CN108248815B - Method and device for acquiring high-precision remote sensing data - Google Patents
Method and device for acquiring high-precision remote sensing data Download PDFInfo
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- CN108248815B CN108248815B CN201810116350.2A CN201810116350A CN108248815B CN 108248815 B CN108248815 B CN 108248815B CN 201810116350 A CN201810116350 A CN 201810116350A CN 108248815 B CN108248815 B CN 108248815B
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- 230000001154 acute effect Effects 0.000 claims abstract description 4
- 238000013016 damping Methods 0.000 claims description 71
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- 239000010985 leather Substances 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000005484 gravity Effects 0.000 claims description 10
- 210000001503 joint Anatomy 0.000 claims 2
- 230000000007 visual effect Effects 0.000 abstract description 22
- 230000008859 change Effects 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C7/00—Structures or fairings not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D29/00—Power-plant nacelles, fairings, or cowlings
- B64D29/06—Attaching of nacelles, fairings or cowlings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
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- 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
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- 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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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to a method and a device for acquiring high-precision remote sensing data, wherein the method comprises the following steps: and respectively acquiring image data and position and attitude data corresponding to the image at a horizontal forward visual angle along the flight direction, a vertical downward visual angle along the flight direction, a front and back inclined visual angle along the flight direction and a left and right inclined visual angle along the flight direction. The bracket of the device comprises two propeller support rods and two machine body support rods, and an included angle between the two propeller support rods is an acute angle; the invention can change the camera angle in real time to obtain multi-angle remote sensing data, is more flexible than an unmanned aerial vehicle with a fixed camera angle, and can offset the camera vibration; the support structure is more stable than that of a common unmanned aerial vehicle, and the efficiency is higher; the support can be folded, conveniently carries.
Description
Technical Field
The invention belongs to a method and a device, and particularly relates to a method and a device for acquiring high-precision remote sensing data.
Background
In most of the existing unmanned aerial vehicles, the body is of an integral structure, and the cradle head and the camera are positioned at the bottom of the body of the unmanned aerial vehicle; the interior of the machine body is not provided with a vibration-proof device; the peripheral areas of the rack or the mounting disc and the like are small and not stable enough; unmanned aerial vehicle is convenient inadequately to the angle control of camera, and some cameras of carrying on unmanned aerial vehicle are fixed, can not change the angle, and some then can not change the angle in real time in the air.
Disclosure of Invention
The invention aims to provide a method and a device for acquiring high-precision remote sensing data, which can change the angle of a camera in real time to acquire multi-angle remote sensing data, do not need to stop to adjust the angle of the camera, provide comprehensive data support for the manufacture of subsequent results, are more flexible than an unmanned aerial vehicle with a fixed camera angle, and have a vibration reduction lever frame to offset the vibration of the camera; the support structure is more stable than that of a common unmanned aerial vehicle, and the efficiency is higher; the bracket can be folded, and is convenient to carry; the camera angle is convenient to adjust; the camera fairing, the flight control system and the battery fairing are of a closed structure, so that the resistance and the interference of the unmanned aerial vehicle during flying can be reduced; the camera and the positioning and attitude-fixing system are placed side by side with the flight control system and the battery, so that the whole gravity center of the unmanned aerial vehicle rises, the distance between a stress point and the gravity center can be shortened, the stability of the unmanned aerial vehicle is improved, the length of an undercarriage can be shortened, and the whole weight of the unmanned aerial vehicle is reduced.
In order to achieve the purpose, the invention has the following technical scheme:
the invention relates to a method and a device for acquiring high-precision remote sensing data, wherein the method comprises the following steps:
1) acquiring image data and position attitude data of a camera lens of an unmanned aerial vehicle along a flight direction at a vertical downward visual angle A, wherein A is 90 degrees;
2) acquiring image data and position attitude data of an unmanned aerial vehicle along a flight direction with a camera lens inclined forward visual angle B, wherein the angle B is more than 0 degree and less than 90 degrees;
3) acquiring image data and position attitude data of an unmanned aerial vehicle along a flight direction with a camera lens inclined backward viewing angle C, wherein the angle is 90 degrees < C <150 degrees;
4) acquiring image data and position attitude data of an unmanned aerial vehicle with a camera lens inclined to a left horizontal visual angle D along a flight direction, wherein D is more than 0 degree and less than 90 degrees;
5) acquiring image data and position attitude data of an unmanned aerial vehicle with a camera lens inclined to a right visual angle E along a flight direction, wherein E is more than 90 degrees and less than 180 degrees;
6) acquiring image data and position attitude data of a camera lens of the unmanned aerial vehicle along a flight direction at a horizontal forward visual angle F, wherein F is 0 degree;
7) acquiring image data and position attitude data of an unmanned aerial vehicle at a horizontal visual angle G to the left along the inclination of a camera lens in the flight direction, wherein G is 0 degree;
8) acquiring image data and position attitude data of an unmanned aerial vehicle with a camera lens inclined to a right horizontal visual angle H along a flight direction, wherein H is 0 degree;
on the basis of the steps 1) -8), remote sensing data of a pre-designed route and a pre-designed area can be obtained through the flight of the unmanned aerial vehicle.
All angles in the steps 1) -8) can be adjusted in real time by using an unmanned aerial vehicle remote controller, so that the angle of a camera carried by the unmanned aerial vehicle can be freely changed in the air. The steps 1) -8) can be completed once under the condition that the battery power is allowed, and the unmanned aerial vehicle does not need to land to change the battery and then fly.
The invention relates to a high-precision remote sensing data acquisition device, which comprises a machine body, a support, an undercarriage, propellers and a propeller motor, wherein the propellers are connected with the propeller motor, the propeller motor is connected with the support, the support is connected with the undercarriage, the machine body is connected with the support, the support comprises two propeller support rods and two machine body support rods, an included angle between the two propeller support rods is an acute angle, the two machine body support rods are in cross connection and can be folded, the end parts of the two machine body support rods are respectively connected with the two propeller support rods, and a fixed seat is arranged at the cross part of the two machine body support rods and used for fixing the two machine body support rods; the length from the intersection point of the two machine body support rods to the long side of the propeller support rod is 420-423 mm, and the length from the intersection point of the two machine body support rods to the short side of the propeller support rod is 273-276 mm; the camera body comprises a camera fairing, a flight control and battery fairing, a rolling control motor, a tripod head support, a connecting seat, a connecting rod, a pitching control motor, two pitching control motor rocker arms, a pitching control motor mounting frame and a camera mounting frame are arranged between the camera fairing and the flight control and battery fairing, the rolling control motor is connected with the connecting seat, the top of the connecting seat is connected with the tripod head support, the bottom of the connecting seat is connected with the connecting rod, one end of the connecting rod is connected with one pitching control motor rocker arm, the pitching control motor rocker arm is connected with the pitching control motor, an output shaft of the pitching control motor is connected with the camera mounting frame, the camera mounting frame is connected with the camera, the pitching control motor mounting frame is arranged between the output shaft of the pitching control motor and the camera mounting frame and used for fixing and supporting the pitching control motor, and the, the other pitching control motor rocker arm is connected with the other end of the camera; the flying control and battery fairing internal vibration damping device is characterized in that a vibration damping lever frame, a rubber vibration damping ring, a vibration damping frame, a first machine body structure plate, a second machine body structure plate and a third machine body structure plate are further arranged in the flying control and battery fairing, the rubber vibration damping ring is fixed at two ends of the vibration damping lever frame respectively, wherein the rubber vibration damping ring at the right end of the vibration damping lever frame is connected with the top of the flying control and battery fairing, the rubber vibration damping ring at the left end of the vibration damping lever frame is in contact with the bottom of the flying control and battery fairing, the vibration damping frame is connected with the left end of the vibration damping lever frame, the bottom of the vibration damping frame is connected with a holder support, the first machine body structure plate is connected with the vibration damping lever frame, the second machine body structure plate is connected with a battery, the first machine body structure plate is arranged perpendicular to the second machine body structure plate, the.
The rubber damping ring comprises an upper leather ring, a lower leather ring and a cylinder, the upper end and the lower end of the cylinder are respectively connected with the upper leather ring and the lower leather ring, and a groove is formed in the joint of the cylinder and the lower leather ring and used for being connected with a small hole in the damping lever frame.
The damping lever frame is U-shaped, the right end of the damping lever frame is trapezoidal, and an included angle between the trapezoidal portion and the damping lever frame body portion is an obtuse angle.
The middle parts of the two machine body support rods are respectively provided with a groove, wherein the groove of one machine body support rod is embedded in the groove of the other machine body support rod, and the grooves are provided with cover plates for fixation; the fixing seat is trapezoidal, and two ends of the bottom of the fixing seat are provided with pipe sleeves for being sleeved on the supporting rods of the machine body.
The camera fairing, the flight control system and the battery fairing are of closed structures, so that the resistance and the interference of the unmanned aerial vehicle during flying can be reduced; the camera and the positioning and attitude-fixing system are placed side by side with the flight control system and the battery, so that the whole gravity center of the unmanned aerial vehicle rises, the distance between a stress point and the gravity center can be shortened, the stability of the unmanned aerial vehicle is improved, the length of an undercarriage can be shortened, and the whole weight of the unmanned aerial vehicle is reduced.
The connecting seat comprises a U-shaped frame sleeve and a clamping sleeve, a through hole is formed in the middle of the U-shaped frame sleeve and connected with an output shaft of the rolling control motor, the upper portion of the clamping sleeve is sleeved on the output shaft of the rolling control motor, and the lower portion of the clamping sleeve is sleeved on the connecting rod.
The camera fairing is in an ellipsoid shape or a cuboid shape;
wherein, the camera radome fairing is the ellipsoid shape, and the aerodynamic performance is better when unmanned aerial vehicle flies, and flight resistance is little.
Due to the adoption of the technical scheme, the invention has the advantages that:
thereby can change the remote sensing data that the camera angle acquireed the multi-angle in real time, need not shut down the adjustment camera angle, provide comprehensive data support for the preparation of follow-up achievement, and it is the unmanned aerial vehicle flexibility of fixed value than general camera angle. The vibration damping lever frame is arranged and can counteract the vibration of the camera; the support structure is more stable than that of a common unmanned aerial vehicle, and the efficiency is higher; the bracket can be folded, and is convenient to carry; the camera angle is convenient to adjust; the camera fairing, the flight control system and the battery fairing are of a closed structure, so that the resistance and the interference of the unmanned aerial vehicle during flying can be reduced; the camera and the positioning and attitude-fixing system are placed side by side with the flight control system and the battery, so that the whole gravity center of the unmanned aerial vehicle rises, the distance between a stress point and the gravity center can be shortened, the stability of the unmanned aerial vehicle is improved, the length of an undercarriage can be shortened, and the whole weight of the unmanned aerial vehicle is reduced.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is an enlarged schematic view of the tripod head structure of the present invention;
FIG. 3 is an enlarged schematic view of the connection of the camera fairing to the flight control and battery fairings of the present invention;
FIG. 4 is an enlarged schematic view of a camera mounting structure of the present invention;
FIG. 5 is an enlarged schematic view of a pan/tilt head controller, flight control, and battery installation in accordance with the present invention;
FIG. 6 is an enlarged schematic view of the damper lever frame of the present invention;
FIG. 7 is an enlarged schematic view of a stent according to the present invention;
FIG. 8 is an enlarged view of the connecting base of the present invention;
FIG. 9 is an enlarged view of the ellipsoidal shape of the camera fairing of the present invention.
In the figure, 1, a fuselage; 2. a propeller; 3. a propeller motor; 4. a support; 5. a landing gear; 6. a pan-tilt controller; 7. a holder bracket; 8. a roll control motor; 9. a pitch control motor; 10. a pitch control motor rocker arm; 11. a camera fairing; 12. flight control, battery fairing; 13. a fixed seat; 14. a camera; 15. a camera housing; 16. a camera mounting bracket; 17. a pitch control motor mounting bracket; 18. a camera body; 19. flight control; 20. a battery; 21. a third fuselage structural panel; 22. a second fuselage structure panel; 23. a first fuselage structural panel; 24. a rubber vibration damping ring; 25. a vibration damping lever frame; 26. a vibration damping frame; 27. a connecting seat; 28. a connecting rod; 29. a groove; 30. a U-shaped frame sleeve; 31. a jacket; 32. a damper lever frame body portion; 33. a trapezoidal portion; 34. the length from the intersection point of the two machine body support rods to the long side of the propeller support rod; 35. the length from the intersection point of the two machine body support rods to the short edge of the propeller support rod; 36. an ellipsoidal shape of the camera fairing; 37. a positioning and attitude determination system.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
See fig. 1-9:
the invention relates to a method and a device for acquiring high-precision remote sensing data, wherein the method comprises the following steps:
1) acquiring image data and position attitude data of a camera lens of an unmanned aerial vehicle along a flight direction at a vertical downward visual angle A, wherein A is 90 degrees;
2) acquiring image data and position attitude data of an unmanned aerial vehicle along a flight direction with a camera lens inclined forward visual angle B, wherein the angle B is more than 0 degree and less than 90 degrees;
3) acquiring image data and position attitude data of an unmanned aerial vehicle along a flight direction with a camera lens inclined backward viewing angle C, wherein the angle is 90 degrees < C <150 degrees;
4) acquiring image data and position attitude data of an unmanned aerial vehicle with a camera lens inclined to a left horizontal visual angle D along a flight direction, wherein D is more than 0 degree and less than 90 degrees;
5) acquiring image data and position attitude data of an unmanned aerial vehicle with a camera lens inclined to a right visual angle E along a flight direction, wherein E is more than 90 degrees and less than 180 degrees;
6) acquiring image data and position attitude data of a camera lens of the unmanned aerial vehicle along a flight direction at a horizontal forward visual angle F, wherein F is 0 degree;
7) acquiring image data and position attitude data of an unmanned aerial vehicle at a horizontal visual angle G to the left along the inclination of a camera lens in the flight direction, wherein G is 0 degree;
8) acquiring image data and position attitude data of an unmanned aerial vehicle with a camera lens inclined to a right horizontal visual angle H along a flight direction, wherein H is 0 degree;
on the basis of the steps 1) -8), remote sensing data of a pre-designed route and a pre-designed area can be obtained through the flight of the unmanned aerial vehicle.
All angles in the steps 1) -8) can be adjusted in real time by using an unmanned aerial vehicle remote controller, so that the angle of a camera carried by the unmanned aerial vehicle can be freely changed in the air.
The steps 1) -8) can be completed once under the condition that the battery power is allowed, and the unmanned aerial vehicle does not need to land to change the battery and then fly.
The invention relates to a high-precision remote sensing data acquisition device, which comprises a machine body, a support, an undercarriage, propellers and a propeller motor, wherein the propellers are connected with the propeller motor, the propeller motor is connected with the support, the support is connected with the undercarriage, the machine body is connected with the support, the support comprises two propeller support rods and two machine body support rods, an included angle between the two propeller support rods is an acute angle, the two machine body support rods are in cross connection and can be folded, the end parts of the two machine body support rods are respectively connected with the two propeller support rods, and a fixed seat is arranged at the cross part of the two machine body support rods and used for fixing the two machine body support rods; the length from the intersection point of the two fuselage support rods to the long side of the propeller support rod is 420-423 mm, and the length from the intersection point of the two fuselage support rods to the short side of the propeller support rod is 273-276 mm, so that the bottom periphery of the unmanned aerial vehicle is larger in diameter and more stable in flight; the camera body comprises a camera fairing, a flight control and battery fairing, a rolling control motor, a tripod head support, a connecting seat, a connecting rod, a pitching control motor, two pitching control motor rocker arms, a pitching control motor mounting frame and a camera mounting frame are arranged between the camera fairing and the flight control and battery fairing, the rolling control motor is connected with the connecting seat, the top of the connecting seat is connected with the tripod head support, the bottom of the connecting seat is connected with the connecting rod, one end of the connecting rod is connected with one pitching control motor rocker arm, the pitching control motor rocker arm is connected with the pitching control motor, an output shaft of the pitching control motor is connected with the camera mounting frame, the camera mounting frame is connected with the camera, the pitching control motor mounting frame is arranged between the output shaft of the pitching control motor and the camera mounting frame and used for fixing and supporting the pitching control motor, and the, the other pitching control motor rocker arm is connected with the other end of the camera; the flying control and battery fairing internal vibration damping device is characterized in that a vibration damping lever frame, a rubber vibration damping ring, a vibration damping frame, a first machine body structure plate, a second machine body structure plate and a third machine body structure plate are further arranged in the flying control and battery fairing, the rubber vibration damping ring is fixed at two ends of the vibration damping lever frame respectively, wherein the rubber vibration damping ring at the right end of the vibration damping lever frame is connected with the top of the flying control and battery fairing, the rubber vibration damping ring at the left end of the vibration damping lever frame is in contact with the bottom of the flying control and battery fairing, the vibration damping frame is connected with the left end of the vibration damping lever frame, the bottom of the vibration damping frame is connected with a holder support, the first machine body structure plate is connected with the vibration damping lever frame, the second machine body structure plate is connected with a battery, the first machine body structure plate is arranged perpendicular to the second machine body structure plate, the.
The rubber damping ring comprises an upper leather ring, a lower leather ring and a cylinder, the upper end and the lower end of the cylinder are respectively connected with the upper leather ring and the lower leather ring, and a groove is formed in the joint of the cylinder and the lower leather ring and used for being connected with a small hole in the damping lever frame.
The damping lever frame is U-shaped, the right end is trapezoidal, and the included angle between the trapezoidal part and the damping lever frame body part is an obtuse angle.
Grooves are formed in the middle of the two machine body supporting rods, the groove of one machine body supporting rod is embedded in the groove of the other machine body supporting rod, and a cover plate is arranged on the groove for fixing; the fixing seat is trapezoidal, and two ends of the bottom of the fixing seat are provided with pipe sleeves for being sleeved on the supporting rods of the machine body.
The camera fairing, the flight control system and the battery fairing are of a closed structure, so that the resistance and the interference of the unmanned aerial vehicle during flying can be reduced; the camera and the positioning and attitude-fixing system are placed side by side with the flight control system and the battery, so that the whole gravity center of the unmanned aerial vehicle rises, the distance between a stress point and the gravity center can be shortened, the stability of the unmanned aerial vehicle is improved, the length of an undercarriage can be shortened, and the whole weight of the unmanned aerial vehicle is reduced.
The connecting seat comprises a U-shaped frame sleeve and a clamping sleeve, a through hole is formed in the middle of the U-shaped frame sleeve and connected with an output shaft of the rolling control motor, the upper portion of the clamping sleeve is sleeved on the output shaft of the rolling control motor, and the lower portion of the clamping sleeve is sleeved on the connecting rod.
The camera fairing is in an ellipsoid shape or a cuboid shape;
the camera fairing is in an ellipsoid shape, so that the unmanned aerial vehicle has better aerodynamic performance and small flight resistance during flying; the camera fairing ellipsoid comprises an ellipsoid, a fairing cover and round tables at two ends of the ellipsoid, wherein the fairing cover is a curved surface, is matched with the ellipsoid and is positioned at the top of the ellipsoid to prevent falling off; the round platforms are made at the two ends of the ellipsoid body, so that the components at the two ends of the camera fairing can be conveniently installed.
As shown in fig. 2, the pan-tilt controller can control the camera to always keep the lens vertically facing downward for taking a picture, thereby reducing the distortion of the image; in addition, the cloud platform controller can also control the pitching control motor and the rolling control motor to realize that the camera rotates around the camera fairing and is positioned, so that data of a horizontal forward visual angle along the flight direction, a vertical downward visual angle along the flight direction, a front and back inclined visual angle along the flight direction and a left and right inclined visual angle along the flight direction can be respectively acquired.
As shown in fig. 6, when the camera is stressed downward, the left side of the vibration damping lever frame is provided with 12 rubber vibration damping rings to enable the vibration damping lever frame to be stressed upward, the right side of the vibration damping lever frame is provided with 6 rubber vibration damping rings to enable the vibration damping lever frame to be stressed downward, and the distance between the stress position at the left end of the vibration damping lever frame and the right sides of the camera and the vibration damping lever frame is basically equal, so that the vibration of the camera is counteracted; 12 rubber damping rings on the left side of the damping lever frame are in contact with the lower part of the machine body fairing, and 6 rubber damping rings on the right side of the damping lever frame are in contact with the upper parts of the flight control and battery fairing, so that the stress is opposite, one is upward, and the other is downward, and the balance is achieved.
Flight control: unmanned aerial vehicle's flight control promptly, be unmanned aerial vehicle's flight control system, mainly have gyroscope (flight gesture perception), the accelerometer, earth induction, baroceptor (hover control), GPS module (optional dress) to and control circuit constitutes. The main function is to automatically maintain the normal flying attitude of the airplane.
Positioning and attitude determination system: namely, the integrated navigation system refers to a comprehensive navigation system combining a satellite navigation system and an inertial navigation system, and comprises position information and attitude information of remote sensing data.
A digital transmission module: the system is a data communication product developed based on a GPRS/CDMA network, and realizes remote data communication between substation field equipment and a monitoring center. Wireless data transmission is widely used in the fields of vehicle monitoring, remote control, remote measurement, small wireless networks, wireless meter reading, access control systems, cell paging, industrial data acquisition systems, wireless tags, identity recognition, non-contact RF smart cards, small wireless data terminals, safety fire protection systems, wireless remote control systems, biological signal acquisition, hydrological weather monitoring, robot control, wireless 232 data communication, wireless 485/422 data communication, digital audio, digital image transmission and the like.
A graphics transmission module: the unmanned aerial vehicle is used for shooting the pictures shot by the unmanned aerial vehicle in the flying state in the sky and stably transmitting the pictures to the ground wireless image transmission remote control receiving equipment in real time.
The whole graphic transmission working process is roughly as follows (taking digital graphic transmission as an example): the video shooting device mounted on the unmanned aerial vehicle transmits the collected video signals to the image transmission signal transmitter mounted on the unmanned aerial vehicle, then the 2.4GHz wireless signals (the image transmission kit of the unmanned aerial vehicle sold separately in the market has 1.2GHz, 2.4GHz and 5.8GHz optional frequency bands, and has different interference resistance and bandwidth) transmitted to the receiving system on the ground are transmitted to the display device (a display or a flat panel television) by the receiving system through HDMI, or transmitted to the mobile phone and the flat panel computer through USB. Therefore, the controller can monitor the aerial images of the unmanned aerial vehicle in real time.
The holder: the device is a supporting device for mounting and fixing a camera and a video camera, and is divided into a fixed holder and an electric holder. As long as a photograph is taken, there is a very high requirement for stability, and the main role of the head is to provide "stability".
The cloud platform controller: is an unmanned core module, generally installed on a pan-tilt, and needs to realize two main functions: decoding the received console instruction, and converting the console instruction into a control signal for controlling the motor to operate; and driving a motor on the holder to perform corresponding actions according to the control signal. The pan-tilt controller can realize the rotation or the positioning of the camera around the connecting axis of the camera fairing, the flight control motor and the battery fairing by controlling the rolling control motor and the pitching control motor.
The length that two fuselage branches intersect to the long limit of screw branch is 420 mm-423 mm, and the length that two fuselage branches intersect to the screw branch minor face is 273-276 mm, makes the peripheral diameter in unmanned aerial vehicle bottom great, and is bigger than the peripheral circumference diameter in current unmanned aerial vehicle bottom, makes unmanned aerial vehicle flight more stable, and the effect that the camera acquireed ground data is better.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept of the present invention, and these changes and modifications are all within the scope of the present invention.
Claims (6)
1. The utility model provides an acquisition device of high accuracy remote sensing data, includes fuselage, support, undercarriage, screw motor, the screw is connected with the screw motor, and screw motor and leg joint, support and undercarriage are connected, fuselage and leg joint, its characterized in that: the support comprises two propeller supporting rods and two machine body supporting rods, an included angle between the two propeller supporting rods is an acute angle, the two machine body supporting rods are in cross connection and can be folded, wherein the end parts of the two machine body supporting rods are respectively connected with the two propeller supporting rods, a fixing seat is arranged at the cross position of the two machine body supporting rods and used for fixing the two machine body supporting rods, and when the fixing seat is taken down, the two machine body supporting rods can be folded, so that the space volume of the support can be reduced; the length from the intersection point of the two machine body support rods to the long side of the propeller support rod is 420-423 mm, and the length from the intersection point of the two machine body support rods to the short side of the propeller support rod is 273-276 mm; the camera body comprises a camera fairing, a flight control and battery fairing, a rolling control motor, a tripod head support, a connecting seat, a connecting rod, a pitching control motor, two pitching control motor rocker arms, a pitching control motor mounting frame and a camera mounting frame are arranged between the camera fairing and the flight control and battery fairing, the rolling control motor is connected with the connecting seat, the top of the connecting seat is connected with the tripod head support, the bottom of the connecting seat is connected with the connecting rod, one end of the connecting rod is connected with one pitching control motor rocker arm, the pitching control motor rocker arm is connected with the pitching control motor, an output shaft of the pitching control motor is connected with the camera mounting frame, the camera mounting frame is connected with the camera, the pitching control motor mounting frame is arranged between the output shaft of the pitching control motor and the camera mounting frame and used for fixing and supporting the pitching control motor, and the, the other pitching control motor rocker arm is connected with the other end of the camera; the flying control and battery fairing internal vibration damping device is characterized in that a vibration damping lever frame, a rubber vibration damping ring, a vibration damping frame, a first machine body structure plate, a second machine body structure plate and a third machine body structure plate are further arranged in the flying control and battery fairing, the rubber vibration damping ring is fixed at two ends of the vibration damping lever frame respectively, wherein the rubber vibration damping ring at the right end of the vibration damping lever frame is connected with the top of the flying control and battery fairing, the rubber vibration damping ring at the left end of the vibration damping lever frame is in contact with the bottom of the flying control and battery fairing, the vibration damping frame is connected with the left end of the vibration damping lever frame, the bottom of the vibration damping frame is connected with a holder support, the first machine body structure plate is connected with the vibration damping lever frame, the second machine body structure plate is connected with a battery, the first machine body structure plate is arranged perpendicular to the second machine body structure plate, the.
2. The apparatus for obtaining high-precision remote sensing data according to claim 1, wherein: the rubber damping ring comprises an upper leather ring, a lower leather ring and a cylinder, the upper end and the lower end of the cylinder are respectively connected with the upper leather ring and the lower leather ring, and a groove is formed in the joint of the cylinder and the lower leather ring and used for being connected with a small hole in the damping lever frame.
3. The apparatus for obtaining high-precision remote sensing data according to claim 1, wherein: the damping lever frame is U-shaped, the right end is trapezoidal, and the included angle between the trapezoidal part and the damping lever frame body part is an obtuse angle.
4. The apparatus for obtaining high-precision remote sensing data according to claim 1, wherein: grooves are formed in the middle of the two machine body supporting rods, the groove of one machine body supporting rod is embedded in the groove of the other machine body supporting rod, and a cover plate is arranged on the groove for fixing; the fixing seat is trapezoidal, and two ends of the bottom of the fixing seat are provided with pipe sleeves for being sleeved on the supporting rods of the machine body.
5. The apparatus for obtaining high-precision remote sensing data according to claim 1, wherein: the camera fairing, the flight control system and the battery fairing are of a closed structure, so that the resistance and the interference of the unmanned aerial vehicle during flying can be reduced; the camera and the positioning and attitude-fixing system are placed side by side with the flight control system and the battery, so that the whole gravity center of the unmanned aerial vehicle rises, the distance between a stress point and the gravity center can be shortened, the stability of the unmanned aerial vehicle is improved, the length of an undercarriage can be shortened, and the whole weight of the unmanned aerial vehicle is reduced.
6. The apparatus for obtaining high-precision remote sensing data according to claim 1, wherein: the connecting seat comprises a U-shaped frame sleeve and a jacket, a through hole is formed in the middle of the U-shaped frame sleeve and is connected with an output shaft of the rolling control motor, the upper portion of the jacket is sleeved on the output shaft of the rolling control motor, and the lower portion of the jacket is sleeved on the connecting rod; the camera fairing is in an ellipsoid shape or a cuboid shape.
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| JP2023511286A (en) * | 2020-01-13 | 2023-03-17 | スカイディオ，インコーポレイテッド | Autonomous unmanned aerial vehicle with foldable foldable arms |
| CN114104255A (en) * | 2020-08-27 | 2022-03-01 | 杭州零零科技有限公司 | Unmanned aerial vehicle |
| CN113002797B (en) * | 2021-04-09 | 2022-01-11 | 滁州学院 | Crop yield estimation system adopting unmanned aerial vehicle remote sensing technology |
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