CN108248815A - A kind of acquisition methods and device of high-precision remotely-sensed data - Google Patents
A kind of acquisition methods and device of high-precision remotely-sensed data Download PDFInfo
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- CN108248815A CN108248815A CN201810116350.2A CN201810116350A CN108248815A CN 108248815 A CN108248815 A CN 108248815A CN 201810116350 A CN201810116350 A CN 201810116350A CN 108248815 A CN108248815 A CN 108248815A
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- 230000000007 visual effect Effects 0.000 claims abstract description 22
- 238000005096 rolling process Methods 0.000 claims abstract description 16
- 230000001154 acute effect Effects 0.000 claims abstract description 4
- 230000035939 shock Effects 0.000 claims description 34
- 238000013016 damping Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 5
- 239000010985 leather Substances 0.000 claims description 5
- 230000008859 change Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/061—Frames
- B64C1/063—Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C7/00—Structures or fairings not otherwise provided for
-
- 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
- B64D29/00—Power-plant nacelles, fairings, or cowlings
- B64D29/06—Attaching of nacelles, fairings or cowlings
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Studio Devices (AREA)
Abstract
The present invention relates to a kind of acquisition methods and device of high-precision remotely-sensed data, the step of method, is：Obtain respectively along the horizontal forward visual angle of heading, along heading vertically downward visual angle, tilt forward and back along heading visual angle and tilt the image data at visual angle and the corresponding position of image, attitude data along heading.The stent of device includes two propeller struts, two fuselage struts, and the angle between two propeller struts is at an acute angle；Rolling control motor is connect with connecting seat, it is connect at the top of connecting seat with holder stent, connecting seat bottom is connect with connecting rod, connecting rod one end is connect with a pitching control motor rocking arm, the present invention can change camera angle so as to obtain the remotely-sensed data of multi-angle in real time, than general camera angle be fixed value unmanned plane it is flexible, while camera vibration can be offset；Its supporting structure is stablized than common unmanned plane, more efficient；Stent can fold, and be convenient for carrying.
Description
Technical field
The invention belongs to a kind of method and devices, and in particular to a kind of acquisition methods and device of high-precision remotely-sensed data.
Background technology
Current most of unmanned planes, fuselage is an overall structure, and holder, camera are located at unmanned aerial vehicle body bottom；
Fuselage interior does not have antihunting device；The periphery areas such as rack or mounting disc are small, are not sufficiently stable；Unmanned plane controls the angle of camera
Not convenient enough, the camera that some is mounted on unmanned plane is fixed, it is impossible to change angle, some cannot then change in real time in the air
Varied angle.
Invention content
The object of the present invention is to provide a kind of acquisition methods and device of high-precision remotely-sensed data, can change camera in real time
Angle does not need to shutdown adjustment camera angle so as to obtain the remotely-sensed data of multi-angle, and the making for follow-up achievement provides comprehensively
Data support, and than general camera angle be fixed value unmanned plane it is flexible, while there is shock lever frame, phase can be offset
Machine vibration；Its supporting structure is stablized than common unmanned plane, more efficient；Stent can fold, and be convenient for carrying；And camera angle tune
Perfect square is just；The camera radome fairing and fly control, battery radome fairing is enclosed construction, resistance when can reduce unmanned plane during flying and
Interference；Camera and positioning and orientation system and winged control, battery are placed side by side, and unmanned plane entirety center of gravity is made to increase, can shorten stress point
With centroidal distance, unmanned plane stability is improved, moreover it is possible to shorten undercarriage length, mitigate the main screw lift of unmanned plane.
In order to achieve the above object, the present invention has following technical solution：
The acquisition methods and device of a kind of high-precision remotely-sensed data of the present invention, method have following steps：
1) unmanned plane is obtained along heading the camera lens image data of visual angle A and position and attitude data vertically downward, A
=90 degree；
2) it obtains unmanned plane and is tilted towards the image data of preceding visual angle B and position and attitude data along heading camera lens, 0
Degree<B<90 degree；
3) image data and position and attitude data of the unmanned plane along heading camera lens visual angle C tilted backwards are obtained,
90 degree<C<150 degree；
4) it obtains unmanned plane and tilts the image data of horizontal view angle D and position and attitude number to the left along heading camera lens
According to 0 degree<D<90 degree；
5) it obtains unmanned plane and is tilted towards the image data of LOOK RIGHT E and position and attitude data along heading camera lens,
90 degree<E<180 degree；
6) image data and position and attitude data of the unmanned plane along the horizontal forward visual angle F of heading camera lens, F are obtained
=0 degree；
7) it obtains unmanned plane and tilts the image data of horizontal view angle G and position and attitude number to the left along heading camera lens
According to G=0 degree；
8) it obtains unmanned plane and tilts the image data of horizontal view angle H and position and attitude number to the right along heading camera lens
According to H=0 degree；
In step 1) -8) on the basis of, by the flight of unmanned plane, the remote sensing for being pre-designed route and region can be obtained
Data.
Wherein, step 1) -8) among all angle can in real time be adjusted using unmanned controller,
Make the camera of UAV flight can freely convert angle in the air.Step 1) -8) in the situation of battery capacity permission
Under, it can disposably complete, not need to landing unmanned plane replacement battery and fly again.
The acquisition device of a kind of high-precision remotely-sensed data of the present invention, including fuselage, stent, undercarriage, propeller, spiral
Paddle motor, the propeller are connect with propeller motor, and propeller motor is connect with stent, and stent is connect with undercarriage, fuselage
It is connect with stent, the stent includes two propeller struts, two fuselage struts, the folder between two propeller struts
Angle is at an acute angle, two fuselage strut interconnections, and foldable, wherein, two fuselage strut ends respectively with two propellers
Strut connects, and two fuselage strut infalls are equipped with fixed seat, for fixing two fuselage struts, when removing fixed seat, two
Root fuselage strut can fold, and can reduce the spatial volume of stent；Two fuselage strut intersection points are to the length of propeller strut long side
It spends for 420mm-423mm, the length of two fuselage strut intersection points to propeller strut short side is 273-276mm；The fuselage
Including camera radome fairing and fly control, battery radome fairing, rolling control is equipped between the camera radome fairing and winged control, battery radome fairing
Motor processed, holder stent, connecting seat, connecting rod, pitching control motor, two pitching control motor rocking arms, pitching control motors
Mounting bracket, camera mounting bracket, the rolling control motor connect with connecting seat, connect, connect with holder stent at the top of connecting seat
Seat bottom connect with connecting rod, connecting rod one end is connect with a pitching control motor rocking arm, the pitching control motor rocking arm and
Pitching control motor connects, and pitching control motor output shaft is connect with camera mounting bracket, and camera mounting bracket is connect with camera, is being bowed
It faces upward and pitching control motor mounting bracket is equipped between control motor output shaft and camera mounting bracket, for fixing and supporting pitch control
Motor, the connecting rod other end are connect with another pitching control motor rocking arm, this another pitching control motor rocking arm and camera
The other end connects；Shock lever frame, rubber damping circle, vibration-absorbing mounting, airframe structure are additionally provided in the winged control, battery radome fairing
Plate one, airframe structure plate two, airframe structure plate three, the rubber damping circle are separately fixed at two ends of shock lever frame
Portion, wherein, the rubber damping circle positioned at shock lever frame right end is with flying to control, be connect at the top of battery radome fairing, positioned at vibration damping thick stick
The rubber damping circle of bar frame left end is with flying control, battery bottom part of fairing contacts, and vibration-absorbing mounting is connect with shock lever frame left end,
Vibration-absorbing mounting bottom is connect with holder stent, and the airframe structure plate one is connect with shock lever frame, airframe structure plate two and electricity
Pond connects, and airframe structure plate one is arranged vertically with airframe structure plate two, and airframe structure plate three is mounted on battery, airframe structure plate
Three are used for fixed data transmission module and image transmission module.
Wherein, the rubber damping circle include upper leather ring, lower apron, cylinder, cylinder top and bottom respectively with it is upper
Apron, the connection of lower apron are equipped with groove in cylinder and lower apron, cylinder junction, for on shock lever frame
Aperture connects.
Wherein, the shock lever frame is U-shaped, and right end is trapezoidal, and trapezoidal portions and shock lever frame body
Partial angle is obtuse angle.
Wherein, two fuselage struts middle part is all provided with fluted, wherein, the groove of a fuselage strut is embedded in another
In the groove of fuselage strut, and fixed on groove equipped with cover board；The fixed seat is trapezoidal, and fixed seat bottom both ends are equipped with pipe
Set, for being sleeved on fuselage strut.
Wherein, the camera radome fairing and fly control, battery radome fairing is enclosed construction, when can reduce unmanned plane during flying
Resistance and interference；Camera and positioning and orientation system and winged control, battery are placed side by side, and unmanned plane entirety center of gravity is made to increase, can be shortened
Stress point and centroidal distance improve unmanned plane stability, moreover it is possible to shorten undercarriage length, mitigate the main screw lift of unmanned plane.
Wherein, the connecting seat includes U-frame set, chuck, and the U-frame set middle part is equipped with through-hole, the through-hole and rolling
Motor output shaft connection is controlled, the chuck top is sleeved on rolling control motor output shaft, and chuck lower part is sleeved in connecting rod.
Wherein, the camera radome fairing includes ellipsoid shape, rectangular shape or rectangular shape；Wherein, camera is whole
Stream cover is ellipsoid shape, and aeroperformance is more preferable during unmanned plane during flying, and flight resistance is small.
Due to taking above technical scheme, the advantage of the invention is that：
Camera angle can be changed in real time so as to obtain the remotely-sensed data of multi-angle, do not need to shutdown adjustment camera angle,
Making for follow-up achievement provides comprehensive data and supports, and than general camera angle be fixed value unmanned plane it is flexible.Have
Shock lever frame can offset camera vibration；Its supporting structure is stablized than common unmanned plane, more efficient；Stent can fold,
It is convenient for carrying；And camera angle is easy to adjust；The camera radome fairing and winged control, battery radome fairing are enclosed construction, can be subtracted
Resistance and interference during small unmanned plane during flying；Camera and positioning and orientation system and winged control, battery are placed side by side, make unmanned plane whole
Center of gravity rises, and can shorten stress point and centroidal distance, improves unmanned plane stability, moreover it is possible to shorten undercarriage length, mitigate nobody
The main screw lift of machine.
Description of the drawings
Fig. 1 is the schematic diagram of overall structure of the present invention；
Fig. 2 is the enlarged diagram of cradle head structure of the present invention；
Fig. 3 is camera radome fairing of the present invention and the enlarged diagram for flying control, battery radome fairing is connect；
Fig. 4 is the enlarged diagram of camera mounting structure of the present invention；
Fig. 5 is cradle head controllor of the present invention, flies control, the enlarged diagram of battery installation；
Fig. 6 is the enlarged diagram of shock lever frame of the present invention；
Fig. 7 is the enlarged diagram of stent of the present invention；
Fig. 8 is the enlarged diagram of connecting seat of the present invention；
Fig. 9 is the ellipsoid shape enlarged diagram of camera radome fairing of the present invention.
In figure, 1, fuselage；2nd, propeller；3rd, propeller motor；4th, stent；5th, undercarriage；6th, cradle head controllor；7th, holder
Stent；8th, rolling control motor；9th, pitching control motor；10th, pitching control motor rocking arm；11st, camera radome fairing；12nd, fly control,
Battery radome fairing；13rd, fixed seat；14th, camera；15th, camera shell；16th, camera mounting bracket；17th, pitching control motor mounting bracket；
18th, camera body；19th, fly control；20th, battery；21st, airframe structure plate three；22nd, airframe structure plate two；23rd, airframe structure plate one；
24th, rubber damping circle；25th, shock lever frame；26th, vibration-absorbing mounting；27th, connecting seat；28th, connecting rod；29th, groove；30th, U-frame
Set；31st, chuck；32nd, shock lever frame body part；33rd, trapezoidal portions；34th, two fuselage strut intersection points are to propeller branch
The length of bar long side；35th, two fuselage strut intersection points are to the length of propeller strut short side；36th, the spheroid of camera radome fairing
Shape；37th, positioning and orientation system.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Referring to Fig. 1-9：
The acquisition methods and device of a kind of high-precision remotely-sensed data of the present invention of the present invention, method have following steps：
1) unmanned plane is obtained along heading the camera lens image data of visual angle A and position and attitude data vertically downward, A
=90 degree；
2) it obtains unmanned plane and is tilted towards the image data of preceding visual angle B and position and attitude data along heading camera lens, 0
Degree<B<90 degree；
3) image data and position and attitude data of the unmanned plane along heading camera lens visual angle C tilted backwards are obtained,
90 degree<C<150 degree；
4) it obtains unmanned plane and tilts the image data of horizontal view angle D and position and attitude number to the left along heading camera lens
According to 0 degree<D<90 degree；
5) it obtains unmanned plane and is tilted towards the image data of LOOK RIGHT E and position and attitude data along heading camera lens,
90 degree<E<180 degree；
6) image data and position and attitude data of the unmanned plane along the horizontal forward visual angle F of heading camera lens, F are obtained
=0 degree；
7) it obtains unmanned plane and tilts the image data of horizontal view angle G and position and attitude number to the left along heading camera lens
According to G=0 degree；
8) it obtains unmanned plane and tilts the image data of horizontal view angle H and position and attitude number to the right along heading camera lens
According to H=0 degree；
In step 1) -8) on the basis of, by the flight of unmanned plane, the remote sensing for being pre-designed route and region can be obtained
Data.
Step 1) -8) among all angle can in real time be adjusted using unmanned controller, make nobody
The camera that machine carries can freely convert angle in the air.
Step 1) -8) in the case where battery capacity allows, it can disposably complete, not need to landing unmanned plane
Battery is replaced to fly again.
The acquisition device of a kind of high-precision remotely-sensed data of the present invention, including fuselage, stent, undercarriage, propeller, spiral
Paddle motor, the propeller are connect with propeller motor, and propeller motor is connect with stent, and stent is connect with undercarriage, fuselage
It is connect with stent, the stent includes two propeller struts, two fuselage struts, the folder between two propeller struts
Angle is at an acute angle, two fuselage strut interconnections, and foldable, wherein, two fuselage strut ends respectively with two propellers
Strut connects, and two fuselage strut infalls are equipped with fixed seat, for fixing two fuselage struts, when removing fixed seat, two
Root fuselage strut can fold, and can reduce the spatial volume of stent；Two fuselage strut intersection points are to the length of propeller strut long side
It spends for 420mm-423mm, the length of two fuselage strut intersection points to propeller strut short side is 273-276mm, makes unmanned plane
Bottom periphery is relatively large in diameter, and flight is more stable；The fuselage includes camera radome fairing and flies control, battery radome fairing, the camera
Rolling control motor, holder stent, connecting seat, connecting rod, pitch control electricity are equipped between radome fairing and winged control, battery radome fairing
Machine, two pitching control motor rocking arms, pitching control motor mounting bracket, camera mounting bracket, the rolling control motor with connecting
Seat connection, connecting seat top are connect with holder stent, and connecting seat bottom is connect with connecting rod, connecting rod one end and a pitching control
Motor rocking arm connection processed, the pitching control motor rocking arm are connect with pitching control motor, pitching control motor output shaft and camera
Mounting bracket connects, and camera mounting bracket is connect with camera, and pitching is equipped between pitching control motor output shaft and camera mounting bracket
Motor mounting rack is controlled, for fixing and supporting pitching control motor, the connecting rod other end shakes with another pitching control motor
Arm connects, this another pitching control motor rocking arm is connect with the camera other end；It is additionally provided with and subtracts in the winged control, battery radome fairing
Shake lever frame, rubber damping circle, vibration-absorbing mounting, airframe structure plate one, airframe structure plate two, airframe structure plate three, the rubber
Damping ring is separately fixed at two ends of shock lever frame, wherein, positioned at the rubber damping circle of shock lever frame right end
It is connect at the top of winged control, battery radome fairing, the rubber damping circle positioned at shock lever frame left end is with flying control, battery radome fairing bottom
Portion contacts, and vibration-absorbing mounting is connect with shock lever frame left end, and vibration-absorbing mounting bottom is connect with holder stent, the airframe structure plate one
It being connect with shock lever frame, airframe structure plate two is connect with battery, and airframe structure plate one is arranged vertically with airframe structure plate two,
Airframe structure plate three is mounted on battery, and airframe structure plate three is used for fixed data transmission module and image transmission module.
The rubber damping circle include upper leather ring, lower apron, cylinder, cylinder top and bottom respectively with upper leather ring,
Lower apron connection is equipped with groove in cylinder and lower apron, cylinder junction, for connecting with the aperture on shock lever frame
It connects.
The shock lever frame is U-shaped, and right end is trapezoidal, and trapezoidal portions and shock lever frame body part
Angle is obtuse angle.
Be all provided in the middle part of two fuselage struts it is fluted, wherein, the groove of a fuselage strut is embedded in another fuselage
In the groove of strut, and fixed on groove equipped with cover board；The fixed seat is trapezoidal, and fixed seat bottom both ends are equipped with pipe sleeve,
For being sleeved on fuselage strut.
The camera radome fairing and winged control, battery radome fairing are enclosed construction, can reduce resistance during unmanned plane during flying
And interference；Camera and positioning and orientation system and winged control, battery are placed side by side, and unmanned plane entirety center of gravity is made to increase, can shorten stress
Point and centroidal distance improve unmanned plane stability, moreover it is possible to shorten undercarriage length, mitigate the main screw lift of unmanned plane.
The connecting seat includes U-frame set, chuck, and the U-frame set middle part is equipped with through-hole, the through-hole and rolling control electricity
Machine exports axis connection, and the chuck top is sleeved on rolling control motor output shaft, and chuck lower part is sleeved in connecting rod.
The camera radome fairing includes ellipsoid shape, rectangular shape or rectangular shape；Wherein, camera radome fairing is
Ellipsoid shape, aeroperformance is more preferable during unmanned plane during flying, and flight resistance is small；The camera radome fairing ellipsoid shape includes ellipse
Sphere, rectification the cover, spheroid both ends round platform, rectification the cover is curved surface, is coordinated with spheroid, at the top of the spheroid, is prevented
Anti-avulsion is fallen；The component that round platform is easily installed camera radome fairing both ends is made in spheroid both ends.
As described in Figure 2, cradle head controllor can control camera to remain that camera lens is taken pictures downwards perpendicular to the ground, so as to reduce
The distortion of image；In addition, cradle head controllor can also realize camera by the way that pitching control motor and rolling is controlled to control motor
It rotates and positions around camera radome fairing, so as to be obtained respectively along the horizontal forward visual angle of heading, vertical along heading
Visual angle is tilted forward and back to downwards angle of visibility, along heading and the data at the visual angle that tilts along heading.
As described in Figure 6, when camera stress is downward, the shock lever frame left side is equipped with 12 rubber damping circles, makes vibration damping
Lever frame stressing is upward, and 6 rubber damping circles are equipped on the right of shock lever frame, makes shock lever frame stressing downward, subtracts
It is of substantially equal with distance on the right of camera and shock lever frame at lever frame left end stress of shaking, so as to offset camera vibration；Subtract
Shake 12 rubber damping circles on the lever frame left side and fuselage radome fairing lower contacts, and 6 rubber subtract on the right of shock lever frame
It shakes and encloses with flying control, battery radome fairing upper contact, so as to stress on the contrary, one upward, one downwards, reaches balance.
Fly control：That is the winged control of unmanned plane is exactly the flight control system of unmanned plane, mainly there is gyroscope (flight attitude sense
Know), accelerometer, earth induction, baroceptor (Hovering control), GPS module (choosing to install) and control circuit form.Mainly
Function be exactly to automatically keep the normal flight posture of aircraft.
Positioning and orientation system：That is integrated navigation system, refers to satellite navigation system and inertial navigation system combines
Integrated navigation system contains the location information and attitude information of remotely-sensed data.
Digital Transmission module：The data communication product researched and developed based on GPRS/CDMA networks, realize substation field device and
The remote data communication of monitoring center.Wireless data transmission is widely used in vehicle monitoring, remote control, telemetering, micro radio net
Network, radio meter register, access control system, cell call, industrial data acquisition system, wireless tag, identification, non-contact RF intelligence
Card, micro radio data terminal, fire safety system, wireless remote-control system, biological signal collecting, hydrometeorology monitoring, machine
In the fields such as people's control, the communication of wireless 232 data, wireless 485/422 data communication, digital audio, Digital Image Transmission.
Graphics transport module：It is exactly by the hair of the picture real-time stabilization captured by the day in the air unmanned plane in state of flight
It penetrates and passes remote control reception equipment to terrestrial wireless figure.
Whole figure transmits the course of work approximately as (by taking digitized map passes as an example)：The video capture dress of carry on unmanned plane
It puts and the video signal transmission of acquisition is passed into sender unit to the figure on unmanned plane, sender unit is then passed by figure
(the unmanned plane figure singly sold on the market passes external member that 1.2GHz, 2.4GHz, 5.8GHz frequency range are optional to 2.4GHz wireless signals, resists dry
Disturb ability, bandwidth is had nothing in common with each other) the reception system on ground is transmitted to, it is transferred in display equipment by HDMI again by reception system
(display or flat panel TV) or by USB transmission to mobile phone and tablet computer.Manipulator just can be in real time as a result,
Monitor the image of unmanned plane.
Holder：Be installation, fixed camera/video camera support equipment, it is divided into fixed and two kinds of electric platform.As long as
It takes pictures, just there is high requirement to stability, and the main function of holder is exactly to be used for providing " stabilization ".
Cradle head controllor：It is unmanned plane nucleus module, is typically mounted on holder, needs to realize two major functions：It will
The console instruction received is decoded, and converts the control signal of motor operation in order to control；According to control signal, holder is driven
On motor carry out corresponding actions.Cradle head controllor of the present invention, can be real by the way that rolling is controlled to control motor and pitching control motor
Existing camera connect the rotation or positioning of axis around camera radome fairing with winged control, battery radome fairing.
Two fuselage strut intersection points to propeller strut long side length for 420mm -423mm, two fuselage strut intersection points
Length to propeller strut short side is 273-276mm, makes uav bottom peripheral diameter larger, than existing unmanned plane bottom
Portion's peripheral circumferential diameter bigger makes unmanned plane during flying more stablize, and the effect that camera obtains ground data is more preferable.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (10)
1. a kind of acquisition methods of high-precision remotely-sensed data, it is characterised in that have following steps：
1) unmanned plane is obtained along heading the camera lens image data of visual angle A and position and attitude data vertically downward；
2) it obtains unmanned plane and is tilted towards the image data of preceding visual angle B and position and attitude data along heading camera lens；
3) image data and position and attitude data of the unmanned plane along heading camera lens visual angle C tilted backwards are obtained；
4) it obtains unmanned plane and tilts the image data of horizontal view angle D and position and attitude data to the left along heading camera lens；
5) it obtains unmanned plane and is tilted towards the image data of LOOK RIGHT E and position and attitude data along heading camera lens；
6) image data and position and attitude data of the unmanned plane along the horizontal forward visual angle F of heading camera lens are obtained；
7) it obtains unmanned plane and tilts the image data of horizontal view angle G and position and attitude data to the left along heading camera lens；
8) it obtains unmanned plane and tilts the image data of horizontal view angle H and position and attitude data to the right along heading camera lens；
In step 1) -8) on the basis of, by the flight of unmanned plane, the remotely-sensed data for being pre-designed route and region can be obtained.
2. a kind of acquisition methods of high-precision remotely-sensed data as described in claim 1, it is characterised in that：Step 1) -8)
Among all angle can in real time be adjusted using unmanned controller, the camera of UAV flight is made in the air can
Freely convert angle.
3. a kind of acquisition methods of high-precision remotely-sensed data as described in claim 1, it is characterised in that：Camera lens vertically to
Downwards angle of visibility A=90 degree；Camera lens are tilted towards preceding visual angle B：0 degree<B<90 degree；Camera lens visual angle C tilted backwards：90 degree<C<
150 degree；Camera lens tilt horizontal view angle D to the left：0 degree<D<90 degree；Camera lens are tilted towards LOOK RIGHT E：90 degree<E<180
Degree；The horizontal forward visual angle F=0 degree of camera lens；Camera lens tilt horizontal view angle G=0 degree to the left；Camera lens tilt to the right
Horizontal view angle H=0 degree.
4. a kind of acquisition methods of high-precision remotely-sensed data as described in claim 1, it is characterised in that：The step 1)-
8), can be disposable to complete in the case where battery capacity allows, it does not need to landing unmanned plane replacement battery and flies again.
5. a kind of acquisition device of high-precision remotely-sensed data, including fuselage, stent, undercarriage, propeller, propeller motor, institute
It states propeller to connect with propeller motor, propeller motor is connect with stent, and stent is connect with undercarriage, and fuselage connects with stent
It connects, it is characterised in that：The stent includes two propeller struts, two fuselage struts, between two propeller struts
Angle it is at an acute angle, two fuselage strut interconnections, and foldable, wherein, two fuselage strut ends respectively with two spiral shells
The connection of paddle strut is revolved, two fuselage strut infalls are equipped with fixed seat, for fixing two fuselage struts, when removing fixed seat
When, two fuselage struts can fold, and can reduce the spatial volume of stent；Two fuselage strut intersection points are to propeller strut long side
Length for 420mm-423mm, the length of two fuselage strut intersection points to propeller strut short side is 273-276mm；It is described
Fuselage includes camera radome fairing and flies control, battery radome fairing, and rolling is equipped between the camera radome fairing and winged control, battery radome fairing
Turn control motor, holder stent, connecting seat, connecting rod, pitching control motor, two pitching control motor rocking arms, pitch controls
Motor mounting rack, camera mounting bracket, the rolling control motor connect with connecting seat, are connect at the top of connecting seat with holder stent,
Connecting seat bottom is connect with connecting rod, and connecting rod one end is connect with a pitching control motor rocking arm, which shakes
Arm is connect with pitching control motor, and pitching control motor output shaft is connect with camera mounting bracket, and camera mounting bracket is connect with camera,
Pitching control motor mounting bracket is equipped between pitching control motor output shaft and camera mounting bracket, for fixing and supporting pitching
Control motor, the connecting rod other end connect with another pitching control motor rocking arm, this another pitching control motor rocking arm and
The camera other end connects；Shock lever frame, rubber damping circle, vibration-absorbing mounting, fuselage are additionally provided in the winged control, battery radome fairing
Structural slab one, airframe structure plate two, airframe structure plate three, the rubber damping circle are separately fixed at two of shock lever frame
End, wherein, the rubber damping circle positioned at shock lever frame right end is with flying to control, be connect at the top of battery radome fairing, positioned at vibration damping
The rubber damping circle of lever frame left end is with flying control, battery bottom part of fairing contacts, and vibration-absorbing mounting connects with shock lever frame left end
Connect, vibration-absorbing mounting bottom is connect with holder stent, and the airframe structure plate one is connect with shock lever frame, airframe structure plate two with
Battery connects, and airframe structure plate one is arranged vertically with airframe structure plate two, and airframe structure plate three is mounted on battery, airframe structure
Plate three is used for fixed data transmission module and image transmission module.
6. a kind of acquisition device of high-precision remotely-sensed data as claimed in claim 5, it is characterised in that：The rubber damping circle
Including upper leather ring, lower apron, cylinder, cylinder top and bottom are connect respectively with upper leather ring, lower apron, in cylinder under
Apron, cylinder junction are equipped with groove, for being connect with the aperture on shock lever frame.
7. a kind of acquisition device of high-precision remotely-sensed data as claimed in claim 5, it is characterised in that：The shock lever frame
Frame is U-shaped, and right end is trapezoidal, and trapezoidal portions and the angle of shock lever frame body part are obtuse angle.
8. a kind of acquisition device of high-precision remotely-sensed data as claimed in claim 5, it is characterised in that：Two fuselage branch
Be all provided in the middle part of bar it is fluted, wherein, the groove of a fuselage strut is in the groove of another fuselage strut, and on groove
It is fixed equipped with cover board；The fixed seat is trapezoidal, and fixed seat bottom both ends are equipped with pipe sleeve, for being sleeved on fuselage strut.
9. a kind of acquisition device of high-precision remotely-sensed data as claimed in claim 5, it is characterised in that：The camera radome fairing
It is enclosed construction with winged control, battery radome fairing, resistance and interference when can reduce unmanned plane during flying；Camera and positioning and orientation system
System and winged control, battery are placed side by side, and unmanned plane entirety center of gravity is made to increase, can shorten stress point and centroidal distance, improves unmanned plane
Stability, moreover it is possible to shorten undercarriage length, mitigate the main screw lift of unmanned plane.
10. a kind of acquisition device of high-precision remotely-sensed data as claimed in claim 5, it is characterised in that：The connecting seat packet
U-frame set, chuck are included, the U-frame set middle part is equipped with through-hole, which connect with rolling control motor output shaft, the folder
Set top is sleeved on rolling control motor output shaft, and chuck lower part is sleeved in connecting rod；The camera radome fairing includes spheroid
Shape, rectangular shape or rectangular shape.
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| US20210214068A1 (en) * | 2020-01-13 | 2021-07-15 | Skydio, Inc. | Image Stabilization For Autonomous Aerial Vehicles |
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| CN108248815B (en) | 2020-08-14 |
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