fig. 2, its

main structure includes UAV body 1, in which UAV body 1 includes a machine body

101, which is provided with four wing plates 102 symmetrically arranged in the center.

the lower surface of the outer end of each wing plate 102 is provided with a flying motor

103, and the output shaft of the flying motor 103 passes through the upper end of the

wing plate 102 and is provided with a propeller 104. The upper surface of the UAV body

1 is provided with a control module 2, which includes a microprocessor, a memory, a

GPS locator and a built-in battery (the microprocessor, memory and GPS locator are all

shown).

Meanwhile, in the second embodiment, a laser angle detection device 4 is

arranged on the lower surface of the UAV body 1 in both longitudinal and transverse

directions. specifically, the laser angle detection device 4 can refer to figs. 3 and 7. the laser angle detection device 4 includes an 1-shaped connecting plate 401 fixedly connected with the UAV body 1, the lower end of which is connected with a light blocking plate 402, and the upper end and lower surface of the1-shaped connecting plate

401 is connected with a rotating frame 403. A rotating connecting block 404 is rotatably

mounted on the rotating frame 403, and a laser ranging sensor 405 is connected to the

lower end of the rotating connecting block 401, and the laser ranging sensor 405 is

electrically connected with the microprocessor inside the control module 2. When the

UAV flies, its yaw angle is greater than 15 degrees, because the transmitting end of the

laser ranging sensor 405 is always vertically downward, and the light blocking plate 402

inclines with the machine body 101 through the L-shaped connecting plate 401, when the

light blocking plate 402 inclines with the machine body 101, the monitoring distance of

the laser ranging sensor 405 will increase. At this time, the distance monitored by the

laser ranging sensor 405 is L=L/cosA. Here, the angle A is the yaw angle, when L

increases to a certain value, the microprocessor in the control module 2 will control the

yaw angle correction mechanism 5 to operate, thus realizing the angle adjustment of the

first camera 516.

together.

Referring to fig. 1, fig. 2 and fig. 4, a yaw angle correcting mechanism 5 is

provided at the center of the lower surface of the UAV body 1. The yaw angle correcting mechanism 5 includes a top plate 501 and inclined plates 502 arranged at both ends of the top plate 501, and the included angle between the inclined plates 502 and the top plate

shaft of the first motor 505 is connected with a driving gear 506. The angle adjustment of

the whole yaw angle correcting mechanism 5 can be realized by the driving action of the

first motor 505.

camera 516 is arranged on the camera fixing block 515, a rotating bar 517 is fixed on the upper end of the mounting plate 514, and a rotating block 518 is rotatably connected to the upper end of the rotating bar 517, and threaded holes are formed on the left and right end faces of the rotating block 518. Rotating seats 519 are fixed on the left and right inclined plates 502 at the upper end of the rotating bar 517, and a lead screw 520 is rotatably arranged between the two rotating seats 519. The lead screw 520 passes through a threaded hole, and a second motor 521 is arranged at one end of the lead screw 520. In this embodiment, the first motor 505 and the second motor 521 are micro servo motors and are electrically connected with the microprocessor in the control module 2.

connected to the upper end of the second camera 524.

The above is only a preferred embodiment of the present invention, and is not

intended to limit the present invention. Any modifications, equivalent substitutions and

improvements made within the spirit and principles of the present invention should be

included in the scope of protection of the present invention.

Claims

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS:

1. An invention relates to an automatic deviation rectifying device for a oblique

photogrammetry yaw angle of a UAV, comprising a UAV body (1), wherein the upper

surface of the UAV body (1) is provided with a control module (2), and a lifting bracket

(3) is fixed on the lower surface of the UAV body (1), the invention is characterized in

that the lower surface of the UAV body (1) is provided with a laser angle detection

device (4) in both longitudinal and transverse directions, and the laser angle detection

device (4) is electrically connected with a control module (2), a yaw angle rectifying

mechanism (5) is arranged at the center of the lower surface of the UAV body (1);

The yaw angle correcting mechanism (5) comprises a top plate (501) and inclined

plates (502) arranged at both ends of the top plate (501), wherein the upper end of the top

plate (501) is connected with a rotating shaft (503), and the lower surface of the

unmanned aerial vehicle body (1) is provided with a rotating drum (504) rotatably

connected with the rotating shaft (503), an output shaft of the first motor (505) is

connected with a driving gear (506), a driven gear (507) meshed with the driving gear

(506) is arranged on the rotating shaft (503), an arc-shaped rotating plate (508) is

arranged on the front side of each inclined plate (502), and the left and right sides of the

arc-shaped rotating plate (508) and the inclined plate (502) is provided with a convex

shaft (510) located in an arc-shaped sliding port (509), two ends of the inclined plate

(502) located below the arc-shaped rotating plate (508) are rotatably provided with first

rollers (511), and two ends of the inclined plate (502) located above the arc-shaped

rotating plate (508) are fixedly provided with rotating parts,the arc-shaped rotating plate

(508) is sandwiched between two first rollers (511) and two second rollers (513), and a mounting plate (514) is fixed at the middle of the arc-shaped rotating plate (508), the lower end of which is fixedly connected with a camera fixing block (515), and the upper end of which is fixed with a rotating rod(517), which is rotatably connected with a rotating block (518), the left and right end faces of the rotating block (518) are provided with through threaded holes The lead screw (520) is arranged through a threaded hole, a second motor (521) is arranged at one end of the lead screw (520), the lower ends of the two inclined plates (502) are connected with a base plate (522) together, a ball hinge support (523) is arranged at the center of the lower surface of the base plate (522), and the ball hinge support (523)2, the automatic deviation correction device for the yaw angle in the oblique photogrammetry of unmanned aerial vehicle according to claim 1, characterized in that the unmanned aerial vehicle body (1) comprises a machine body

(101), and four wing plates (102) are arranged on the machine body (101), and the lower

surface of the outer end of each wing plate (102) is provided with a flight motor (103).

3. The automatic deviation correction device for the yaw angle of unmanned

aerial vehicle oblique photogrammetry according to claim 1, which is characterized in

that the lifting bracket (3) comprises four inclined rods (301) arranged symmetrically in

the center, and the lower ends of the four inclined rods (301) are connected with

rectangular frame rods (302) together.

4. The automatic deviation correction device for UAV oblique photogrammetry

yaw angle according to claim 1, characterized in that the laser angle detection device (4)

comprises an L-shaped connecting plate (401) fixedly connected with the UAV body (1),

the lower end of the L-shaped connecting plate (401) is connected with a light blocking

plate (402), and the lower surface of the upper end of the L-shaped connecting plate (401)

A rotating connecting block (404) is rotatably arranged on the rotating frame (403), and

the lower end of the rotating connecting block (404) is connected with a laser ranging

sensor (405), which is electrically connected with the control module (2).

5. The automatic deviation correction device for the yaw angle of UAV oblique

photogrammetry according to claim 1, characterized in that the control module (2)

comprises a microprocessor, a memory, a GPS locator and a built-in battery.

6. The automatic deviation correction device for the yaw angle of the UAV

oblique photogrammetry according to claim 1, characterized in that the included angle

between the inclined plate (502) and the top plate (501) is 45-60 degrees.

7. The automatic deviation correction device for the yaw angle in the oblique

photogrammetry of unmanned aerial vehicle according to claim 1, characterized in that

the outer circumferential surfaces of the first roller (511) and the second roller (513) are

provided with annular grooves (526) with the same thickness as the arc-shaped rotating

plate (508).

8. According to claim 1, the automatic deviation correction device for the yaw

angle in the oblique photogrammetry of unmanned aerial vehicle is characterized in that

the first motor (505) and the second motor (521) are micro servo motors which are

electrically connected with the control module (2).

Figure 1/4

Figure 1