CN110589000A - Forest fire monitoring pod device based on Xinjiang T16 unmanned aerial vehicle - Google Patents
Forest fire monitoring pod device based on Xinjiang T16 unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110589000A CN110589000A CN201910946738.XA CN201910946738A CN110589000A CN 110589000 A CN110589000 A CN 110589000A CN 201910946738 A CN201910946738 A CN 201910946738A CN 110589000 A CN110589000 A CN 110589000A
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- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- rotating member
- forest fire
- damping
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment 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; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Abstract
The invention relates to a forest fire monitoring pod device based on a Xinjiang T16 unmanned aerial vehicle. The device carries multiple sensors such as a laser radar, an inertial navigation system and a double-optical camera, so that the unmanned aerial vehicle can acquire accurate information of forest fire spreading, and necessary fire fighting technical support is provided for forest fire extinguishing management personnel. The pod size design is designed according to the size of the residual space after the medicine barrel is taken down by the Dajiang T16 unmanned aerial vehicle, and the pod can be accurately matched and connected with the jackpot T16 unmanned aerial vehicle. The nacelle and the multi-sensor mounting rack can realize the mounting and fixing of the multi-sensor and auxiliary equipment; the damping assembly is provided with an upper damping sheet, a lower damping sheet and a viscoelastic damping column, so that the damping of the multi-sensor mounting rack can be realized, and a shot picture is clearer; the cloud platform rotating member is provided with upper and lower rotating member, screens bolt, can realize the multi-angle rotating of multisensor mounting bracket.
Description
Technical Field
The invention relates to a forest fire monitoring nacelle device based on a Xinjiang T16 unmanned aerial vehicle, and belongs to the technical field of forestry machinery.
Background
Forest fires are always a problem to be solved urgently by researchers in all countries around the world. Forest fires are usually detected after a certain large scale, and at the moment, the fire is difficult to extinguish or control, so that the environment is seriously damaged, and irreparable loss on property and personnel is caused. The biggest characteristics of unmanned aerial vehicle are its controllability and flexibility, are suitable for aerial photography and forest fire monitoring, and not only so, unmanned aerial vehicle can also get into the scene of a fire and hover the monitoring. At present, the monitoring of forest fire by using the unmanned aerial vehicle becomes a new trend, the unmanned aerial vehicle is used for monitoring key areas on a large scale, the manpower and financial resources can be saved, and the forest fire prevention efficiency can be improved.
The advantage of large bearing capacity of the T16 unmanned plane in Xinjiang is utilized, sensors such as a laser radar, an inertial navigation system and a double-optical camera are mounted on the unmanned plane to carry out all-dimensional positioning and tracking of forest fire information, so that a platform for mounting multiple sensors is required to be designed; because the shake generated during the operation of the unmanned aerial vehicle can influence the shooting definition of the dual-optical camera, a damping device needs to be added on the platform; in addition, the unmanned aerial vehicle cannot perform pitching operation when shooting at high altitude, so that a rotary device needs to be added on the multi-sensor mounting frame. Based on the problems, the pod device is designed, the pod not only solves the problem of combination of the unmanned aerial vehicle and forest fire monitoring sensors, but also achieves the function of real-time forest fire monitoring, meanwhile, the unmanned aerial vehicle is hardly changed, the novel unmanned aerial vehicle is not required to be designed by inputting scientific research strength, and the multifunctional unmanned aerial vehicle special for forest fire monitoring can be achieved by only using T16 as a bearing body and carrying all sensors for monitoring on the unmanned aerial vehicle. The invention can save cost and design time, and also can achieve the preset aim.
Disclosure of Invention
The invention provides a forest fire monitoring pod device based on a Xinjiang T16 unmanned aerial vehicle, which meets the requirement of carrying multiple sensors to monitor forest fire by utilizing a T16 unmanned aerial vehicle. Further, real problems such as real-time monitoring of forest fires, tracking and positioning of forest fire live wires and position estimation of forest fires relative to the unmanned aerial vehicle are achieved by the aid of the unmanned aerial vehicle.
The invention relates to a multifunctional nacelle device for realizing forest fire monitoring based on a Xinjiang T16 unmanned aerial vehicle, which comprises an antenna mounting part 2, a nacelle pre-fastening part 3, a bearing plate 5, a damping assembly part 4, a holder rotating part 6, a multi-sensor mounting rack 8, an unmanned aerial vehicle, a nacelle connecting rod 11 and the like;
the unmanned aerial vehicle and the nacelle connecting rod are provided with two fastening piece fixing grooves 31, the fastening piece fixing grooves are used for fixing the fastening pieces 3, and the effect of pressing the connecting rod and the unmanned aerial vehicle body can be better realized under the condition that the fastening pieces do not swing; the pre-tightening piece is provided with a screw rod 17, and paving pads are arranged on the contact part of the screw rod and the connecting rod and the contact part of the pre-tightening piece and the unmanned aerial vehicle;
the bearing plate 5 is provided with two layers, the upper layer is provided with a battery mounting groove 33, the edge of the bearing plate is provided with a circuit mounting groove, a threaded hole 34 is formed in the lower part of the lower bearing plate, and the threaded hole is connected with the threaded hole in the development plate 14 through a bolt to play a role in fixing the development plate;
the damping assembly 4 is fixedly connected with the lower bearing plate through bolts, the damping assembly is divided into an upper damping sheet 26, a lower damping sheet 28 and a viscoelastic damping column 27, and the upper and lower damping sheets are connected with the viscoelastic damping column through a connecting rod;
the holder rotating member 6 is fixedly connected with the lower damping sheet 28 through a bolt, and the holder rotating member 6 is divided into an upper rotating member 19, a lower rotating member 24, a clamping bolt 21 and a fixing nut 22. Clamping grooves 20 and 23 matched with clamping bolts are formed in the upper rotating part and the lower rotating part, the upper rotating part 19 is fixedly connected with the damping combined part 4, and the lower rotating part 24 is connected with the multi-sensor holder mounting frame 8. The lower rotating piece is rotated to enable the inner clamping groove 23 to be matched with the inner clamping groove 20 of the upper rotating piece, the clamping bolt 21 is matched to realize the rotation of the whole holder, and then the whole clamping bolt is locked through two fixing nuts;
the multi-sensor mounting rack 8 is connected with the lower rotating piece 24 through bolts, and threaded holes fixedly connected with the laser radar, the inertial navigation system and the dual-optical camera are respectively formed in the mounting rack;
the invention aims to solve the problem that the existing unmanned aerial vehicle cannot position and track the spreading condition of fire in real time when monitoring the forest fire, and designs a pod device based on the Dajiang T16 unmanned aerial vehicle. The spread speed and spread area of the forest fire can be observed in real time; in addition, in order to solve the problem that pictures shot by a plurality of optical cameras are not clear due to the shake generated by the unmanned aerial vehicle in the flying process, the invention designs the damping assembly to prevent the video from being unclear due to the shake of the unmanned aerial vehicle; in addition, the invention realizes the manual adjustment of the shooting angle of the unmanned aerial vehicle through the cradle head rotating piece, and provides powerful technical support for the fire control command of forest fire.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that some embodiments of the present invention are additionally attached in the following descriptions, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:
FIG. 1 is a schematic view (front) of the nacelle assembly;
FIG. 2 is a schematic view (side view) of the structure of the pod device
FIG. 3 is a schematic view of a fastener construction;
FIG. 4 is a schematic structural view of a cradle head rotating member;
FIG. 5 is a schematic view of a shock absorbing assembly;
FIG. 6 is a schematic view of a carrier frame construction;
in the figure: 1 inertial navigation system antenna, 2 antenna mounting bracket, 3 pre-tightening device, 4 damping assembly, 5 nacelle, 6 rotating device, 7 laser radar, 8 multi-sensor mounting bracket, 9 double-optical camera (infrared camera), 10DTU signal antenna, 11 unmanned aerial vehicle and nacelle connecting bracket, 12 battery, 13DTU device, 14 development board, 15 inertial navigation system, 16 double-optical camera (visible light camera), 17 pre-tightening piece screw, 18 pre-tightening piece fixing piece, 19 upper rotating piece, 20 upper rotating piece clamping groove, 21 clamping bolt, 22 fixing nut, 23 lower rotating piece clamping groove, 24 lower rotating piece, 26 upper damping piece, 27 visco-elastic damping column, 28 lower damping piece, 29 threaded hole for fixing DTU antenna, 30 threaded hole for fixing antenna mounting bracket, 31 clamping groove for fixing pre-tightening piece, 32 threaded hole for fixing connecting piece, 33 clamping groove for fixing battery, 34 threaded hole for fixing development board, 35 secure the threaded holes of the shock absorbing assembly.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The forest fire monitoring pod device based on the Xinjiang T16 unmanned aerial vehicle comprises an antenna mounting rack 2, a pod preload piece 3, a bearing plate 5, a damping assembly 4, a holder rotating piece 6, a multi-sensor mounting rack 8, the unmanned aerial vehicle and a pod connecting rod 11.
Unmanned aerial vehicle and nacelle connecting rod 11 are connected fixedly through bolt and nacelle loading board 5, and two connecting rods of this device are total, and both sides are fixed mutually about with the nacelle respectively, and the other one side of connecting rod is taken on the unmanned aerial vehicle crossbeam, has the notch 31 corresponding with nacelle pretension piece on the connecting rod, can fix the nacelle on the unmanned aerial vehicle crossbeam through pretension frame 3, and four total pretension pieces cooperate, play the fixed action jointly.
The bearing plate 5 is divided into an upper layer and a lower layer, a battery and a DTU device fixing plate are arranged on the bearing plate, the battery is fixed at the notch 33 and matched with a nylon binding rope to fix the battery, the battery is used for supplying power to a laser radar and an inertial navigation system, and the DTU is used for improving the positioning accuracy of the GPS; the threaded hole 34 on the lower bearing plate corresponds to the threaded hole on the development plate 14 in position, the development plate is fixed through the bolt connection, the purpose of the development plate is to transmit forest fire information shot by the double-optical camera to the development plate, and then the information is synchronously transmitted to the ground PC end in real time through the development plate.
Lower loading board is fixed with bolted connection through screw hole 35 with shock attenuation sub-assembly 4, shock attenuation sub-assembly 4 divide into shock attenuation piece 26, lower shock attenuation piece 28 and viscoelasticity shock attenuation post 27, be equipped with viscoelasticity shock attenuation post and cooperate with upper and lower shock attenuation piece in four angle departments of upper and lower shock attenuation piece, upper and lower shock attenuation piece and viscoelasticity shock attenuation post pass through spliced pole interconnect, prevent shock attenuation piece and shock attenuation post cluster position, upper and lower shock attenuation piece uses aluminum alloy material processing, strengthen its anticorrosive oxidation resistance, increase its tensile strength, alleviate the article quality.
The lower damping plate 27 and the upper rotary member 19 are connected by bolts. Go up rotating member 19 and lower rotating member 24 and design respectively have with screens bolt 21 matched with draw-in groove 20, 23, can realize the rotation of cloud platform and fix through manual regulation: the lower rotating piece is rotated to enable the inner clamping groove 23 to be matched with the inner clamping groove 20 of the upper rotating piece, the clamping bolt 21 is matched to realize the rotation of the whole holder, and then the whole clamping bolt is locked through the two fixing nuts.
Lower rotating member 24 is connected through the bolt with multisensor mounting bracket 8, and sensors such as laser radar, inertial navigation system, two optical cameras are connected fixedly through the bolt with the mounting bracket, and the multisensor cloud platform can realize the rotation of multi-angle through rotary device, and then realizes that unmanned aerial vehicle fixed position's multi-angle rotation monitoring forest fire spreads the real-time situation.
The two antenna mounting racks are matched with each other, the distance between the two antennas is guaranteed to be 0.8m, and the accuracy of the inertial navigation system is improved.
The invention is suitable for a nacelle of a Xinjiang T16 unmanned aerial vehicle carrying multiple sensors, the multiple sensors comprise binocular cameras 9 and 16, a laser radar 7 and an inertial navigation system 15, and can realize the acquisition of infrared and visible light images of forest fires at high altitude, in addition, the laser radar can measure point cloud information of the forest fires in real time, the inertial navigation system can be matched with a DTU to calculate flight parameters of the unmanned aerial vehicle, establish an area which takes the unmanned aerial vehicle as the center and acquires the spread of the fire in real time, acquire specific position information of the forest fires relative to the unmanned aerial vehicle in real time, monitor and track the forest fires in real time through the equipment, predict the forest fires in short time according to the spread condition of the forest fires, and provide the most timely and accurate strategy for the fire control of the forest fires.
In a second specific embodiment, the invention provides a forest fire monitoring pod device based on a T16 unmanned aerial vehicle in the first specific embodiment, the installation size of the whole pod is designed according to the space left after the original medicine barrel of the T16 is removed, namely the installation and the use of the device can be realized by removing the original medicine barrel.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A forest fire monitoring pod device based on a Xinjiang T16 unmanned aerial vehicle can realize the functions of real-time monitoring and positioning of forest fire spreading by installing a plurality of sensors such as a laser radar, an inertial navigation system and a dual-optical camera, and is characterized by comprising an antenna mounting rack (2), an unmanned aerial vehicle and pod pre-fastening piece (3), a damping assembly (4), a bearing plate (5), a rotating piece (6), a multi-sensor cradle head mounting rack (8), and an unmanned aerial vehicle and pod connecting piece (11);
the antenna mounting frame is a measuring antenna (1) for mounting and fixing an inertial navigation system (15), the height of the antenna mounting frame is 0.09m, the length of the antenna mounting frame is 0.5m, and the antenna mounting frame is fixed with a nacelle through bolts;
the bearing frame is a necessary bearing device for mounting and fixing equipment, the length, the width and the height of the bearing frame are respectively 150mm, 250mm and 350mm, the bearing frame can be just matched with a gap left after an original medicine barrel is taken down by a T16 unmanned aerial vehicle, the bearing frame is divided into an upper bearing plate and a lower bearing plate, the upper bearing plate is used for mounting a battery (12) and a DTU (13), the battery is fixed through matching of a battery clamping groove (33), a nylon binding rope and an upper hole of the bearing plate, and the lower bearing plate is connected with a fixed development board (14) through bolts;
the pod and the unmanned aerial vehicle preload part (3) are divided into a spiral push rod (17) and a fixing part (18), the fixing part is fixedly clamped with a T16 unmanned aerial vehicle cross beam, then the fixing part is tightened by a method of pressing a connecting beam (11) through rotating the spiral push rod (17), and the unmanned aerial vehicle, the pod and the connecting part (4) are fixedly connected through bolts.
2. The forest fire monitoring pod device based on Xinjiang T16 unmanned aerial vehicle according to claim 1, wherein the damping assembly (4) comprises an upper damping sheet (17), a lower damping sheet (19) and a viscoelastic damping column (18), the upper damping sheet and the lower damping sheet are made of aluminum alloy, and the viscoelastic damping column is made of plastic.
3. The forest fire monitoring nacelle device based on Xinjiang T16 unmanned aerial vehicle according to claim 1, wherein the cradle head rotating member (6) is divided into an upper rotating member (19), a lower rotating member (24), a clamping bolt (21), a fixing nut (22), clamping grooves (20, 23) matched with the clamping bolt (21) are formed in the upper rotating member (19) and the lower rotating member (24), the upper rotating member (19) is fixedly connected with the damping assembly (4), the lower rotating member (24) is connected with the multi-sensor cradle head mounting frame (8), the clamping grooves (23) in the lower rotating member are matched with the clamping grooves (20) in the upper rotating member by rotating the lower rotating member, the rotation of the whole cradle head can be realized by matching with the clamping bolt (21), and then the whole clamping bolt is locked by two fixing nuts;
the multi-sensor holder mounting frame (8) is fixedly connected with the lower rotating piece (24) through bolts, and the sensors such as the laser radar (7), the inertial navigation system (15) and the dual-optical camera (16) are fixed with the mounting frame through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910946738.XA CN110589000A (en) | 2019-10-07 | 2019-10-07 | Forest fire monitoring pod device based on Xinjiang T16 unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910946738.XA CN110589000A (en) | 2019-10-07 | 2019-10-07 | Forest fire monitoring pod device based on Xinjiang T16 unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN110589000A true CN110589000A (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910946738.XA Pending CN110589000A (en) | 2019-10-07 | 2019-10-07 | Forest fire monitoring pod device based on Xinjiang T16 unmanned aerial vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193413A (en) * | 2020-08-31 | 2021-01-08 | 南京拓兴智控科技有限公司 | Patrol and examine unmanned aerial vehicle |
| CN112464813A (en) * | 2020-11-26 | 2021-03-09 | 国网北京市电力公司 | Method and device for monitoring mountain fire |
| CN113359141A (en) * | 2021-07-28 | 2021-09-07 | 东北林业大学 | Forest fire positioning method and system based on unmanned aerial vehicle multi-sensor data fusion |
| CN114590415A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司莱芜供电公司 | A connection structure, unmanned aerial vehicle and laser radar system for unmanned aerial vehicle |
-
2019
- 2019-10-07 CN CN201910946738.XA patent/CN110589000A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193413A (en) * | 2020-08-31 | 2021-01-08 | 南京拓兴智控科技有限公司 | Patrol and examine unmanned aerial vehicle |
| CN112464813A (en) * | 2020-11-26 | 2021-03-09 | 国网北京市电力公司 | Method and device for monitoring mountain fire |
| CN114590415A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司莱芜供电公司 | A connection structure, unmanned aerial vehicle and laser radar system for unmanned aerial vehicle |
| CN113359141A (en) * | 2021-07-28 | 2021-09-07 | 东北林业大学 | Forest fire positioning method and system based on unmanned aerial vehicle multi-sensor data fusion |
| CN113359141B (en) * | 2021-07-28 | 2021-12-17 | 东北林业大学 | Forest fire positioning method and system based on unmanned aerial vehicle multi-sensor data fusion |
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