CN111003162B - Surveying and mapping unmanned aerial vehicle and surveying and mapping method thereof - Google Patents
Surveying and mapping unmanned aerial vehicle and surveying and mapping method thereof Download PDFInfo
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- CN111003162B CN111003162B CN201911355344.3A CN201911355344A CN111003162B CN 111003162 B CN111003162 B CN 111003162B CN 201911355344 A CN201911355344 A CN 201911355344A CN 111003162 B CN111003162 B CN 111003162B
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- aerial vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
- B64C25/36—Arrangements or adaptations of wheels, tyres or axles in general
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a surveying and mapping unmanned aerial vehicle and a surveying and mapping method thereof, which are technically characterized by comprising an unmanned aerial vehicle body and a landing system, wherein the landing system comprises frame legs, wheel covers, traveling wheels, a landing platform and a guide mechanism, the guide mechanism comprises two guide receiving plates, two guide traveling grooves, two guide traveling blocks and an actuating assembly, the two guide receiving plates are arranged on the upper surface of the landing platform in a sliding manner, the two guide traveling grooves are arranged on opposite side walls of the two guide receiving plates, the guide traveling blocks are arranged on two opposite sides of the two wheel covers, and the landing platform is provided with a seating assembly at a length terminal of the two guide receiving plates and is used for fixing the unmanned aerial vehicle body. According to the invention, on the basis of basic surveying and mapping unmanned aerial vehicle, when the unmanned aerial vehicle body finishes surveying and mapping and then lands, the landing system can well provide a certain buffer moving path for the unmanned aerial vehicle body, and meanwhile, the orientation of the unmanned aerial vehicle body is corrected, so that the unmanned aerial vehicle body can land to a specified area stably.
Description
Technical Field
The invention relates to the field of surveying and mapping unmanned aerial vehicles, in particular to a surveying and mapping unmanned aerial vehicle and a surveying and mapping method thereof.
Background
Surveying and mapping are measurement and mapping, a computer technology, a photoelectric technology, a network communication technology, space science and information science are taken as the basis, a global navigation satellite positioning system (GNSS), remote Sensing (RS) and a Geographic Information System (GIS) are taken as the technical core, and the existing characteristic points and boundary lines on the ground are measured to obtain the figure and position information reflecting the current situation of the ground for planning design and administrative management of engineering construction; and along with the development in unmanned aerial vehicle field, often combine unmanned aerial vehicle and survey and drawing now to be in the same place, can conveniently carry out high altitude survey and drawing, under the control of basic station, survey and drawing unmanned aerial vehicle carries the mapping device to fly to survey and drawing the high altitude, gets back to the landing area of regulation after the survey and drawing, and work is high-efficient and convenient.
The current application number is CN 201610929135.5's chinese patent, an unmanned aerial vehicle mapping car is disclosed, there is the connecting rod in this application rotor unmanned aerial vehicle bottom, there is lower connecting rod mapping equipment main part top, the connecting rod lower extreme links to each other with last connecting rod upper end down, there is bottom survey and drawing camera mapping equipment main part bottom, there is the descending stabilizer blade mapping equipment main part below, there is flexible post mapping equipment main part both sides, there is the descending support car main part top, every descending support middle part outside side has down the last location inductor of location inductor and flexible post outside below corresponding, respectively there is an unmanned aerial vehicle tracking monitoring facilities in the place ahead at car main part top and the top of rear.
However, the buffering of above-mentioned patent when descending to unmanned aerial vehicle only is realized through the joint between flexible post and the descending support, however unmanned aerial vehicle is in the twinkling of an eye that descends, under the inertial action when action of gravity and flight, the unmanned aerial vehicle body still has certain trend of moving, consequently only cushions through simple butt, and buffering effect is relatively poor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a surveying and mapping unmanned aerial vehicle and a surveying and mapping method thereof.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a survey and drawing unmanned aerial vehicle, includes unmanned aerial vehicle body and landing system, landing system includes frame leg, wheel casing, travelling wheel, landing platform and guiding mechanism, the frame leg sets up the bottom at the unmanned aerial vehicle body relatively, the wheel casing sets up the one end of keeping away from the unmanned aerial vehicle body at the frame leg, the travelling wheel rotates and sets up between the relative inboard wall of wheel casing, guiding mechanism includes that the direction is received the board, is led the groove, is led and is walked the piece and order about the subassembly, the direction is received the board and is had two and slide the setting at the upper surface of landing platform relatively along the width direction of land platform, the direction is walked the groove setting and is extended along the horizontal direction on two relative lateral walls that the board was received to the direction, the piece setting is walked in the back of two wheel casings and is walked the groove grafting and is slided with the direction, unmanned aerial vehicle body bottom still is provided with the stabilizer wheel through stabilizing foot rotation, the stabilizer wheel is kept away from the direction and is walked the groove setting, order about the subassembly setting and be used for driving two direction and receive the board relative movement on landing platform, the length terminal that the landing platform is located two directions and receives the board and is provided with the subassembly and is used for fixing unmanned aerial vehicle body and sits.
By adopting the technical scheme, after the unmanned aerial vehicle body is mapped, the landing area where the two guide receiving plates enter can be landed according to the indication of the landing signal, at the moment, the landing platform can utilize the travelling wheels, the rolling between the stabilizing wheels and the landing platform provides a certain buffering sliding space for the unmanned aerial vehicle body, meanwhile, at the moment when the unmanned aerial vehicle body contacts the landing platform, the driving component can be triggered, so that the two guide receiving plates are relatively close to each other, when the guide receiving plates are close to the travelling wheels, the guide travelling grooves and the guide travelling blocks slide after being inserted and connected in the horizontal direction, under the premise that the buffering sliding of the unmanned aerial vehicle body is not influenced, the unmanned aerial vehicle body is gradually righted under the limiting action between the guide travelling grooves and the guide travelling blocks, and finally, the landing component smoothly and accurately fixes the unmanned aerial vehicle body on the landing platform, so that when the unmanned aerial vehicle body is mapped and lands, the landing system can well provide a certain buffering moving path for the unmanned aerial vehicle body, and can correct the orientation of the unmanned aerial vehicle body, and enable the unmanned aerial vehicle body to land stably to a specified area.
The invention is further arranged that the driving component comprises a stress supporting platform, a first pressure sensor, a stress spring, a stress plate, a feeding shaft and a feeding sleeve, the stress supporting platform is arranged below the landing platform, a sliding supporting edge is arranged at the end wall of the upper surface of the stress supporting platform, a sliding frame edge is arranged at the end wall of the lower surface of the landing platform, the sliding frame edge is arranged on the sliding supporting edge in a sliding manner along the vertical direction through a sliding groove, a working cavity is formed between the stress supporting platform and the landing platform, the stress spring is arranged at the end wall of four corners of the upper cavity wall of the working cavity, the stress plate is arranged at the bottom end of the stress spring, the first pressure sensor is arranged on the bottom wall of the working cavity and is abutted against the lower surface of the stress plate, the feeding shaft is rotatably arranged on the top wall of the working cavity along the width direction of the land platform and is positioned above the stress plate, a servo motor for driving the feeding shaft to rotate is arranged in the working cavity, the self-control servo motor works, feeding threads with opposite to the two sides of the feeding shaft are respectively in threaded connection with the through groove of the feeding shaft, a connecting controller is arranged on the top wall of the working cavity, and the connecting block is arranged on the top wall of the connecting groove of the connecting plate.
Through taking above-mentioned technical scheme, in the twinkling of an eye of unmanned aerial vehicle body contact landing platform, the action of gravity of unmanned aerial vehicle body and the inertial action of unmanned aerial vehicle body flight, can arouse the sliding of the architrave in the inslot that slides, elastic deformation takes place for the atress spring, thereby change with the pressure signal of the first pressure sensors of atress board contact, first pressure sensor can be through automatic control servo motor this moment, make the feed shaft take place to rotate, thereby take place the screw feed for the feed shaft with feed set support, again because the screw spiral opposite direction that feeds of the feed of feed shaft both sides, thereby two links drive two direction take-up plate relative movement respectively.
The invention is further arranged in that the landing assembly comprises a limiting stop plate, a stopping pile, a stopping magnet, a stopping groove block, an auxiliary stop block and an auxiliary magnet, the limiting stop plate is arranged at the length direction terminal of the landing platform positioned at the two guiding receiving plates, the auxiliary magnet is arranged on the side wall of one side of the limiting stop plate facing the middle part of the guiding receiving plates, the auxiliary stop block is arranged at the front end of the wheel cover and is magnetically connected with the auxiliary magnet, the upper surface of the landing platform is provided with a moving groove, the stopping pile is arranged in the moving groove in a sliding manner along the vertical direction, the bottom end of the moving groove is provided with a driving cylinder for driving the stopping pile to slide, the front end of the auxiliary magnet is provided with a second pressure sensor, the second pressure sensor controls the driving cylinder to work through an automatic controller, the stopping magnet is arranged at the top end of the stopping pile, and the stopping groove block is arranged at the bottom end of the unmanned aerial vehicle body and is magnetically connected with the stopping magnet.
Through taking above-mentioned technical scheme, when unmanned aerial vehicle buffering slided and is close the terminal point, supplementary magnet can the magnetism with supplementary tang be connected, carry out preliminary location to the unmanned aerial vehicle body, second pressure sensor senses the location of supplementary tang and arrives simultaneously, can start and drive actuating cylinder, make the end stake drive end and end the magnet top and remove, thereby end magnet and end the grafting of tang slot piece magnetism, make the unmanned aerial vehicle body obtain stable location, the unmanned aerial vehicle body sits steadily on the landing platform.
The invention is further provided with a first buffer spring arranged on the side wall of the limiting stop plate facing the middle part of the guide closing plate, and a buffer abutting plate is arranged at one end of the first buffer spring far away from the limiting stop plate; when the first buffer spring is in a natural state, the distance between the side wall of the buffer resisting plate far away from the limit stopping plate and the limit stopping plate is larger than the distance between the side wall of the auxiliary magnet far away from the limit stopping plate and the limit stopping plate.
Through taking above-mentioned technical scheme, because supplementary dog and auxiliary magnet are before the contact, the unmanned aerial vehicle body still has certain speed, simultaneously the appeal between auxiliary magnet and the supplementary dog also can produce a pulling force to the unmanned aerial vehicle body, consequently in order to reduce the impact between supplementary dog and the auxiliary magnet, set up first buffer spring and buffering and support the board, can utilize the elastic deformation of first buffer spring to offset effort between supplementary dog and the auxiliary magnet, thereby reduce the possibility of second pressure sensor and unmanned aerial vehicle body damage.
The invention is further provided that one end of the guide walking block, which is far away from the wheel cover, is provided with a drag reduction ball.
By adopting the technical scheme, the friction form between the guide walking block and the guide walking groove is converted from sliding friction to rolling friction, so that the friction force between the guide walking block and the guide walking groove can be reduced, and the abrasion of the guide walking block and the guide walking groove to each other is reduced.
The invention is further arranged that the side walls of the fixed slot blocks, which are far away from the magnetic connection with the fixed magnets, are provided with magnetic isolating layers.
Through taking above-mentioned technical scheme, because the unmanned aerial vehicle body still contains a lot of electricity devices, consequently set up the magnetism layer that separates, can effectively reduce the influence of the magnetic field of end fixed magnet to the unmanned aerial vehicle body.
The invention is further arranged in such a way that the bottom ends of the frame legs are rotatably arranged at the top ends of the wheel covers, the peripheral walls of the frame legs are hinged with buffer rods, the upper surfaces of the wheel covers are provided with buffer grooves, one ends of the buffer rods, far away from the frame legs, are arranged in the buffer grooves in a sliding way, a second buffer spring is arranged between the groove wall at one end of each buffer groove and the corresponding buffer rod, and the frame legs and the buffer rods move on the same plane; the bottom of stabilizing the foot is rotated and is provided with and stabilizes the cover, the stabilizer wheel rotates and sets up between the relative inboard of stabilizing the cover, it has the buffering sublance to articulate on the perisporium of stabilizing the foot, it is provided with the buffering sublance to stabilize the cover upper surface, the one end that stabilizes the foot was kept away from to the buffering sublance slides and sets up in the buffering sublance, be provided with second buffering auxiliary spring between the one end cell wall of buffering sublance and the buffering sublance, it moves on the coplanar to stabilize foot and buffering sublance.
Through taking above-mentioned technical scheme, in the twinkling of an eye that the unmanned aerial vehicle body falls on landing platform, buffer beam and buffering auxiliary rod take place to rotate, and the bottom of buffer beam and buffering auxiliary rod promotes second buffer spring and second buffering auxiliary spring respectively simultaneously and takes place elastic deformation to can cushion the unmanned aerial vehicle body in the twinkling of an eye that falls to the ground to the unmanned aerial vehicle body, further reduce the possibility of unmanned aerial vehicle body damage.
Another object of the present invention is to provide a surveying method for surveying and mapping an unmanned aerial vehicle, comprising the steps of: (1) Surveying, namely sending an instruction by a base station, and completing a surveying task on a designated area by an unmanned aerial vehicle body;
(2) Returning: positioning the landing platform, and controlling the unmanned aerial vehicle to approach towards the landing platform;
(3) Landing rectification: the landing of unmanned aerial vehicle body is in landing platform descending region, orders about the subassembly and triggers, and the direction is drawn close relatively to the board, and the unmanned aerial vehicle body can the position correction to be close to the subassembly of sitting, the subassembly of finally sitting starts, and the landing of unmanned aerial vehicle body finishes.
Through taking above-mentioned technical scheme, after the basic survey and drawing task is accomplished to the unmanned aerial vehicle body, at the landing in-process on the landing platform, can obtain the buffering and slide and the azimuth is rectified to the unmanned aerial vehicle body can stably fix a position on the landing platform.
In conclusion, the invention has the following beneficial effects:
1. according to the invention, after the unmanned aerial vehicle body lands, a distance of moving buffer can be provided for the unmanned aerial vehicle body, and under the limiting action between the guide walking groove and the guide walking block, the unmanned aerial vehicle body is gradually straightened, and finally the landing assembly smoothly and accurately fixes the unmanned aerial vehicle body on the landing platform, so that when the unmanned aerial vehicle body is mapped and landed, the landing system can well provide a certain buffer moving path for the unmanned aerial vehicle body, and meanwhile, the direction of the unmanned aerial vehicle body is corrected, so that the unmanned aerial vehicle body stably lands in a specified area;
2. in the landing assembly, the auxiliary magnet is connected with the auxiliary stop block in a magnetic manner, and the stop magnet is connected with the stop groove block in a magnetic manner, so that the landing assembly can stably position the unmanned aerial vehicle body on the landing platform.
Drawings
Fig. 1 is a schematic structural view for showing that the unmanned aerial vehicle is in a landing-completed state in the present invention.
Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle in the non-landing state according to the present invention.
Fig. 3 is an enlarged view of a portion a in fig. 2.
Fig. 4 is an enlarged view of fig. 2 at B.
Fig. 5 is a cross-sectional view of a guide runner and guide shoe structure embodying the present invention.
FIG. 6 is a partial cross-sectional view of an actuating assembly constructed to embody the present invention.
Fig. 7 is a sectional view of a seating assembly structure embodying the present invention.
Fig. 8 is an enlarged view at D in fig. 7.
Fig. 9 is an enlarged view at C in fig. 1.
Reference numerals: 1. an unmanned aerial vehicle body; 2. a frame leg; 21. a stabilizing foot; 211. a stabilization cage; 212. a buffer auxiliary rod; 213. a buffer auxiliary groove; 214. a second buffer auxiliary spring; 22. a stabilizing wheel; 3. a wheel cover; 31. a buffer tank; 32. a buffer rod; 33. a second buffer spring; 4. a traveling wheel; 5. landing the platform; 6. a guide mechanism; 61. guiding and collecting the plate; 62. a guide walking groove; 63. a guide walking block; 631. resistance reducing balls; 64. an actuating assembly; 641. a stress supporting platform; 6411. sliding and supporting edges; 6412. sliding the frame edge; 6413. a sliding groove; 6414. a working chamber; 642. a first pressure sensor; 643. a stressed spring; 644. a stress plate; 645. a feed shaft; 6451. a servo motor; 6452. a feed screw; 646. a feed sleeve; 6461. connecting blocks; 6462. a through groove; 7. a seating assembly; 71. a limiting stop plate; 711. a first buffer spring; 712. a buffer resisting plate; 72. stopping and fixing the pile; 721. a moving groove; 722. a driving cylinder; 73. stopping the magnet; 74. a stopping groove block; 741. a magnetism isolating layer; 75. auxiliary stopping blocks; 76. an auxiliary magnet; 761. a second pressure sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the invention discloses a surveying and mapping unmanned aerial vehicle, as shown in fig. 1 and 2, the surveying and mapping unmanned aerial vehicle comprises an unmanned aerial vehicle body 1 and a landing system, the landing system comprises frame legs 2, wheel covers 3, travelling wheels 4, a landing platform 5 and a guide mechanism 6, the frame legs 2 are provided with two width directions which are oppositely arranged at the bottom end of the unmanned aerial vehicle body 1, the wheel covers 3 are arranged at one ends of the frame legs 2 far away from the unmanned aerial vehicle body 1, the travelling wheels 4 are rotatably arranged between the inner side walls of the wheel covers 3, and meanwhile, in order to improve the sliding stability of the unmanned aerial vehicle body 1, in the embodiment, stabilizing wheels 22 are rotatably arranged behind the bottom end of the unmanned aerial vehicle body 1 through stabilizing feet 21, and the stabilizing wheels 22 are positioned between the two travelling wheels 4 along the width direction of the unmanned aerial vehicle body 1; after 1 survey and drawing of unmanned aerial vehicle body, unmanned aerial vehicle body 1 can descend towards landing platform 5 under the effect of ordering about of landing signal, after unmanned aerial vehicle body 1 fell on landing platform 5, unmanned aerial vehicle body 1 can carry out the buffering of one end distance on landing platform 5 and slide, and simultaneously at this in-process, guiding mechanism 6 can be rectified unmanned aerial vehicle body 1's position, makes preparation for later stage unmanned aerial vehicle body 1's location.
As shown in fig. 3 and 4, in order to reduce the impact force on the unmanned aerial vehicle body 1 at the moment that the unmanned aerial vehicle body 1 falls on the landing platform 5, in this embodiment, the bottom end of the frame leg 2 is rotatably disposed at the top end of the wheel housing 3, the rear side of the peripheral wall of the frame leg 2 is hinged with a buffer rod 32, the rear side of the upper surface of the wheel housing 3 is provided with a buffer slot 31, one end of the buffer rod 32, which is far away from the frame leg 2, is slidably disposed in the buffer slot 31, a second buffer spring 33 is disposed between the slot wall below the buffer slot 31 and the rear side of the buffer rod 32, and the frame leg 2 and the buffer rod 32 move on the same plane; the bottom of stabilizing foot 21 rotates and is provided with stabilizing cover 211, stabilizing wheel 22 rotates and sets up between the relative inboard of stabilizing cover 211, stabilizing foot 21's perisporium rear side articulates there is buffering auxiliary rod 212, stabilizing cover 211 upper surface rear side is provided with buffering auxiliary groove 213, the one end that buffering auxiliary rod 212 kept away from stabilizing foot 21 slides and sets up in buffering auxiliary groove 213, be provided with second buffering auxiliary spring 214 between the cell wall of buffering auxiliary groove 213 below and buffering auxiliary rod 212 rear side, stabilizing foot 21 and buffering auxiliary rod 212 move on the coplanar. In the moment that unmanned aerial vehicle body 1 falls to the ground, buffer rod 32 and buffering auxiliary rod 212 rotate, and second buffer spring 33 and second buffering auxiliary spring 214 take place elastic expansion, and then cushion unmanned aerial vehicle body 1.
As shown in fig. 2 and fig. 5, the guiding mechanism 6 includes two guiding receiving plates 61, two guiding moving grooves 62, two guiding moving blocks 63, and an actuating assembly 64, the two guiding receiving plates 61 are relatively slidably disposed on the upper surface of the landing platform 5 along the width direction of the landing platform 5, meanwhile, the landing platform 5 is provided with a seating assembly 7 at the end of the length of the two guiding receiving plates 61 and is used for finally fixing the drone body 1, in this embodiment, when the two guiding receiving plates 61 are relatively far away, the landing platform 5 area between the two guiding receiving plates 61 is a landing area, and the drone body 1 slides toward the seating assembly 7 after being placed on the landing platform 5; the groove 62 is walked in the direction then sets up on the relative lateral wall of two direction receipts board 61 and extends along the horizontal direction, the piece 63 sets up the both sides that leave mutually at two wheel casings 3 are walked in the direction, when unmanned aerial vehicle body 1 falls on landing platform 5, the piece 63 is walked in the direction and the groove 62 is walked in the direction parallel and level in the horizontal direction, consequently set up on landing platform 5 and order about when two direction receipts board 61 of subassembly 64 drive are close to relatively, the piece 63 is walked in the direction and the groove 62 is walked in the direction can be pegged graft and slide, simultaneously in order to reduce the wearing and tearing of the piece 63 is walked in the direction and the groove 62 is walked in the direction, the one end that the piece 63 is walked in the direction kept away from wheel casing 3 is provided with drag reduction ball 631. At the moment when the unmanned aerial vehicle body 1 falls on the landing platform 5, the driving component 64 is started immediately,
as shown in fig. 6 and 7, the actuating assembly 64 includes a force-bearing platform 641, a first pressure sensor 642, a force-bearing spring 643, a force-bearing plate 644, a feed shaft 645 and a feed sleeve 646, in this embodiment, two sets of the actuating assembly 64 work simultaneously, the force-bearing platform 641 is disposed below the landing platform 5, a sliding support edge 6411 is disposed at an end wall of an upper surface of the force-bearing platform 641, a sliding slot 6413 extending in a vertical direction is disposed on an upper surface of the sliding support edge 6411, and a sliding frame 6412 connected to the sliding slot 6413 is disposed at an end wall of a lower surface of the landing platform 5, so that a working cavity 6414 is formed between the force-bearing platform 641 and the landing platform 5; the stress spring 643 is arranged at the four corner end wall of the upper cavity wall of the working cavity 6414, and is supported by the stress spring 643, the bottom end of the sliding frame 6412 is far away from the bottom wall of the sliding groove 6413, the stress plate 644 is arranged at the bottom end of the stress spring 643, and the first pressure sensor 642 is arranged on the bottom wall of the working cavity 6414 and is abutted against the lower surface of the stress plate 644; the feeding shaft 645 is rotatably arranged on the top wall of the working cavity 6414 along the width direction of the land platform 5 and is positioned above the stress plate 644, a servo motor 6451 for driving the feeding shaft 645 to rotate is further arranged in the working cavity 6414, the servo motor 6451 is controlled by the first pressure sensor 642 through an automatic controller (not shown in the figure) to work, feeding threads 6452 with opposite spiral directions are arranged on two sides of the peripheral wall of the feeding shaft 645, and two feeding sleeves 646 are respectively in threaded connection with the feeding threads 6452 on two sides of the feeding shaft 645; a through groove 6462 is formed in the top wall of the working cavity 6414 in the width direction of the landing platform 5, and a connecting block 6461 which passes through the through groove 6462 and is fixedly connected with the guiding and receiving plate 61 is arranged at the top end of the feeding sleeve 646. After unmanned aerial vehicle body 1 fell on landing platform 5, under the impulsive force that unmanned aerial vehicle body 1 descends and the action of gravity of unmanned aerial vehicle body 1, the architrave 6412 that slides along vertical direction in sliding groove 6413, thereby arouse the elastic deformation of atress spring 643, then the pressure that senses with first pressure sensor 642 of atress board 644 butt changes, thereby can open servo motor 6451 through automatic control, make feed shaft 645 take place to rotate, feed cover 646 takes place the screw feed on feed shaft 645, thereby under link 6461's effect, two direction take-up boards 61 take place relative movement.
As shown in fig. 7 and 8, the landing assembly 7 includes a limit stop plate 71, a stop pile 72, a stop magnet 73, a stop slot block 74, an auxiliary stop block 75 and an auxiliary magnet 76, the limit stop plate 71 is disposed at the end of the landing platform 5 in the length direction of the two guide receiving plates 61, the auxiliary magnet 76 is disposed on the side wall of one side of the limit stop plate 71 facing the middle of the guide receiving plate 61, the auxiliary stop block 75 is disposed at the front end of the wheel housing 3 and magnetically connected with the auxiliary magnet 76, a moving slot 721 is disposed on the upper surface of the landing platform 5 near the limit stop plate 71, the stop pile 72 is slidably disposed in the moving slot 721 in the vertical direction, a driving cylinder 722 for driving the stop pile 72 to slide is disposed at the bottom end of the moving slot 721, a second pressure sensor 761 is disposed at the front end of the auxiliary magnet 76, the second pressure sensor 761 controls the driving cylinder 722 to operate through an automatic controller, the stop magnet 73 is disposed at the top end of the stop pile 72, the stop slot block 74 is disposed at the bottom end of the unmanned aerial vehicle body 1 and magnetically connected with the stop magnet 73, and one end of the stop magnet 741 is disposed at the end of the stop magnet 741. When unmanned aerial vehicle body 1 moves to spacing board 71 that ends under the guide effect of two direction receipts boards 61, being close to spacing position of board 71 that ends, end fixed magnet 73 and end fixed slot 74 remove to receive board 61 length direction planar same straight line with the direction on, consequently when unmanned aerial vehicle body 1 speed drops to zero or will drop to zero, supplementary end piece 75 can be attracted by supplementary magnet 76, second pressure sensor 761 opens drive cylinder 722 through automatic control (not shown in the figure) simultaneously, end fixed pile 72 rebound under the drive of drive cylinder 722 for end fixed magnet 73 is connected with end fixed slot 74 magnetism, and then realize the location to unmanned aerial vehicle body 1.
As shown in fig. 2 and 9, in the present embodiment, two sets of first buffer springs 711 are further disposed on a side wall of the limiting stop plate 71 facing the middle portion of the guiding and receiving plate 61, two of each set of first buffer springs 711 are respectively disposed at two horizontal sides of the auxiliary magnet 76, one end of the first buffer spring 711 away from the limiting stop plate 71 is provided with a buffer abutting plate 712, and when the first buffer springs 711 are in a natural state, a distance between a side wall of the buffer abutting plate 712 away from the limiting stop plate 71 and the limiting stop plate 71 is greater than a distance between a side wall of the auxiliary magnet 76 away from the limiting stop plate 71 and the limiting stop plate 71. When supplementary magnet 76 and supplementary dog 75 magnetic contact, supplementary dog 75 can support earlier on the board 712 is supported in the buffering to first buffer spring 711 takes place elastic deformation, thereby cushions unmanned aerial vehicle body 1.
Example two:
a surveying method for surveying an unmanned aerial vehicle includes the steps of:
(1) In the step of surveying, a base station sends an instruction, and the unmanned aerial vehicle body 1 finishes a surveying task on a designated area;
the unmanned aerial vehicle body 1 can be any surveying and mapping unmanned aerial vehicle capable of completing surveying and mapping tasks, and in the embodiment, the unmanned aerial vehicle body 1 comprises a rack, a flight lifting mechanism, a holder mechanism and a control mechanism; the cloud platform mechanism is hung at the bottom of the unmanned aerial vehicle body through a hanging rod, a camera is mounted on the cloud platform mechanism, and the cloud platform mechanism is used for adjusting the optical axis of the camera to be perpendicular to the ground all the time; control mechanism then is used for controlling unmanned aerial vehicle to fly to the assigned position and adjust cloud platform mechanism upset, and control mechanism includes main control unit, power module, GPS module, IMU module and receiver, and main control unit's input links to each other with the output of GPS module, IMU module respectively, and flight hoist mechanism and pass through the receiver and connect cloud platform mechanism are connected to main control unit's output. The main controller mainly receives instructions of the base station to control the flight lifting mechanism and the cloud platform mechanism, the main controller can also receive signals of the GPS module and the IMU module, process the signals and feed the processed signals back to the main controller, and the main controller adjusts the work of the flight lifting mechanism and the cloud platform mechanism according to a processing result. The GPS module is also used for assisting the main controller to stabilize the unmanned aerial vehicle at the same place in a non-operation state, so that the effect of picture shooting is not influenced by displacement, and the GPS module is also hung on the hanging rod through the hanging piece.
(2) Returning: positioning the landing platform 5, and controlling the unmanned aerial vehicle to approach towards the landing platform 5;
in order to cooperate the landing system work, also be provided with the GPS unit on location landing platform 5 in this embodiment, the basic station links to each other with the GPS module of unmanned aerial vehicle body 1 and the GPS unit of landing platform 5 are wireless respectively, and then is used for obtaining the positional information of unmanned aerial vehicle body 1, landing platform 5, and the rethread main control unit control flight hoist mechanism descends to return voyage unmanned aerial vehicle body 1.
(3) Landing rectification: after the unmanned aerial vehicle body 1 lands in the landing area of the landing platform 5, the unmanned aerial vehicle body 1 slides towards the limiting stop plate 71; at the moment that the unmanned aerial vehicle body 1 falls on the landing platform 5, under the impact force of the unmanned aerial vehicle body 1 falling and the gravity action of the unmanned aerial vehicle body 1, elastic deformation of a stress spring 643 is caused, the servo motor 6451 is started by the first pressure sensor 642 through the automatic controller, so that the feeding shaft 645 rotates, the feeding sleeve 646 drives the two guide take-up plates 61 to move relatively, and the guide walking block 63 and the guide walking groove 62 can be inserted and slid to correct the direction of the unmanned aerial vehicle body 1; then when the speed of the unmanned aerial vehicle body 1 drops to zero or is about to drop to zero (i.e. when approaching the limiting stop plate 71), the auxiliary stop block 75 is attracted by the auxiliary magnet 76, and meanwhile, the second pressure sensor 761 starts the driving cylinder 722 through the automatic controller, and the stop pile 72 moves upwards under the driving of the driving cylinder 722, so that the stop magnet 73 is magnetically connected with the stop groove block 74, and the component 64 is driven to immediately start the unmanned aerial vehicle body 1 to land and finish.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (7)
1. A survey and drawing unmanned aerial vehicle, its characterized in that: including unmanned aerial vehicle body (1) and landing system, landing system includes frame leg (2), wheel casing (3), travelling wheel (4), landing platform (5) and guiding mechanism (6), frame leg (2) set up the bottom in unmanned aerial vehicle body (1) relatively, wheel casing (3) set up the one end of keeping away from unmanned aerial vehicle body (1) in frame leg (2), travelling wheel (4) rotate set up between the relative inboard wall of wheel casing (3), guiding mechanism (6) include direction take-up plate (61), direction walk groove (62), direction walk piece (63) and order about subassembly (64), direction take-up plate (61) have two and slide relatively along the width direction of land platform (5) and set up the upper surface at landing platform (5), direction walk groove (62) set up on the relative lateral wall of two direction take-up plate (61) and extend along the horizontal direction, direction walk piece (63) set up two rounds of taking up cover (3) mutually opposite sides and slide with direction walk groove (62) and peg graft, unmanned aerial vehicle body (1) still set up through the relative landing wheel of driving stabilization wheel (22) and set up and move about subassembly (21) and move about subassembly (64), the landing platform (5) is provided with a seating component (7) at the length terminals of the two guiding and retracting plates (61) and used for fixing the unmanned aerial vehicle body (1);
the actuating assembly (64) comprises a force bearing platform (641), a first pressure sensor (642), a force bearing spring (643), a force bearing plate (644), a feed shaft (645) and a feed sleeve (646), the force bearing platform (641) is arranged below the landing platform (5), a sliding support edge (6411) is arranged at the end wall of the upper surface of the force bearing platform (641), a sliding frame edge (6412) is arranged at the end wall of the lower surface of the landing platform (5), the sliding frame edge (6412) is arranged on the sliding support edge (6411) in a sliding mode along the vertical direction through a sliding groove (6413), a working cavity (6414) is formed between the force bearing platform (641) and the landing platform (5), the force bearing spring (643) is arranged at the end wall of four corners of the upper cavity wall of the working cavity (6414), the force bearing plate (644) is arranged at the bottom end of the force bearing spring (643), the first pressure sensor (642) is arranged on the bottom wall of the working cavity (6414) and is abutted against the lower surface of the force bearing plate (644), the feed shaft (645) is arranged above the working cavity (6451), and the servo shaft (6451) is arranged above the servo motor (6451) and controls the working cavity (645), two sides of the peripheral wall of the feeding shaft (645) are provided with feeding threads (6452) with opposite spiral directions, two feeding sleeves (646) are respectively in threaded connection with the feeding threads (6452) on the two sides of the feeding shaft (645), the top wall of the working cavity (6414) is provided with a through groove (6462) in a penetrating mode along the width direction of the landing platform (5), the top end of each feeding sleeve (646) is provided with a connecting block (6461) fixedly connected with the guide receiving plate (61), and the connecting blocks (6461) are connected with the through grooves (6462) in a sliding mode.
2. A mapping drone according to claim 1, characterised in that: the utility model provides a set up the unmanned aerial vehicle, including landing platform (5), landing subassembly (7) including spacing board (71), end fixed pile (72), end fixed magnet (73), end fixed slot piece (74), supplementary end piece (75) and auxiliary magnet (76), spacing board (71) set up the length direction terminal that is located two direction take-up boards (61) at landing platform (5), auxiliary magnet (76) set up on spacing board (71) one side lateral wall towards direction take-up board (61) middle part, supplementary end piece (75) set up at the front end of wheel casing (3) and with auxiliary magnet (76) magnetic connection, landing platform (5) upper surface is provided with shifting chute (721), end fixed pile (72) slide along vertical direction and set up in shifting chute (721), shifting chute (721) bottom is provided with the drive actuating cylinder (722) that the drive end fixed pile (72) slided, the front end of auxiliary magnet (76) is provided with second pressure sensor (761), second pressure sensor (761) is through automatic control actuating cylinder (72) work the setting of end fixed pile (73) the unmanned aerial vehicle body is at the top end fixed magnet (73) and is connected at unmanned aerial vehicle end fixed slot (73).
3. A mapping drone according to claim 2, characterised in that: a first buffer spring (711) is arranged on the side wall of the limiting stop plate (71) facing the middle part of the guide folding plate (61), and a buffer abutting plate (712) is arranged at one end of the first buffer spring (711) far away from the limiting stop plate (71); when the first buffer spring (711) is in a natural state, the distance between the side wall of the buffer resisting plate (712) far away from the limit stop plate (71) and the limit stop plate (71) is greater than the distance between the side wall of the auxiliary magnet (76) far away from the limit stop plate (71) and the limit stop plate (71).
4. A mapping drone according to claim 1, characterized in that: and one end of the guide walking block (63) far away from the wheel casing (3) is provided with a resistance reducing ball (631).
5. A mapping drone according to claim 2, characterized in that: and the side walls of the fixed slot blocks (74) far away from the side walls magnetically connected with the fixed magnets (73) are provided with magnetic isolating layers (741).
6. A mapping drone according to claim 1, characterised in that: the bottom ends of the frame legs (2) are rotatably arranged at the top ends of the wheel covers (3), the peripheral walls of the frame legs (2) are hinged with buffer rods (32), the upper surface of the wheel covers (3) is provided with buffer grooves (31), one ends, far away from the frame legs (2), of the buffer rods (32) are arranged in the buffer grooves (31) in a sliding mode, second buffer springs (33) are arranged between the groove walls of one ends of the buffer grooves (31) and the buffer rods (32), and the frame legs (2) and the buffer rods (32) move on the same plane; the bottom of stabilizing foot (21) is rotated and is provided with and stabilizes cover (211), stabilizing wheel (22) are rotated and are set up between the relative inboard of stabilizing cover (211), it has buffering auxiliary rod (212) to articulate on the perisporium of stabilizing foot (21), it is provided with buffering auxiliary tank (213) to stabilize cover (211) upper surface, the one end that stabilizes foot (21) was kept away from in buffering auxiliary tank (213) is slided and is set up in buffering auxiliary tank (213) buffering auxiliary tank (212), be provided with second buffering auxiliary spring (214) between the one end cell wall of buffering auxiliary tank (213) and buffering auxiliary rod (212), it moves on the coplanar to stabilize foot (21) and buffering auxiliary rod (212).
7. A method of surveying unmanned aerial vehicle according to claim 1, comprising the steps of:
surveying, wherein a base station sends an instruction, and the unmanned aerial vehicle body (1) finishes a surveying task on a designated area;
returning: the base station positions the landing platform (5) and controls the unmanned aerial vehicle to approach towards the landing platform (5);
landing rectification: landing is in landing platform (5) landing area in unmanned aerial vehicle body (1), orders about subassembly (64) and triggers, and direction take-up plate (61) are drawn close relatively, and unmanned aerial vehicle body (1) can be rectified by the position and is close to subassembly (7) of sitting, and final subassembly (7) of sitting start and fix a position unmanned aerial vehicle body (1), and unmanned aerial vehicle body (1) lands and finishes.
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| CN108945500B (en) * | 2018-05-23 | 2021-11-30 | 武汉科技大学 | Movable landing platform of quad-rotor unmanned aerial vehicle and automatic battery replacement method |
| US10890921B2 (en) * | 2018-05-31 | 2021-01-12 | Carla R. Gillett | Robot and drone array |
| WO2019232753A1 (en) * | 2018-06-07 | 2019-12-12 | 深圳市大疆创新科技有限公司 | Base station for unmanned aerial vehicle and positioning mechanism thereof |
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