CN104386249B - The mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping - Google Patents
The mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping Download PDFInfo
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- CN104386249B CN104386249B CN201410652551.6A CN201410652551A CN104386249B CN 104386249 B CN104386249 B CN 104386249B CN 201410652551 A CN201410652551 A CN 201410652551A CN 104386249 B CN104386249 B CN 104386249B
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Abstract
The invention discloses the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping, belong to aerial mapping technical field.The present invention includes frame, flight lift system, cradle head mechanism and control mechanism, frame stretches out four horns along its body, underpart is provided with foot rest, horn and foot rest are folding structure, flight lift system is arranged at the end of four horns, cradle head mechanism passes through carry bar carry in unmanned plane organism bottom, cradle head mechanism is provided with camera, cradle head mechanism is for regulating camera optical axis all the time perpendicular to ground, and control mechanism is for controlling unmanned plane during flying to specified altitude assignment and the upset of adjustment cradle head mechanism; Mapping method of the present invention, by analyzing camera lens parameter, is determined the relation between shooting height and imaging scale, is reset unmanned plane during flying route.The present invention can obtain mapped results fast, mapping precision and efficiency high.
Description
Technical field
The present invention relates to aerial mapping technical field, more particularly, relate to the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping.
Background technology
Along with the develop rapidly of Eltec, SUAV (small unmanned aerial vehicle) has had obvious breakthrough in Remote, cruise duration, flight quality, becomes the new air remote sensing means of rising in recent years, is generally believed to have good development prospect by remote sensing circle.But most unmanned planes of at present application are not be Mapping remote sensing technology industry and designing, although simple aeromodelling airplane is also with flight control system, can realize aerial automatic Pilot and serial photograph yet.But, in flight operation process, because unmanned plane is vulnerable to the impact of air-flow, the random attitudes vibration such as pitching, rolling can be produced, camera optical axis also can change with the change of flight attitude, causes the irregular distortion of photographed data, and Duplication is difficult to ensure, can only be made up by increase course line density and number of pictures, ground staff's later stage recycles the compare rule that Survey and map software processed to the data gathered, calculate to obtain photographic subjects.
The personnel of survey field know, carrying out housing demolition cost keeping, farmland engineering cost estimation, during the operations such as earthwork area reckoning, mapping operations be pressed for time, task weight.The mode of tradition unmanned plane overhead filmed image post-processed again, late time data process wastes a large amount of manpower and materials, instant measurability is poor, and this is also the large bottleneck that restriction unmanned plane is applied in Surveying and Mapping Industry, and does not still have good scheme to address this problem at present.
Through retrieval, Chinese Patent Application No. 200920107879.4, the applying date is on May 1st, 2009, invention and created name is: a kind of orthophoto pan-tilt-zoom of unmanned plane, this application case is controlled camera by the control setup of The Cloud Terrace, make it in flight course, to keep camera optical axis all the time perpendicular to large ground level, thus improve mapping precision, a large amount of minimizing flight production time.Orthophoto pan-tilt-zoom of unmanned plane is assemblied in the bottom of robot airplane, and camera is installed on The Cloud Terrace base, and base connects X-axis control group and the Y-axis control group of The Cloud Terrace; X-axis control group and Y-axis control group comprise the gyroscope, electronic governor and the servomechanism that are connected successively respectively, and gyroscope connects remote control receiver and power supply successively.When unmanned plane during flying, camera optical axis over the ground angle of incidence can produce skew, now gyroscope detection camera deflection rate and export corresponding signal to electronic governor, electronic governor controls servomechanism and does corresponding rotation to export contrary moment, with the generation of this damping camera skew and continuity, and rely on camera center of gravity clear-cutting forestland to state perpendicular to the ground.
And for example China Patent No. ZL201220738050.6, authorized announcement date is on July 17th, 2013, invention and created name is: a kind of aerial photography aircraft, this application case comprises cabin, described cabin is made up of top board and base plate, both sides in described cabin are provided with four horns, and the end of described four horns is respectively arranged with screw propeller; Described screw propeller connects power plant module, described power plant module connects power management module and control module, described control module connects image transmission module, GPS locating module and photographing module respectively, and the front end in described cabin is provided with The Cloud Terrace, and described photographing module is arranged on The Cloud Terrace.Video data is transferred to ground control unit by 3G network by image transmission module by this application case, and signal strength is good.In addition, China Patent No. ZL201220587792.3, authorized announcement date is on April 24th, 2013, and invention and created name is: twin shaft gyrocontrol The Cloud Terrace; This application case also discloses a kind ofly can stablize the twin shaft gyrocontrol The Cloud Terrace that airborne equipment shoots with video-corder angle.
Above-mentioned application case is and improves mapping precision and propose oneself scheme, but above-mentioned application case or complex structure, manufacturing cost are high, poor practicability; Or function is perfect not, result of use is poor, still needs further improvement.
Summary of the invention
1. invent the technical matters that will solve
The object of the invention is to solve existing unmanned plane mapping precision low, need the later stage to carry out measuring and calculating to mass data and correct, waste time and energy, the problem of timely measurability difference, provide the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping; Unmanned plane provided by the invention, structure is simple, the camera of load can adjust at any time according to unmanned plane during flying attitude, remain the shooting angle perpendicular to Earth Surface, the nucleus percentage error of captured image is low, then is aided with mapping method provided by the invention, corrects without the need to carrying out late time data measuring and calculating, mapped results can be obtained fast, mapping precision and efficiency high; In addition, the whole unmanned plane frame of the present invention adopts detachable or folding structure, is put in a containing box under non-working condition, transport, easy to carry, can rapid-assembling during use, practical.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
One of the present invention surveys and draws many rotor wing unmanned aerial vehicles fast, comprises frame, flight lift system, cradle head mechanism and control mechanism, wherein:
Described frame stretches out four horns along its body, and underpart is provided with foot rest, and horn and foot rest are folding structure;
Described flight lift system is arranged at the end of four horns, this flight lift system comprises electronic governor, motor and screw propeller, the mouth of electronic governor connects motor, the bottom of screw propeller is provided with a Fast detachable unit, screw propeller is connected with motor activity by this Fast detachable unit, and electric machine control screw propeller rotates with different rotating speeds;
Described cradle head mechanism is by carry bar carry in unmanned plane organism bottom, and cradle head mechanism is provided with camera, and cradle head mechanism is for regulating camera optical axis all the time perpendicular to ground;
Described control mechanism is for controlling unmanned plane during flying to specified altitude assignment and the upset of adjustment cradle head mechanism.
Further, described horn comprises the first horn and the second horn, and the root of the first horn is provided with folded piece, and the first horn is connected by folded piece with the second horn; Described foot rest comprises foot rest arm and leftover bits and pieces boom, and the root of upper foot rest arm is provided with folded piece, and upper foot rest arm is also connected by folded piece with leftover bits and pieces boom.
Further, described folded piece comprises the first adapter, articulation piece, the second adapter and buckle, the first adapter, the second adapter and horn or foot rest arm fit, and the first adapter and second is taken over and is flexibly connected by articulation piece; Described buckle is arranged in the second adapter, and the first adapter, the second adapter are fixed by buckle is spacing.
Further, described cradle head mechanism comprises carry part, fixed support, X-axis brushless motor, The Cloud Terrace frame, camera support, Y-axis brushless motor and camera, one end of described carry part is provided with bayonet socket, carry part is sticked on carry bar by this bayonet socket, the other end and the fixed support of carry part are connected, support bracket fastened bottom is connected X-axis brushless motor, and the output shaft of X-axis brushless motor is connected with The Cloud Terrace frame, and X-axis brushless motor controls The Cloud Terrace frame and rotates; Described The Cloud Terrace frame is U-shaped structure, and one end of this The Cloud Terrace frame is fixed with Y-axis brushless motor, and the other end of The Cloud Terrace frame is symmetrically arranged with rotating shaft; Described camera support is also U-shaped structure, and one end of this camera support is connected with the output shaft of Y-axis brushless motor, and the other end of camera support is connected with rotating shaft, and Y-axis brushless motor controls camera support and rotates; Described camera is fixed on camera support.
Further, described cradle head mechanism also comprises gyroscope, X-axis electronic governor and Y-axis electronic governor, gyrostatic input end is connected with receiver, this gyroscope controls X-axis electronic governor and the action of Y-axis electronic governor respectively, described X-axis electronic governor connects X-axis brushless motor, and Y-axis electronic governor connects Y-axis brushless motor.
Further, described control mechanism comprises master controller, battery, GPS navigator, IMU module and receiver, the input end of master controller is connected with the mouth of GPS navigator, IMU module respectively, the mouth of master controller connects electronic governor and receiver, the mouth of described electronic governor connects motor, the mouth of receiver connects gyroscope, and described battery is that unmanned plane action is powered.
Further, described frame, carry part, fixed support, The Cloud Terrace frame and camera support are carbon fibre materials.
Further, described camera is Canon S120 digital camera.
The mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping of the present invention, the steps include:
The lens parameters of step one, analysis camera, carries out distortion correction, determines the relation between shooting height and imaging scale;
Step 2, according to step one the data obtained determination unmanned plane during flying route;
Step 3, according to step 2 determination route programming, be burned onto in master controller;
Step 4, main controller controls unmanned plane fly in setting height, and control cradle head mechanism upset, make camera 77 optical axis all the time perpendicular to ground photographic subjects image, complete all shooting tasks by setting flight path.
Further, the pass between step one gained shooting height and imaging scale is:
In formula, H is shooting height, and f is lens focus, and a is pixel dimension, and GSD is ground resolution.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following remarkable result:
(1) one of the present invention surveys and draws many rotor wing unmanned aerial vehicles fast, is located by GPS navigation, IMU accurate feedback flight attitude to master controller, the flight accurate positioning of unmanned plane; By gyroscope feedback unmanned plane during flying attitude, drive X-axis brushless motor and Y-axis brushless motor to control camera to move in X, Y both direction, make camera optical axis all the time perpendicular to Earth Surface, photographic images nucleus percentage error, lower than 5%, can be widely used in the fields such as good farmland measuring and calculating;
(2) one of the present invention surveys and draws many rotor wing unmanned aerial vehicles fast, adopts four rotor structures, and support adopts carbon fibre materials manufacture, small in volume; And unmanned plane frame is collapsible, the part detachables such as cradle head mechanism, are put in a containing box under non-working condition, transport, easy to carry, can rapid-assembling during use, practical;
(3) mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping of the present invention, adopt reverse thinking, by analyzing camera lens parameter, determine the relation between shooting height and imaging scale, reset unmanned plane during flying route, but not later-stage utilization Survey and map software is analyzed unmanned plane filmed image and is determined photographic subjects compare rule again, eliminate the time of post-processed data, and perform in aerophotogrammetric field work process at unmanned plane, without the need to any intervention of ground staff, record the image convenience and high-efficiency of corresponding proportion chi.
Accompanying drawing explanation
Fig. 1 is the structural representation of the many rotor wing unmanned aerial vehicles of a kind of quick mapping of the present invention;
Fig. 2 is the structured flowchart of unmanned aerial vehicle (UAV) control mechanism in the present invention;
Fig. 3 is the structured flowchart of The Cloud Terrace control mechanism in the present invention;
Fig. 4 is the structural representation of folded piece in the present invention;
Fig. 5 is the folding rear schematic diagram of unmanned plane frame in the present invention;
(a) and (b) in Fig. 6 is the schematic diagram that in the present invention, Fast detachable unit is connected with screw propeller with motor, Fast detachable unit;
Fig. 7 is the structural representation of cradle head mechanism in the present invention;
Fig. 8 is unmanned plane of the present invention shooting principle schematic.
Label declaration in schematic diagram:
1, battery; 2, GPS navigator; 31, the first horn; 321, the first adapter; 322, articulation piece; 323, the second adapter; 324, buckle; 33, the second horn; 41, motor; 42, Fast detachable unit; 421, Fast detachable unit base; 4211, base termination; 4212, fixed orifice; 4213, knock hole; 422, the Fast detachable unit seat of honour; 423, jump ring; 424, M3 screw; 425, locating dowel pin; 43, screw propeller; 51, upper foot rest arm; 52, leftover bits and pieces boom; 6, carry bar; 71, carry part; 72, fixed support; 73, X-axis brushless motor; 74, The Cloud Terrace frame; 75, camera support; 76, Y-axis brushless motor; 77, camera.
Detailed description of the invention
For understanding content of the present invention further, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
Referring to Fig. 1, the one of the present embodiment surveys and draws many rotor wing unmanned aerial vehicles fast, comprises frame, flight lift system, cradle head mechanism and control mechanism, wherein:
Described frame stretches out four horns along its body, and four horns are arranged at equal intervals around body, and can ensure the stability of unmanned plane during flying, underpart is provided with foot rest.The root position of body (namely near) that in the present embodiment, horn comprises the first horn 31 and the second horn 33, first horn 31 is provided with folded piece, and the first horn 31 is connected by folded piece with the second horn 33.Described foot rest comprises foot rest arm 51 and leftover bits and pieces boom 52, and the root of upper foot rest arm 51 is provided with folded piece, and upper foot rest arm 51 is also connected by folded piece with leftover bits and pieces boom 52.The concrete structure of folded piece is referring to Fig. 4, described folded piece comprises the first adapter 321, articulation piece 322, second adapter 323 and buckle 324, first adapter 321, second adapter 323 and horn or foot rest arm fit, the first adapter 321 is flexibly connected by articulation piece 322 with the second adapter 323; Described buckle 324 is arranged in the second adapter 323, and the first adapter 321, second adapter 323 is spacing fixing by buckle 324.Folded piece shown in Fig. 4 is mainly used in the first horn 31 and the second horn 33, between upper foot rest arm 51 and leftover bits and pieces boom 52, first horn 31 and the folded piece of upper foot rest arm 51 root comprise with it that parts are identical, action principle is identical, structure design is slightly different, repeats no more herein.
Described flight lift system is arranged at the end of four horns, this flight lift system comprises electronic governor, motor 41 and screw propeller 43, the end of horn arranges motor cabinet, motor 41 is installed on motor cabinet, the mouth of electronic governor connects motor 41, and motor 41 controls screw propeller 43 and rotates with different rotating speeds.What deserves to be explained is, the present embodiment is provided with a Fast detachable unit 42 in the bottom of screw propeller 43, referring to (a) and (b) in Fig. 6, Fast detachable unit 42 comprises Fast detachable unit base 421, the Fast detachable unit seat of honour 422 and jump ring 423, the middle part of Fast detachable unit base 421 is provided with base termination 4211, and base termination 4211 offers outside thread.Fast detachable unit base 421 offers fixed orifice 4212 along the surrounding of base termination 4211 and Fast detachable unit base 421 is fixed on motor 41 through fixed orifice 4212 by knock hole 4213, M3 screw 424.The tapped bore coordinated with base termination 4211 is offered bottom the described Fast detachable unit seat of honour 422, and the Fast detachable unit seat of honour 422 also offers fixed orifice and knock hole, the Fast detachable unit seat of honour 422 and screw propeller 43 are fixed through fixed orifice by M3 screw 424, also accompany jump ring 423 between the Fast detachable unit seat of honour 422 and screw propeller 43.Locating dowel pin 425 is through the knock hole that the Fast detachable unit seat of honour 422 is offered, during assembling screw propeller 43, bottom thread hole, the Fast detachable unit seat of honour 422 coordinates with the base termination 4211 of Fast detachable unit base 421, be screwed into after 90 °, locating dowel pin 425 snaps in knock hole 4213, when can ensure that screw propeller 43 acceleration or deceleration rotates in the same direction, the Fast detachable unit seat of honour 422 is not separated all the time with Fast detachable unit base 421, and then when ensureing unmanned plane operation, screw propeller 43 does not depart from unmanned plane body and causes the accident.Same, during dismounting screw propeller 43, opposite sense turns the Fast detachable unit seat of honour 422, and locating dowel pin 425 departs from knock hole 4213, i.e. quick release screw propeller 43.Screw propeller 43 can be installed on the mouth of motor 41 by this Fast detachable unit 42 in 3s, or pull down from motor 41.
Unmanned plane is under non-working condition, screw propeller 43 is pulled down rapidly by Fast detachable unit 42, again the buckle 324 of each folded piece is opened, first horn 31 is folded downwards along its root, second horn 33 upwards folds along the first horn 31, in like manner, is inwardly folded by upper foot rest arm 51 along its root, leftover bits and pieces boom 52 upwards folds along upper foot rest arm 51, and after folding, effect is referring to Fig. 5.So, after folding, unmanned plane takes up room very little, can be positioned in aluminum storage box very easily, transport, easy to carry, also can rapid-assembling during use, practical.
Described cradle head mechanism is referring to Fig. 7, and cradle head mechanism comprises carry part 71, fixed support 72, X-axis brushless motor 73, The Cloud Terrace frame 74, camera support 75, Y-axis brushless motor 76 and camera 77.The frame of the present embodiment, carry part 71, fixed support 72, The Cloud Terrace frame 74 and camera support 75 all adopt carbon fibre material to prepare, carbon fibre material is a kind of high-temperature fibre with very high strength and modulus, the main body rack of unmanned plane adopts carbon fibre material, can ensure that unmanned plane volume is little, lightweight, frame strength is high, service life extends greatly.
One end of described carry part 71 is provided with bayonet socket, and carry part 71 is sticked on the carry bar 6 of unmanned plane organism bottom by this bayonet socket.Cradle head mechanism is fastened on carry bar 6 by carry part 71, can ensure not because the factors such as air-flow shake between cradle head mechanism and body, ensures that photographic images is clear, not ghost image.Meanwhile, under unmanned plane non-working condition, also cradle head mechanism fast dismantling can be removed, when ensureing to transport, the camera 77 of cradle head mechanism load is not collided, and causes damaging; In use also can the cradle head mechanism of Fast Installation load different model camera, meet the requirement of different shooting task.The other end and the fixed support 72 of carry part 71 are connected, and the bottom of fixed support 72 is connected X-axis brushless motor 73, and the output shaft of X-axis brushless motor 73 is connected with The Cloud Terrace frame 74, and X-axis brushless motor 73 controls The Cloud Terrace frame 74 and rotates.Described The Cloud Terrace frame 74 is U-shaped structure, and one end of this The Cloud Terrace frame 74 is fixed with Y-axis brushless motor 76, and the other end of The Cloud Terrace frame 74 is symmetrically arranged with rotating shaft; Described camera support 75 is also U-shaped structure, and one end of this camera support 75 is connected with the output shaft of Y-axis brushless motor 76, and the other end of camera support 75 is connected with rotating shaft, and Y-axis brushless motor 76 controls camera support 75 and rotates.Described camera 77 is fixed on camera support 75.In the present embodiment, camera 77 adopts Canon S120 digital camera, the large wide-angle that Canon's S120 digital camera has, multiple continuous shooting functions, and unmanned plane can be helped to obtain more high-quality, more fully surveying and mapping data.
Referring to Fig. 3, the cradle head mechanism of the present embodiment also comprises gyroscope, X-axis electronic governor and Y-axis electronic governor, described gyroscope and The Cloud Terrace frame 74 keep geo-stationary, the present embodiment gyroscope used is highly integrated gyroscope, this gyrostatic input end is connected with receiver, and gyroscope controls X-axis electronic governor and the action of Y-axis electronic governor respectively.Described X-axis electronic governor connects X-axis brushless motor 73, and Y-axis electronic governor connects Y-axis brushless motor 76.X-axis brushless motor 73 and Y-axis brushless motor 76 provide power for regulating camera 77 shooting angle, be specially X-axis brushless motor 73 to control The Cloud Terrace frame 74 and rotate, Y-axis brushless motor 76 controls camera support 75 and rotates, X-axis brushless motor 73, Y-axis brushless motor 76 can simultaneously or single movement, control camera optical axis with unmanned plane during flying attitudes vibration, all the time perpendicular to Earth Surface.
The control mechanism of the present embodiment is arranged at unmanned plane internal body, for controlling unmanned plane during flying to specified altitude assignment and the upset of adjustment cradle head mechanism.Referring to Fig. 2, control mechanism comprises master controller, battery 1 (i.e. power module), GPS navigator 2 (i.e. GPS module), IMU module and receiver, the input end of master controller is connected with the mouth of GPS navigator 2, IMU module respectively, and the mouth of master controller connects electronic governor and receiver.Master controller is the core of whole unmanned aerial vehicle control system, and the signal receiving GPS navigator 2 and IMU feedback is gone forward side by side row relax, then controls electronic governor and receiver action according to result.Unmanned plane is stabilized in same place for auxiliary master controller thus makes the effect of shooting picture not by Influence of Displacement by GPS navigator 2 in a non-operating condition, GPS navigator 2 is also by carry part carry on carry bar 6 (referring to Fig. 1), under non-working condition, GPS navigator 2 can be removed equally.The mouth of electronic governor connects motor 41, and the mouth of receiver connects gyroscope.Described battery 1 adopts lithium polymer battery, and this battery 1 is arranged at unmanned plane body top, and for for each mechanism of unmanned plane is as power supplies such as master controller, IMU module, receivers, Fig. 2 is only schematic description.
Many rotor wing unmanned aerial vehicles principle of work of the present embodiment is as follows: IMU module acquires unmanned plane current flight attitude information is transferred to master controller, master controller is according to the output of PID arithmetic adjustment electronic governor, and then adjustment motor 41 drives the moment of screw propeller 43, thus reach stable flight effect.GPS navigator 2 provides unmanned plane locating information accurately, feeds back to master controller, and master controller hovers to current position stability of specifying according to s operation control unmanned plane during flying.The gyroscope of cradle head mechanism passes through integral operation simultaneously, drive X-axis electronic governor and Y-axis electronic governor simultaneously or single movement, control X-axis brushless motor 73, Y-axis brushless motor 76 rotate, and make camera 77 optical axis with unmanned plane during flying attitudes vibration, all the time perpendicular to Earth Surface.
In order to reach the object of mapping fast, the present embodiment additionally provides the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping, the steps include:
The lens parameters of step one, analysis camera 77 (Canon S120 digital camera), carry out distortion correction, determine the relation between shooting height and imaging scale, be specially:
In formula, H is shooting height, and unit is rice (m);
F is the lens focus of Canon S120 digital camera, and unit is millimeter (mm);
A is the pixel dimension of Canon S120 digital camera, and unit is millimeter (mm);
GSD is ground resolution (i.e. imaging scale), and unit is rice (m).
Step 2, to bring above formula according to the imaging scale needed in aerial survey task into and calculate unmanned plane during flying height, determine unmanned plane during flying route.
Step 3, the flight path programming determined according to step 2, be burned onto in master controller.
Step 4, main controller controls unmanned plane fly in setting height, and control cradle head mechanism upset, make S120 digital camera optical axis all the time perpendicular to ground photographic subjects image, complete all shooting tasks by setting flight path.
The present embodiment adopts reverse thinking, by analyzing camera lens parameter, determine the relation between shooting height and imaging scale, reset unmanned plane during flying route, but not later-stage utilization Survey and map software is analyzed unmanned plane filmed image and is determined photographic subjects compare rule again, eliminates the time of post-processed data.In flight course, gyroscope adjusts the angle of camera 77 all the time automatically, does not need manual intervention, fool, as long as unmanned plane arrives the photo that the height of specifying just can shoot corresponding proportion.Referring to Fig. 8, for ground photographic subjects, carry the unmanned plane of Canon S120 digital camera, the orthogonal projection image of 1:500 can be taken in the situation of flying height 193 meters, flying height can take the orthogonal projection image of 1:400 when 154 meters, and flying height can take the orthogonal projection image of 1:300 when 116 meters.By a large amount of actual measuring and calculating, in conjunction with the high-quality performance of Canon S120 digital camera and the present embodiment to the optimal design of unmanned plane, unmanned plane photographic images nucleus percentage error is lower than 5%, do not need later stage software to correct and both can be widely used in the fields such as housing demolition cost keeping, good farmland measuring and calculating, earthwork area reckoning, unmanned plane during flying positioning accurate accuracy and photograph taking precision are all significantly improved.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (9)
1. survey and draw a mapping method for many rotor wing unmanned aerial vehicles fast, it is characterized in that: many rotor wing unmanned aerial vehicles comprise frame, flight lift system, cradle head mechanism and control mechanism, wherein:
Described frame stretches out four horns along its body, and underpart is provided with foot rest, and horn and foot rest are folding structure;
Described flight lift system is arranged at the end of four horns, this flight lift system comprises electronic governor, motor (41) and screw propeller (43), the mouth of electronic governor connects motor (41), the bottom of screw propeller (43) is provided with a Fast detachable unit (42), screw propeller (43) is flexibly connected with motor (41) by this Fast detachable unit (42), and motor (41) controls screw propeller (43) and rotates with different rotating speeds;
Described cradle head mechanism is by carry bar (6) carry in unmanned plane organism bottom, and cradle head mechanism is provided with camera (77), cradle head mechanism is for regulating camera (77) optical axis all the time perpendicular to ground;
Described control mechanism is for controlling unmanned plane during flying to specified altitude assignment and the upset of adjustment cradle head mechanism;
Mapping step is:
The lens parameters of step one, analysis camera (77), carries out distortion correction, determines the relation between shooting height and imaging scale;
Step 2, according to step one the data obtained determination unmanned plane during flying route;
Step 3, according to step 2 determination route programming, be burned onto in master controller;
Step 4, main controller controls unmanned plane fly in setting height, and control cradle head mechanism upset, make camera (77) optical axis all the time perpendicular to ground photographic subjects image, complete all shooting tasks by setting flight path.
2. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to claim 1, it is characterized in that: described horn comprises the first horn (31) and the second horn (33), the root of the first horn (31) is provided with folded piece, and the first horn (31) is connected by folded piece with the second horn (33); Described foot rest comprises foot rest arm (51) and leftover bits and pieces boom (52), the root of upper foot rest arm (51) is provided with folded piece, and upper foot rest arm (51) is also connected by folded piece with leftover bits and pieces boom (52).
3. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to claim 2, it is characterized in that: described folded piece comprises the first adapter (321), articulation piece (322), the second adapter (323) and buckle (324), first adapter (321), the second adapter (323) and horn or foot rest arm fit, the first adapter (321) is taken over (323) and is flexibly connected by articulation piece (322) with second; Described buckle (324) is arranged in the second adapter (323), and the first adapter (321), the second adapter (323) are fixed by buckle (324) is spacing.
4. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to Claims 2 or 3, it is characterized in that: described cradle head mechanism comprises carry part (71), fixed support (72), X-axis brushless motor (73), The Cloud Terrace frame (74), camera support (75), Y-axis brushless motor (76) and camera (77), one end of described carry part (71) is provided with bayonet socket, carry part (71) is sticked on carry bar (6) by this bayonet socket, the other end and the fixed support (72) of carry part (71) are connected, the bottom of fixed support (72) is connected X-axis brushless motor (73), the output shaft of X-axis brushless motor (73) is connected with The Cloud Terrace frame (74), X-axis brushless motor (73) controls The Cloud Terrace frame (74) and rotates, described The Cloud Terrace frame (74) is U-shaped structure, and one end of this The Cloud Terrace frame (74) is fixed with Y-axis brushless motor (76), and the other end of The Cloud Terrace frame (74) is symmetrically arranged with rotating shaft, described camera support (75) is also U-shaped structure, one end of this camera support (75) is connected with the output shaft of Y-axis brushless motor (76), the other end of camera support (75) is connected with rotating shaft, and Y-axis brushless motor (76) controls camera support (75) and rotates, described camera (77) is fixed on camera support (75).
5. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to claim 4, it is characterized in that: described cradle head mechanism also comprises gyroscope, X-axis electronic governor and Y-axis electronic governor, gyrostatic input end is connected with receiver, this gyroscope controls X-axis electronic governor and the action of Y-axis electronic governor respectively, described X-axis electronic governor connects X-axis brushless motor (73), and Y-axis electronic governor connects Y-axis brushless motor (76).
6. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to claim 5, it is characterized in that: described control mechanism comprises master controller, battery (1), GPS navigator (2), IMU module and receiver, the input end of master controller is connected with the mouth of GPS navigator (2), IMU module respectively, the mouth of master controller connects electronic governor and receiver, the mouth of described electronic governor connects motor (41), the mouth of receiver connects gyroscope, and described battery (1) is powered for unmanned plane action.
7. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to claim 6, is characterized in that: described frame, carry part (71), fixed support (72), The Cloud Terrace frame (74) and camera support (75) are carbon fibre materials.
8. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to claim 7, is characterized in that: described camera (77) is Canon S120 digital camera.
9. the mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping according to claim 8, is characterized in that: the pass between step one gained shooting height and imaging scale is:
In formula, H is shooting height, and f is lens focus, and a is pixel dimension, and GSD is ground resolution.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410652551.6A CN104386249B (en) | 2014-11-17 | 2014-11-17 | The mapping method of the many rotor wing unmanned aerial vehicles of a kind of quick mapping |
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