CN111169633A - Unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111169633A CN111169633A CN202010044225.2A CN202010044225A CN111169633A CN 111169633 A CN111169633 A CN 111169633A CN 202010044225 A CN202010044225 A CN 202010044225A CN 111169633 A CN111169633 A CN 111169633A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- parts
- information
- hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000013507 mapping Methods 0.000 title claims description 29
- 238000000034 method Methods 0.000 title claims description 20
- 230000009471 action Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 14
- 229920000915 polyvinyl chloride Polymers 0.000 claims abstract description 13
- 239000004800 polyvinyl chloride Substances 0.000 claims abstract description 13
- 239000002131 composite material Substances 0.000 claims abstract description 11
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 6
- 239000006057 Non-nutritive feed additive Substances 0.000 claims abstract description 6
- 239000004677 Nylon Substances 0.000 claims abstract description 6
- 239000003963 antioxidant agent Substances 0.000 claims abstract description 6
- 230000003078 antioxidant effect Effects 0.000 claims abstract description 6
- 239000004917 carbon fiber Substances 0.000 claims abstract description 6
- 239000006084 composite stabilizer Substances 0.000 claims abstract description 6
- 239000003365 glass fiber Substances 0.000 claims abstract description 6
- 229920001778 nylon Polymers 0.000 claims abstract description 6
- 239000003063 flame retardant Substances 0.000 claims abstract description 5
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 5
- 239000012745 toughening agent Substances 0.000 claims abstract description 5
- RNFJDJUURJAICM-UHFFFAOYSA-N 2,2,4,4,6,6-hexaphenoxy-1,3,5-triaza-2$l^{5},4$l^{5},6$l^{5}-triphosphacyclohexa-1,3,5-triene Chemical compound N=1P(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP=1(OC=1C=CC=CC=1)OC1=CC=CC=C1 RNFJDJUURJAICM-UHFFFAOYSA-N 0.000 claims abstract description 4
- 238000010438 heat treatment Methods 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 claims description 5
- 230000003238 somatosensory effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 8
- 230000008901 benefit Effects 0.000 description 7
- 230000007797 corrosion Effects 0.000 description 6
- 238000005260 corrosion Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- 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
-
- 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
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
-
- 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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
- B64C2001/0054—Fuselage structures substantially made from particular materials
- B64C2001/0072—Fuselage structures substantially made from particular materials from composite materials
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses an unmanned aerial vehicle, which comprises a body part, a wing part, a frame part, an information acquisition part and a ground end control part, wherein the wing part is symmetrically arranged at the end point of the body part, the frame part is arranged at the lower part of the body part, the information acquisition part is connected with the body part, the ground end control part comprises a ground end microprocessor and an attitude sensor in communication connection with the ground end microprocessor, the vehicle end microprocessor receives a control instruction sent by the ground end microprocessor and converts the instruction into a PWM (pulse width modulation) signal or a PPM (pulse width modulation) signal to control the action of the unmanned aerial vehicle, shells of the body part, the wing part and the frame part are made of composite materials, and the composite materials comprise 130 parts of polyvinyl chloride, 15 parts of composite stabilizer, 50 parts of nylon, 15 parts of PVC (polyvinyl chloride) processing aid and 45 parts of glass fiber according to weight percentage, 15 parts of carbon fiber, 9 parts of a toughening agent, 9 parts of an antioxidant and 15 parts of a flame retardant.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, in particular to an unmanned aerial vehicle and a surveying and mapping method based on the unmanned aerial vehicle.
Background
In recent years, unmanned aerial vehicles have been widely applied to the fields of surveying and mapping, emergency and disaster relief due to the characteristics of high efficiency, flexibility, low cost and the like, and the unmanned aerial vehicle aerial surveying and mapping (short for aerial survey) technology can greatly reduce the work cycle, manpower and financial investment of the traditional aerial surveying and mapping technology, and has more realistic significance in the fields of surveying and mapping and the like.
The unmanned aerial vehicle aerial survey remote sensing system can perfectly realize the self value in each industry, can promote the forward development of each industry, mainly because the unmanned aerial vehicle has higher practicability, such as the application in surveying and mapping work, solves the technical and environmental problems in surveying and mapping work, has unique innovation and superior main system, can play irreplaceable role in the aspects of new rural construction, the construction of digital cities and the like, can be applied to low-altitude unmanned surveying and mapping measurement remote sensing systems in a plurality of fields, such as large-scale projects and the planning of novel cities, can deal with various sudden situations, can accelerate urban and rural construction, and often cannot use the traditional aerial photography due to the local environment when working at working points with harsh environmental conditions, such as the obstruction of mountains, road reason can not realize normal take off and land, or the cloud layer crosses the problem of low grade etc. when this, unmanned aerial vehicle just can embody its unique effect of taking photo by plane, take off that can both relax at any topography, carry out the operation of taking photo by plane, so not only can promote measurement effect to can accurately collect high altitude image.
The existing unmanned aerial vehicle is mostly made of alloy materials, the weight is large, energy consumption is high, generally speaking, the unmanned aerial vehicle is not corrosion-resistant, a three-dimensional point cloud model is generated after aerial survey of the unmanned aerial vehicle is finished, because a building is a modeling object with a complex structure, the model generated by automatic triangulation and surface construction is difficult to satisfy, in addition, the existing unmanned aerial vehicle is controlled by adopting traditional remote control equipment to act, and the problems of complex operation and great difficulty in hands exist.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned aerial vehicle and a surveying and mapping method based on the unmanned aerial vehicle, which are used for solving the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle comprises a body part, a wing part, a frame part, an information acquisition part and a ground end control part, wherein,
the fuselage part is internally provided with a machine-mounted end microprocessor and a power supply electrically connected with the machine-mounted end microprocessor;
the wing parts are symmetrically arranged at the end points of the fuselage part and comprise spiral wings and first motors for driving the spiral wings to rotate, and the first motors are electrically connected with a power supply in the fuselage part;
the frame part is arranged at the lower part of the machine body part and comprises a telescopic bracket and a second motor for driving the telescopic bracket to stretch and rotate, and the second motor is electrically connected with a power supply in the machine body part;
the information acquisition part is connected with the fuselage part and comprises a camera and a tripod head driving the camera to rotate, the tripod head is electrically connected with a power supply in the fuselage part, and the camera is in communication connection with a machine-mounted end microprocessor in the fuselage part;
the ground end control part comprises a ground end microprocessor and an attitude sensor in communication connection with the ground end microprocessor, the ground end microprocessor is used for resolving the attitude of the attitude sensor and converting the attitude into an instruction for controlling the unmanned aerial vehicle, the ground end microprocessor is in wireless communication connection with an onboard end microprocessor in the fuselage part, and the attitude sensor is used for acquiring the attitude information of an operator;
the unmanned aerial vehicle comprises a ground end microprocessor, an airborne end microprocessor, a fuselage part, a wing part and a frame part, wherein the airborne end microprocessor receives a control command sent by the ground end microprocessor, converts the command into a PWM (pulse width modulation) signal or a PPM (pulse width modulation) signal to control the action of the unmanned aerial vehicle, the shells of the fuselage part, the wing part and the frame part are made of composite materials, and the composite materials comprise 130 parts of polyvinyl chloride, 15 parts of composite stabilizer, 50 parts of nylon, 15 parts of PVC processing aid, 45 parts of glass fiber, 15 parts of carbon fiber, 9 parts of flexibilizer, 9 parts of antioxidant and 15 parts of.
By the technical scheme, the gesture sensor senses the human body signal and converts the human body signal into the control command to control the action of the unmanned aerial vehicle, so that the control of the unmanned aerial vehicle is more humanized, and the operation difficulty of the unmanned aerial vehicle is reduced; and, unmanned aerial vehicle's shell adopts combined material to make, has that the quality is light, mechanical strength is high, tensile slight and tear resistance are excellent, corrosion resistance is good and advantages such as fire behavior is excellent to satisfy the requirement that unmanned aerial vehicle worked under adverse circumstances, can prolong unmanned aerial vehicle's life.
The invention is further configured to: the aircraft body portion is provided with a temperature sensor and a heating chip, and the temperature sensor and the heating chip are respectively in communication connection with the aircraft-mounted end microprocessor.
Through above-mentioned technical scheme, temperature sensor can sense the temperature on fuselage portion surface to transmit the temperature of sensing to airborne end microprocessor, if the temperature is lower, airborne end microprocessor control heating chip heats fuselage portion, in order to avoid influencing unmanned aerial vehicle's normal work because of the temperature is low excessively.
The invention is further configured to: the fuselage portion is provided with anti-falling device, anti-falling device includes parachute and the third motor that the drive parachute opened and folded up, power electric connection in third motor and the fuselage portion.
Through above-mentioned technical scheme, when unmanned aerial vehicle takes place unusually, can open through third motor drive parachute to make the steady landing of unmanned aerial vehicle, in order to avoid damaging unmanned aerial vehicle.
The invention is further configured to: the ground end control part is a body sensing device worn based on body sensing.
Through above-mentioned technical scheme, can utilize body sensing equipment response human body signal and then control the action of unmanned aerial vehicle to make unmanned aerial vehicle's control humanized.
The invention is further configured to: the human body posture information sensed by the posture sensor comprises turning information of a hand, height information of the hand and direction information of the hand.
Through above-mentioned technical scheme, according to the gesture information of the hand that attitude sensor sensing arrived to corresponding control unmanned aerial vehicle's each item action, more humanized, simplification, in order to reduce unmanned aerial vehicle's the operation degree of difficulty.
The invention also provides a surveying and mapping method based on the unmanned aerial vehicle, which adopts the unmanned aerial vehicle to carry out surveying and mapping, and the surveying and mapping method comprises the following steps:
step S1: planning a travel route of the unmanned aerial vehicle by using ground planning equipment;
step S2: controlling the action of the unmanned aerial vehicle by using a ground end control part;
step S3: the unmanned aerial vehicle navigates to the area to be tested along the journey route to carry out aerial survey;
step S4: the unmanned aerial vehicle transmits aerial survey data to the ground control part and generates a three-dimensional point cloud model.
Through above-mentioned technical scheme, utilize unmanned aerial vehicle to survey and drawing, can carry out the aerial survey under different environment, compare in traditional aerial photography, can reduce duty cycle, also can reduce the input of manpower and financial resources.
The invention is further configured to: the mapping method further includes step S5: and forming a corresponding three-dimensional model based on the three-dimensional point cloud model by utilizing a BIM technology.
Through the technical scheme, the BIM technology is utilized to form the three-dimensional point cloud model into the corresponding three-dimensional model, and compared with the prior art, the surveying and mapping are more accurate.
The invention is further configured to: in step S2, the ground control unit controls the unmanned aerial vehicle to operate using the human body posture information sensed by the posture sensor, where the posture information includes the hand turning information, the hand height information, and the hand direction information.
Through above-mentioned technical scheme, utilize attitude sensor sensing hand's information to convert the information of hand into control signal in order to control the unmanned aerial vehicle action, can reduce unmanned aerial vehicle's the operation degree of difficulty, so that control mode is humanized.
The invention is further configured to: the upset information of hand is used for controlling the unmanned aerial vehicle unblock, the altitude information of hand is used for controlling unmanned aerial vehicle's lift, the direction information of hand is used for controlling unmanned aerial vehicle's navigation direction.
Through above-mentioned technical scheme, control unmanned aerial vehicle's unblock, lift and navigation direction through corresponding gesture, the operation degree of difficulty of unmanned aerial vehicle has been reduced in relatively intelligent.
The invention is further configured to: the step S2 includes:
step S21: the gesture sensor senses human body gesture information;
step S22: the ground end microprocessor collects data sensed by the attitude sensor;
step S23: further processing the acquired data to obtain the motion information of the hand;
step S24: judging and identifying the gesture of the hand by the action information of the hand through an algorithm;
step S25: converting the recognized posture information of the hand into a control command;
step S26: sending the control instruction to an airborne end microprocessor;
step S27: and the airborne terminal microprocessor encodes the control command into a PWM (pulse width modulation) signal or a PPM (pulse position modulation) signal and controls the action of the unmanned aerial vehicle.
Through above-mentioned technical scheme, can control unmanned aerial vehicle's take-off, lift and navigation direction through attitude sensor, it is more intelligent, reduced unmanned aerial vehicle's the operation degree of difficulty.
In conclusion, the invention has the following beneficial effects:
(1) the gesture sensor senses a human body signal and converts the human body signal into a control command to control the action of the unmanned aerial vehicle, so that the control of the unmanned aerial vehicle is more humanized, and the operation difficulty of the unmanned aerial vehicle is reduced;
(2) the shell of the unmanned aerial vehicle is made of the composite material, so that the unmanned aerial vehicle has the advantages of light weight, high mechanical strength, excellent tensile strength, excellent tear resistance, good corrosion resistance, excellent fireproof performance and the like, the requirement of the unmanned aerial vehicle on working in a severe environment is met, and the service life of the unmanned aerial vehicle can be prolonged;
(3) the temperature sensor and the heating chip are arranged, so that the surface temperature of the unmanned aerial vehicle body can be sensed, the sensed temperature is transmitted to the onboard end microprocessor, and if the temperature is low, the onboard end microprocessor controls the heating chip to heat the unmanned aerial vehicle body, so that the normal work of the unmanned aerial vehicle is prevented from being influenced by too low temperature; through setting up anti-falling device, when unmanned aerial vehicle takes place unusually, can make the steady landing of unmanned aerial vehicle to avoid damaging unmanned aerial vehicle.
Drawings
Fig. 1 is an exploded schematic view of the drone of the present invention;
FIG. 2 is a block diagram of a control flow of the ground terminal and the unmanned aerial vehicle of the present invention;
FIG. 3 is a view showing a rotational operation of the frame part according to the present invention;
fig. 4 is an enlarged view of the fuselage section of the present invention;
fig. 5 is an overall schematic view of the drone of the present invention;
FIG. 6 is a flow chart of a mapping method based on unmanned aerial vehicles according to the present invention;
fig. 7 is a partially exploded view of fig. 6.
Reference numerals: 1. a fuselage section; 11. an onboard end microprocessor; 12. a power source; 13. a temperature sensor; 14. heating the chip; 15. a parachute; 16. a third motor; 2. a wing section; 21. a helical wing; 22. a first motor; 3. a frame part; 31. a telescopic bracket; 32. a second motor; 4. an information acquisition unit; 41. a camera; 42. a holder; (ii) a 5. A ground end control section; 51. a ground-end microprocessor; 52. an attitude sensor; step S1; step S2; step S3; step S4; step S5; step S21; step S22; step S23; step S24; step S25; step S26; step S27.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, belong to the protection scope of the present invention.
The present invention will be described in detail below with reference to the accompanying drawings.
Example 1
Referring to fig. 1, which is an explosion diagram of the unmanned aerial vehicle of the present invention, as shown in the figure, the unmanned aerial vehicle may include a body portion 1, a wing portion 2, a frame portion 3, an information acquisition portion 4, and a ground control portion 5, specifically, the wing portion 2 is connected to the body portion 1, the frame portion 3 is connected to the body portion 1, the information acquisition portion 4 is connected to the body portion 1, the ground control portion 5 is in wireless communication with the body portion 1, and the following describes the structure of each component in detail.
Referring to fig. 2, a machine-mounted end microprocessor 11 and a power supply 12 are disposed in the fuselage portion 1, the power supply 12 is electrically connected to the machine-mounted end microprocessor 11 to supply power to the machine-mounted end microprocessor 11, preferably, in this embodiment, the power supply 12 is a lithium battery, and of course, according to actual requirements, a layer of solar cell panel may be laid on the surface of the fuselage portion to charge the power supply, wherein a shell of the fuselage portion 1 may be made of a composite material, and raw materials of the composite material may include, by weight, 130 parts of polyvinyl chloride, 15 parts of a composite stabilizer, 50 parts of nylon, 15 parts of a PVC processing aid, 45 parts of glass fibers, 15 parts of carbon fibers, 9 parts of a toughening agent, 9 parts of an antioxidant, and 15 parts of a flame retardant, so that the produced fuselage portion has the advantages of light weight, high mechanical strength, excellent tensile strength and tear resistance, good corrosion resistance, excellent fireproof performance, and the like, can work in a severe environment.
Referring to fig. 1 and fig. 2, the wing part 2 is symmetrically disposed at the end point of the fuselage part 1, the wing part 2 may include a spiral wing 21 and a first motor 22, the first motor 22 drives the spiral wing 21 to rotate, and the first motor 22 is electrically connected to the power source 12 in the fuselage part 1, preferably, in this embodiment, the number of the spiral wings 21 is four, and the spiral wings are uniformly disposed at the four end points of the fuselage part 1, and of course, according to actual requirements, the number of the spiral wings 21 may also be two, and the spiral wings are uniformly disposed at two sides of the fuselage part 1, as long as the number of the spiral wings 21 is even, which is not limited in the present invention, wherein the housing of the wing part 2 may be made of a composite material, and the composite material may include 130 parts by weight of polyvinyl chloride, 15 parts of composite stabilizer, 50 parts of nylon, 15 parts of PVC processing aid, 45 parts of glass fiber, 15 parts of carbon fiber, 9 parts of toughening agent, 9 parts of antioxidant and 15 parts of flame retardant, therefore, the prepared fuselage part has the advantages of light weight, high mechanical strength, excellent tensile strength and tear resistance, good corrosion resistance, excellent fireproof performance and the like, and can work in severe environment, of course, according to the actual use condition, the fuselage part 2 also can comprise fixed wings, spiral wings and a motor, the fixed wings are symmetrically arranged on two sides of the fuselage part, the spiral wings are symmetrically arranged on two sides of the fixed wings, namely the fixed wings are perpendicular to the connecting line of the spiral wings on the same side, and the motor can drive the spiral wings to rotate.
Referring to fig. 3, the frame portion 3 is disposed at the lower portion of the fuselage portion 1, the frame portion 3 may include a telescopic bracket 31 and a second motor 32, the second motor 32 may drive the telescopic bracket 31 to extend and retract and electrically connect with the power source 12 in the fuselage portion 1, when the unmanned aerial vehicle is underway, firstly, the second motor 32 drives the telescopic bracket 31 to turn over, when the telescopic bracket 31 is parallel to the ground, the turning is stopped, the second motor 32 drives the telescopic bracket 31 to retract, so that the telescopic bracket 31 is reduced to the minimum length, thereby saving the space occupied by the telescopic bracket 31 to avoid affecting the view angle of aerial survey, when the unmanned aerial vehicle is about to land, the operation process is opposite to that during underway, that is, the telescopic bracket 31 is moved by the second motor 32 and extends, when the telescopic bracket 31 extends to the maximum length, the second motor 32 drives the telescopic bracket 31 to turn, when telescopic bracket 31 has turned over the part when perpendicular with ground, stop the upset, borrow this, unmanned aerial vehicle safety landing can stand on subaerial through rack portion 3, the preferred, the shell of rack portion 3 can adopt combined material to make, combined material's raw materials can include 130 parts polyvinyl chloride, 15 parts composite stabilizer, 50 parts nylon, 15 parts PVC processing aid, 45 parts glass fiber, 15 parts carbon fiber, 9 parts toughener, 9 parts antioxidant and 15 parts fire retardant by weight percent, borrow this, the fuselage portion weight of making is lighter, mechanical strength is high, tensile strength and tear resistance are excellent, advantage such as corrosion resistance is good and fire behavior is excellent, can work under adverse circumstances.
With continuing reference to fig. 1 and fig. 2, the information collecting part 4 may be disposed on an upper portion of the fuselage part 1, or may be disposed on a lower portion of the fuselage part 1, and the information collecting part 4 may include a pan/tilt head 42 and a camera 41, specifically, in this embodiment, the pan/tilt head 42 is disposed on the lower portion of the fuselage part 1, the pan/tilt head 42 is electrically connected to the power supply 12 in the fuselage part 1, the pan/tilt head 42 is further connected to the camera 41 to drive the camera 41 to turn over along a certain angle, and the camera 41 is in communication connection with the onboard microprocessor 11 to transmit data.
Referring to fig. 1 and 2, the ground-side control unit 5 is configured to control the action of the unmanned aerial vehicle, specifically, the ground-side control unit 5 may include a ground-side microprocessor 51 and an attitude sensor 52, the ground-side microprocessor 51 is in communication connection with the attitude sensor 52 to implement data transmission, more specifically, the ground-side microprocessor 51 is configured to calculate the attitude of the attitude sensor 52 and convert the attitude into an instruction for controlling the unmanned aerial vehicle, the ground-side microprocessor 51 is in wireless communication connection with the onboard-side microprocessor 11 in the fuselage portion 1 to implement data transmission, and the attitude sensor 52 is configured to collect somatosensory attitude information of an operator, and preferably, in this embodiment, the ground-side control unit 5 may be a somatosensory wearable device based on somatosensory, such as a bracelet, and the attitude information may be turning information of a hand, The height information of the hand and the direction information of the hand, the turning information of the hand can control the unlocking of the unmanned aerial vehicle, that is, when the hand turns upwards, the unmanned aerial vehicle is unlocked, when the hand turns upwards, the unmanned aerial vehicle is locked, the height information of the hand can control the lifting of the unmanned aerial vehicle, that is, when the hand is lifted, the unmanned aerial vehicle is lifted, when the hand descends, the unmanned aerial vehicle descends, the direction information of the hand can control the navigation direction of the unmanned aerial vehicle, that is, when the hand turns leftwards, the unmanned aerial vehicle navigates leftwards, and when the hand turns rightwards, the unmanned aerial vehicle navigates rightwards, thereby, the control mode of the unmanned aerial vehicle is more intelligent, the operation is simple, the operation requirement of an operator is met, it needs to be explained that the ground end microprocessor 51 stores the hand posture information recorded previously, and then generates a corresponding action instruction according to the corresponding hand posture, to control each action of unmanned aerial vehicle.
During specific implementation, the attitude sensor 52 senses attitude information of the hand of the operator, and then transmits the attitude information to the ground-side microprocessor 51, the ground-side microprocessor 51 transmits the attitude information to the airborne-side microprocessor 11, and the airborne-side microprocessor 11 receives a control instruction sent by the ground-side microprocessor 51 and converts the control instruction into a PWM signal or a PPM signal to control the unmanned aerial vehicle to perform corresponding actions.
Please refer to fig. 4, wherein, preferably, in this embodiment, the fuselage portion 1 may further be provided with a temperature sensor 13 and a heating chip 14, the temperature sensor 13 and the heating chip 14 are respectively in communication connection with the onboard end microprocessor 11, the temperature sensor 13 is configured to sense the temperature of the surface of the fuselage portion 1, the heating chip 14 is configured to heat the fuselage portion 1, specifically, when the temperature sensor 13 senses that the temperature of the surface of the fuselage portion 1 is too low, the temperature sensor transmits a temperature signal to the onboard end microprocessor 11, and the onboard end microprocessor 11 controls the heating chip 14 to start heating the fuselage portion 1, so as to prevent the normal operation of the unmanned aerial vehicle from being affected by the too low temperature.
Please refer to fig. 5, wherein, preferably, in this embodiment, a falling prevention device may be further disposed on the fuselage portion 1, the falling prevention device may include a parachute 15 and a third motor 16, the third motor 16 may drive the parachute 15 to be opened and folded, and the third motor 16 is electrically connected to the power supply 12 in the fuselage portion 1, specifically, when the unmanned aerial vehicle is in an abnormal condition, the third motor 16 may be controlled to operate by controlling the airborne-end microprocessor 11, and the third motor 16 drives the parachute 15 to be opened, so that the unmanned aerial vehicle lands safely, so as to prevent the damage to the unmanned aerial vehicle.
Example 2
Referring to fig. 6, a flow chart of the mapping method based on the drone of the present invention is shown, and as shown in the figure, the drone of embodiment 1 may be preferably used for mapping, and the mapping method may include:
step S1: planning a travel route of the unmanned aerial vehicle by using ground planning equipment;
step S2: controlling the action of the unmanned aerial vehicle by using a ground end control part 5;
step S3: the unmanned aerial vehicle navigates to the area to be tested along the journey route to carry out aerial survey;
step S4: the unmanned aerial vehicle transmits aerial survey data to the ground control part 5 and generates a three-dimensional point cloud model.
Specifically, can utilize ground planning equipment to plan out unmanned aerial vehicle's stroke route earlier, then utilize attitude sensor 52 sensing operator hand gesture information of ground control portion 5, the gesture information can be for the upset information of hand, the height information of hand and the direction information of hand, then attitude sensor 52 gives ground end microprocessor 51 hand gesture information transmission, ground end microprocessor 51 gives airborne end microprocessor 11 with hand gesture information transmission again, airborne end microprocessor 11 converts hand gesture information into PWM signal or PPM signal to control the corresponding action of unmanned aerial vehicle.
With continuing reference to fig. 6, in this embodiment, preferably, the mapping method further includes step S5: utilize BIM technique to form corresponding three-dimensional model based on three-dimensional point cloud model, promptly, the three-dimensional point cloud model that will transmit ground control unit 5 utilizes BIM technique to form three-dimensional model to the direct-viewing shows for operating personnel sees, has the advantage that the efficiency of modelling is high, so that surveying and mapping data is more accurate.
Wherein, in step S2, the ground control unit 5 adopts the attitude sensor 52 to sense the attitude information of the human body to control the action of the unmanned aerial vehicle, in this embodiment, the attitude information includes the turning information of the hand, the height information of the hand and the direction information of the hand, the turning information of the hand can control the unlocking of the unmanned aerial vehicle, specifically, the hand is turned upwards, the unmanned aerial vehicle can be unlocked, the back of the hand is turned upwards, the unmanned aerial vehicle can be locked, and the invention can also be reversed, the height information of the hand can control the ascending and descending of the unmanned aerial vehicle, specifically, the hand is raised upwards, the unmanned aerial vehicle is lowered, the direction information of the hand can control the navigation direction of the unmanned aerial vehicle, specifically, the hand is deflected to the left, the unmanned aerial vehicle is deflected to the left, the hand is deflected to the right, and the unmanned aerial vehicle is deflected to the right, so that the control, can reduce unmanned aerial vehicle's the operation degree of difficulty.
Referring to fig. 7, in detail, the step S2 may include:
step S21: the posture sensor 52 senses human posture information;
step S22: the ground-end microprocessor 51 collects data sensed by the attitude sensor 52;
step S23: further processing the acquired data to obtain the motion information of the hand;
step S24: judging and identifying the gesture of the hand by the action information of the hand through an algorithm;
step S25: converting the recognized posture information of the hand into a control command;
step S26: sending the control instruction to the airborne end microprocessor 11;
step S27: and the airborne terminal microprocessor 11 encodes the control command into a PWM signal or a PPM signal and controls the action of the unmanned aerial vehicle.
Borrow this, application hand gesture information control unmanned aerial vehicle's unblock, lift and navigation direction, it is fairly simple, can make unmanned aerial vehicle's control more humanized, reduced unmanned aerial vehicle's the operation degree of difficulty.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. An unmanned aerial vehicle is characterized by comprising a body part (1), a wing part (2), a frame part (3), an information acquisition part (4) and a ground end control part (5),
the fuselage part (1) is internally provided with an airborne end microprocessor (11) and a power supply (12) electrically connected with the airborne end microprocessor (11);
the aircraft wing part (2) is symmetrically arranged at the end point of the aircraft body part (1), the aircraft wing part (2) comprises a spiral wing (21) and a first motor (22) for driving the spiral wing (21) to rotate, and the first motor (22) is electrically connected with a power supply (12) in the aircraft body part (1);
the frame part (3) is arranged at the lower part of the body part (1), the frame part (3) comprises a telescopic bracket (31) and a second motor (32) for driving the telescopic bracket (31) to stretch and rotate, and the second motor (32) is electrically connected with a power supply (12) in the body part (1);
the information acquisition part (4) is connected with the fuselage part (1), the information acquisition part (4) comprises a camera (41) and a tripod head (42) for driving the camera (41) to rotate, the tripod head (42) is electrically connected with a power supply (12) in the fuselage part (1), and the camera (41) is in communication connection with an onboard end microprocessor (11) in the fuselage part (1);
the ground end control part (5) comprises a ground end microprocessor (51) and an attitude sensor (52) in communication connection with the ground end microprocessor (51), the ground end microprocessor (51) is used for resolving the attitude of the attitude sensor (52) and converting the attitude into an instruction for controlling the unmanned aerial vehicle, the ground end microprocessor (51) is in wireless communication connection with an onboard end microprocessor (11) in the fuselage part (1), and the attitude sensor (52) is used for acquiring the attitude information of an operator;
the unmanned aerial vehicle is characterized in that the airborne end microprocessor (11) receives a control command sent by the ground end microprocessor (51) and converts the command into a PWM (pulse width modulation) signal or a PPM (pulse position modulation) signal to control the action of the unmanned aerial vehicle, shells of the fuselage part (1), the wing part (2) and the frame part (3) are made of composite materials, and the composite materials comprise 130 parts of polyvinyl chloride, 15 parts of composite stabilizer, 50 parts of nylon, 15 parts of PVC processing aid, 45 parts of glass fiber, 15 parts of carbon fiber, 9 parts of toughener, 9 parts of antioxidant and 15 parts of flame retardant in percentage by weight.
2. The unmanned aerial vehicle of claim 1, wherein a temperature sensor (13) and a heating chip (14) are arranged on the fuselage portion (1), and the temperature sensor (13) and the heating chip (14) are respectively in communication connection with the onboard end microprocessor (11).
3. Unmanned aerial vehicle according to claim 1, wherein the fuselage portion (1) is provided with a fall arrest device, the fall arrest device comprising a parachute (15) and a third motor (16) for driving the parachute (15) to open and fold, the third motor (16) being electrically connected to the power source (12) in the fuselage portion (1).
4. The unmanned aerial vehicle of claim 1, wherein the ground-end control unit (5) is a somatosensory device worn based on somatosensory.
5. The drone of claim 4, wherein the human body pose information sensed by the pose sensor (52) includes hand roll information, hand height information, and hand direction information.
6. A method for mapping based on a drone, characterized in that the drone according to any one of claims 1-5 is used for mapping, the method comprising:
step S1: planning a travel route of the unmanned aerial vehicle by using ground planning equipment;
step S2: controlling the action of the unmanned aerial vehicle by using a ground end control part (5);
step S3: the unmanned aerial vehicle navigates to the area to be tested along the journey route to carry out aerial survey;
step S4: the unmanned aerial vehicle transmits aerial survey data to a ground control part (5) and generates a three-dimensional point cloud model.
7. The drone-based mapping method of claim 6, further comprising step S5: and forming a corresponding three-dimensional model based on the three-dimensional point cloud model by utilizing a BIM technology.
8. The unmanned aerial vehicle-based mapping method of claim 6, wherein in step S2, the ground end control part (5) uses human body posture information sensed by the posture sensor (52) to control the unmanned aerial vehicle to act, wherein the posture information includes hand turning information, hand height information and hand direction information.
9. The drone-based mapping method of claim 8, wherein the hand roll information is used to control drone unlocking, the hand height information is used to control drone lifting, and the hand direction information is used to control drone navigation.
10. The drone-based mapping method according to claim 9, wherein the step S2 includes:
step S21: the posture sensor (52) senses the human body posture information;
step S22: the ground end microprocessor (51) acquires data sensed by the attitude sensor (52);
step S23: further processing the acquired data to obtain the motion information of the hand;
step S24: judging and identifying the gesture of the hand by the action information of the hand through an algorithm;
step S25: converting the recognized posture information of the hand into a control command;
step S26: sending a control command to an airborne end microprocessor (11);
step S27: and the airborne terminal microprocessor (11) encodes the control command into a PWM (pulse width modulation) signal or a PPM (pulse position modulation) signal and controls the action of the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010044225.2A CN111169633A (en) | 2020-01-15 | 2020-01-15 | Unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010044225.2A CN111169633A (en) | 2020-01-15 | 2020-01-15 | Unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111169633A true CN111169633A (en) | 2020-05-19 |
Family
ID=70625007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010044225.2A Pending CN111169633A (en) | 2020-01-15 | 2020-01-15 | Unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111169633A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787319A (en) * | 2015-04-23 | 2015-07-22 | 张�杰 | Four-rotor aircraft provided with telescopic and foldable undercarriages |
| CN106155090A (en) * | 2016-08-29 | 2016-11-23 | 电子科技大学 | Wearable unmanned aerial vehicle (UAV) control equipment based on body-sensing |
| CN106477038A (en) * | 2016-12-20 | 2017-03-08 | 北京小米移动软件有限公司 | Image capturing method and device, unmanned plane |
| CN206243434U (en) * | 2016-12-02 | 2017-06-13 | 深圳市九天创新科技有限责任公司 | A kind of carbon fiber unmanned aerial vehicle body composite structure |
| CN107531322A (en) * | 2015-04-21 | 2018-01-02 | 高途乐公司 | Aerial capture platform |
| WO2018101592A1 (en) * | 2016-12-02 | 2018-06-07 | 삼성전자 주식회사 | Unmanned aerial vehicle and control method therefor |
| CN208999853U (en) * | 2018-11-12 | 2019-06-18 | 象限空间（天津）科技有限公司 | A kind of small drone cabin temperature control system |
-
2020
- 2020-01-15 CN CN202010044225.2A patent/CN111169633A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107531322A (en) * | 2015-04-21 | 2018-01-02 | 高途乐公司 | Aerial capture platform |
| CN104787319A (en) * | 2015-04-23 | 2015-07-22 | 张�杰 | Four-rotor aircraft provided with telescopic and foldable undercarriages |
| CN106155090A (en) * | 2016-08-29 | 2016-11-23 | 电子科技大学 | Wearable unmanned aerial vehicle (UAV) control equipment based on body-sensing |
| CN206243434U (en) * | 2016-12-02 | 2017-06-13 | 深圳市九天创新科技有限责任公司 | A kind of carbon fiber unmanned aerial vehicle body composite structure |
| WO2018101592A1 (en) * | 2016-12-02 | 2018-06-07 | 삼성전자 주식회사 | Unmanned aerial vehicle and control method therefor |
| CN106477038A (en) * | 2016-12-20 | 2017-03-08 | 北京小米移动软件有限公司 | Image capturing method and device, unmanned plane |
| CN208999853U (en) * | 2018-11-12 | 2019-06-18 | 象限空间（天津）科技有限公司 | A kind of small drone cabin temperature control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2023098164A1 (en) | Unmanned aerial vehicle patrol system and method of gridding machine nest | |
| CN108657455A (en) | A kind of unmanned plane automatic retraction device of HV Transmission Line Routing Inspection | |
| CN109606188B (en) | Charging ship, unmanned ship cooperative charging system and cooperative charging method | |
| CN102941920A (en) | High-tension transmission line inspection robot based on multi-rotor aircraft and method using robot | |
| CN108706099B (en) | Tilting triaxial composite wing unmanned aerial vehicle and control method thereof | |
| CN203983835U (en) | Many rotary wind types Intelligent overhead-line circuit scanning test robot | |
| JP2017505254A (en) | UAV battery power backup system and method | |
| CN113220009B (en) | Positive pressure type wall climbing robot for tunnel lining detection and control method thereof | |
| CN111056032A (en) | Unmanned ship-borne unmanned aerial vehicle charging lifting system and implementation method | |
| CN107933915A (en) | A kind of air-robot based on six rotor wing unmanned aerial vehicles | |
| CN109132869B (en) | Offshore personnel transfer system and method | |
| CN108706097A (en) | A kind of captive rotor flying robot with double-manipulator | |
| CN112847363B (en) | Auxiliary operation robot outside lunar surface cabin and control method thereof | |
| CN108425541B (en) | Unmanned aerial vehicle sunshade awning and implementation method thereof | |
| JP2019172255A (en) | Method and device for supplying energy to uav | |
| CN111824397A (en) | Flight control-undercarriage control-terrain recognition multi-system fusion control system | |
| CN113900453B (en) | Precise docking control method and system for aerial charging mother-son unit of quad-rotor unmanned aerial vehicle | |
| CN105959627A (en) | Automatic wireless charging type artificial intelligence unmanned aerial vehicle | |
| CN114865530A (en) | Line inspection robot and obstacle avoidance method thereof | |
| CN107891985A (en) | A kind of switchable type tilting rotor unmanned plane | |
| CN107416060A (en) | One kind automation bar class climbing robot | |
| CN112722315B (en) | Mooring flying mechanical arm based on cable tension control and cable tension control method | |
| CN208130277U (en) | A kind of fire extinguishing holder vehicle | |
| CN105549609A (en) | Miniature six-shaft aircraft, air fleet control system composed of same and air fleet control method | |
| CN111169633A (en) | Unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |