CN111880562A - Unmanned aerial vehicle ground-imitating flying device based on laser radar - Google Patents
Unmanned aerial vehicle ground-imitating flying device based on laser radar Download PDFInfo
- Publication number
- CN111880562A CN111880562A CN202010685403.XA CN202010685403A CN111880562A CN 111880562 A CN111880562 A CN 111880562A CN 202010685403 A CN202010685403 A CN 202010685403A CN 111880562 A CN111880562 A CN 111880562A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- laser radar
- vehicle body
- ground
- 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
- 230000010365 information processing Effects 0.000 claims description 12
- 238000013507 mapping Methods 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003760 hair shine Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, and particularly discloses a ground-imitating flying device of an unmanned aerial vehicle based on a laser radar; the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a high-definition camera and a laser radar, wherein a control module is arranged on the upper surface of the unmanned aerial vehicle body, a descending frame is connected to the lower surface of the unmanned aerial vehicle body, an upper connecting plate is connected to the lower surface of the unmanned aerial vehicle body in the middle of the descending frame, a plurality of round holes are uniformly formed in the upper surface of the upper connecting plate, and sliding rods are inserted in the round holes; the invention discloses an unmanned aerial vehicle ground-imitating flying device based on a laser radar, which can detect the flying height of the unmanned aerial vehicle at high precision all the time through the laser radar and then adjust the flying height of the unmanned aerial vehicle in real time through a control module, so that a high-definition camera of the unmanned aerial vehicle keeps relatively stable height with the terrain surface during surveying and mapping, the fixed overlapping degree of pictures is ensured, the aerial photogrammetry precision is ensured, and the effect of the surveying and mapping related unmanned aerial vehicle ground-imitating flying device is better compared with that of the conventional unmanned aerial vehicle surveying and mapping device.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, and particularly discloses an unmanned aerial vehicle ground-imitating flying device based on a laser radar.
Background
Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, electric power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, and the application of the unmanned aerial vehicle is greatly expanded.
As the promotion of traditional aerospace remote sensing means, unmanned aerial vehicle surveying and mapping technology becomes a research hotspot. Need aircraft camera and topography surface to keep comparatively stable height at unmanned aerial vehicle survey and drawing in-process, just can guarantee the fixed degree of overlap of photograph. At present, all detect unmanned aerial vehicle flying height through electromagnetic wave radar when current unmanned aerial vehicle surveys and draws, then transmit the control system who makes unmanned aerial vehicle flying height keep unanimous for on the unmanned aerial vehicle, but its high measurement accuracy of electromagnetic wave radar is low to its interference killing feature is poor, often makes the fixed degree of overlap of matching among the mapping process relatively poor. And laser radar is a neotype measuring device, and its high measurement accuracy is high, combines it with unmanned aerial vehicle, enough gives flight control system apart from the information transfer of earth's surface height with real-time unmanned aerial vehicle to adjust unmanned aerial vehicle's flying height, reach the distance of unmanned aerial vehicle camera and earth's surface and keep the purpose of take a photograph overlap degree, thereby guarantee aerial photogrammetry precision with this. However, when the laser radar measures the flying height, the laser beam generated by the laser radar needs to be kept perpendicular to the ground all the time to ensure the measurement accuracy, but because the laser radar is fixedly connected with the unmanned aerial vehicle body, the laser beam emitted by the laser radar is inevitably not perpendicular to the ground in the process of adjusting the flying height of the unmanned aerial vehicle; in addition, current unmanned aerial vehicle flight mapping device is at the in-process of survey and drawing, also is fixed the setting of its camera, and consequently it shoots the wide angle fixed, can't adjust it according to the ground condition.
For example, the utility model with the patent number of CN210391575U discloses an integrated unmanned aerial vehicle laser radar system, which comprises an unmanned aerial vehicle main body, wherein a laser radar component is installed in the unmanned aerial vehicle main body; the laser radar component comprises a laser radar main body and an optical component, the laser radar main body is arranged at the bottom in the unmanned aerial vehicle main body, the optical component is arranged in the unmanned aerial vehicle main body through an adjusting mechanism, and the laser radar main body is connected with the optical component through a lead; adjustment mechanism includes sleeve, driving motor, movable block, connecting rod, screw rod and screw hole, and the sleeve is installed in the laser radar main part, and driving motor installs in the upper end of laser radar main part, and is located telescopic directly over, and screw rod fixed connection is on driving motor's output, and movable block sliding connection is in the sleeve. The utility model provides a laser radar just fixes on the unmanned aerial vehicle body, and it can not whole keeping and perpendicular to the ground at unmanned aerial vehicle flight control in-process laser beam, influences measurement effect and precision to the device does not have camera device, can't survey and draw ground. Therefore, to the above-mentioned not enough of current unmanned aerial vehicle lidar system, it is a technical problem that remains to solve to design a can be based on unmanned aerial vehicle imitative ground flight device of lidar.
Disclosure of Invention
The invention aims to overcome the defect that a laser beam of the existing unmanned aerial vehicle laser radar system cannot be kept perpendicular to the ground all the time in the flying process, so that the measurement precision is influenced, and the unmanned aerial vehicle ground-imitating flying device based on the laser radar, which can effectively solve the technical problems, is a technical problem to be solved.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle ground-imitating flying device based on a laser radar comprises an unmanned aerial vehicle body, a high-definition camera and a laser radar, wherein a control module is arranged on the upper surface of the unmanned aerial vehicle body, the lower surface of the unmanned aerial vehicle body is connected with a descending frame, the lower surface of the unmanned aerial vehicle body positioned in the middle of the descending frame is connected with an upper connecting plate, a plurality of round holes are uniformly formed in the upper surface of the upper connecting plate, slide rods are inserted in the round holes, the top ends of the slide rods are connected with limiting caps, the lower ends of the slide rods are commonly connected with a lower buffer plate, and a plurality of buffer springs are connected between the;
the lower surface of the lower buffer plate is connected with a U-shaped plate, the left end and the right end of the U-shaped plate are rotatably connected with camera carrier plates, the lower surface of each camera carrier plate is fixedly connected with a high-definition camera, the upper surface of each camera carrier plate is connected with a bar block, the upper surface of the bar block is provided with a limiting sliding groove, a limiting sliding block is arranged in the limiting sliding groove, the left end and the right end of the upper surface of the U-shaped plate are provided with rotating seats, a worm is rotatably arranged between the two rotating seats, the two ends of the worm are connected with lead screws, the thread directions of the two lead screws are opposite, the outer end of each lead screw is provided with a limiting block, each lead screw is provided with a movable block, the movable block is provided with a screw hole matched with the corresponding lead screw, the lower surface of the, the lower end of the movable rod is movably connected with the upper surface of the limiting slide block, an adjusting motor is connected to the U-shaped plate between the two rotating groups, and a worm wheel matched with the worm is arranged on an output shaft of the adjusting motor;
the lower surface of U template is provided with first U type frame, be provided with first horizon bar on the first U type frame, the cover is equipped with the rotation cover on the first horizon bar, the lower extreme that rotates the cover is connected with second U type frame, be provided with the second horizon bar on the second U type frame, it is provided with vertical connection spare to rotate on the second horizon bar, laser radar and vertical connection spare's lower extreme fixed connection.
As a further setting of above-mentioned scheme, the unmanned aerial vehicle body includes fuselage and four wings, four wings are central symmetry and connect on the fuselage, every the outer end lower surface of wing all is connected with micro motor, micro motor's the upper end that the output shaft stretches out the wing is connected with the screw.
As a further arrangement of the above scheme, the laser radar includes a transmitting unit, a receiving unit, and an information processing module, and the information processing module is electrically connected to the control module.
As the further setting of above-mentioned scheme, descending frame includes two connecting strips that are connected with unmanned aerial vehicle body lower surface, every the lower surface of connecting strip is connected with two outside open down tube, four the lower extreme of down tube is connected with the rectangle frame jointly.
As the further setting of above-mentioned scheme, four turnings of upper junction plate all are provided with the flange, the upper surface of flange all is connected with the spliced pole that is connected with unmanned aerial vehicle body lower surface.
As a further setting of the scheme, the upper ends of the two vertical side plates of the U-shaped plate are connected with horizontal bars, a plurality of connecting holes are formed in the horizontal bars, and connecting bolts connected with the lower buffer plate are arranged in the connecting blocks.
As a further arrangement of the scheme, the number of the rotating sleeves arranged on the first horizontal rod is two, and the lower ends of the two rotating sleeves are connected with the second U-shaped frame.
Has the advantages that:
1. the invention discloses an unmanned aerial vehicle ground-imitating flying device based on a laser radar, which can detect the flying height of the unmanned aerial vehicle at high precision all the time through the laser radar and then adjust the flying height of the unmanned aerial vehicle in real time through a control module, so that a high-definition camera of the unmanned aerial vehicle keeps relatively stable height with the terrain surface during surveying and mapping, the fixed overlapping degree of pictures is ensured, the aerial photogrammetry precision is ensured, and the effect of the surveying and mapping related unmanned aerial vehicle ground-imitating flying device is better compared with that of the conventional unmanned aerial vehicle surveying and mapping device.
2. The invention also can adjust the shooting angle of the high-definition camera in real time according to different shooting grounds through the arranged adjusting motor, the worm wheel, the worm, the screw rod, the movable block, the movable rod and the camera support plate, so that different shooting wide angles can be moved, and the shooting effect is better; in addition, the upper junction plate, lower buffer board and buffer spring that it set up can take off to unmanned aerial vehicle, descend the in-process, play certain cushioning effect to laser radar, high definition camera that it carried on, prevent that it from leading to the fact destruction to it because of the impact force is too big, its simple structure, protecting against shock effect excellence, practicality are strong.
3. According to the unmanned aerial vehicle, the laser radar is not directly and fixedly connected with the unmanned aerial vehicle body when the laser radar is arranged, the first U-shaped frame and the second U-shaped frame can ensure that the arranged laser radar is always vertical to the ground no matter how the unmanned aerial vehicle inclines in the flight adjustment process of the unmanned aerial vehicle, so that the laser radar is effectively prevented from inclining in angle of a laser beam emitted by the laser radar due to the inclination of the unmanned aerial vehicle body, the accuracy of the whole laser radar in measuring height is effectively ensured, and the effect of controlling the unmanned aerial vehicle to fly stably at high height is excellent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a first angular perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a three-dimensional structure diagram of the unmanned aerial vehicle body according to the present invention;
FIG. 4 is a perspective view of an upper connecting plate, a lower buffer plate, etc. according to the present invention;
FIG. 5 is a three-dimensional structure diagram of a U-shaped board, a camera carrier board and the like in the invention;
FIG. 6 is a perspective view of the rotary base, worm, adjustment motor, etc. of the present invention;
FIG. 7 is a perspective view of the first U-shaped frame, the second U-shaped frame, the laser radar, etc. according to the present invention;
FIG. 8 is a block diagram of a control module according to the present invention.
Wherein, 1-an unmanned aerial vehicle body, 101-a control module, 102-a fuselage, 103-a wing, 104-a micro motor, 105-a propeller, 2-a high definition video camera, 3-a laser radar, 4-a landing frame, 401-a connecting strip, 402-a diagonal bar, 403-a rectangular frame, 5-an upper connecting plate, 501-a round hole, 502-a sliding bar, 503-a limiting cap, 504-a convex plate, 505-a connecting column, 6-a lower buffer plate, 7-a buffer spring, 8-a U-shaped plate, 801-a horizontal bar, 802-a connecting hole, 803-a connecting bolt, 9-a camera carrier plate, 10-a block, 11-a limiting sliding groove, 12-a limiting sliding block, 13-a rotating seat, 14-a worm and 15-a screw rod, 16-a limiting block, 17-a movable block, 18-a rotating part, 19-a movable rod, 20-an adjusting motor, 21-a worm wheel, 22-a first U-shaped frame, 23-a first horizontal rod, 24-a rotating sleeve, 25-a second U-shaped frame, 26-a second horizontal rod and 27-a vertical connecting piece.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The invention relates to an unmanned aerial vehicle ground-imitating flying device based on a laser radar, which is disclosed by the invention and is combined with an embodiment, and the attached drawings 1-8 are referred to in the following.
Example 1
Referring to fig. 3, a landing frame 4 is connected to the lower surface of the unmanned aerial vehicle body 1, and specifically, the landing frame 4 includes two connecting strips 401 connected to the lower surface of the unmanned aerial vehicle body, the lower surface of each connecting strip 401 is connected to two outwards-opened diagonal rods 402, and the lower ends of the four diagonal rods 402 are connected to a rectangular frame 403.
Referring to fig. 2 and 4, be connected with upper junction plate 5 at the unmanned aerial vehicle body 1 lower surface that lies in the middle of descending frame 4, a plurality of round holes 501 have evenly been seted up to upper junction plate 5's upper surface, have inserted in the round hole 501 and have been equipped with slide bar 502, the top of slide bar 502 is connected with spacing cap 503, the lower extreme of a plurality of slide bars 502 is connected with buffer board 6 down jointly, be connected with a plurality of buffer spring 7 between upper junction plate 5 and the lower buffer board 6. The connected mode of concrete upper junction plate 5 and unmanned aerial vehicle body 1 lower surface all is provided with flange 504 in four corners of upper junction plate 5, and the upper surface of flange 504 all is connected with spliced pole 505 that is connected with unmanned aerial vehicle body 1 lower surface.
Referring to fig. 2, 5 and 6, the lower surface of lower buffer plate 6 is connected with U template 8, and when concrete U template 8 is connected with lower buffer plate 6, horizontal bar 801 is connected to the upper ends of two vertical side plates of U template 8, and a plurality of connecting holes 802 have been seted up on horizontal bar 801, are provided with connecting bolt 803 that is connected with lower buffer plate 6 in connecting block 802. Camera support plates 9 are rotatably connected to the left end and the right end of the U-shaped plate 8, a high-definition camera 2 is fixedly connected to the lower surface of each camera support plate 9, a strip 10 is connected to the upper surface of each camera support plate 9, a limiting sliding groove 11 is formed in the upper surface of each strip 10, a limiting sliding block 12 is arranged in each limiting sliding groove 11, rotating seats 13 are arranged at the left end and the right end of the upper surface of the U-shaped plate 8, a worm 14 is rotatably arranged between the two rotating seats 13, two ends of the worm 14 are connected with lead screws 15, the thread directions of the two lead screws 15 are opposite, a limiting block 16 is arranged at the outer end of each lead screw 15, a movable block 17 is arranged on each lead screw 15, a screw hole matched with the corresponding lead screw 15 is formed in each movable block 17, a rotating piece 18 is arranged on the lower surface of each movable block 17, a movable rod 19 is rotatably, an adjusting motor 20 is connected to the U-shaped plate 8 between the two rotating groups 13, and a worm wheel 21 matched with the worm 14 is arranged on an output shaft of the adjusting motor 20. In the unmanned aerial vehicle high altitude photography and surveying and mapping process, accessible control module 101 controls adjusting motor 20's positive and negative rotation, then makes under the effect of lead screw 15 and movable block 17, movable rod 19 fly leaf 17 take place to rotate to change high definition camera 2's shooting angle, thereby obtain more wide angle ranges.
Finally, referring to fig. 2, a laser radar 3 is connected to the lower surface of the U-shaped plate 8, and the laser radar 3 is disposed perpendicular to the ground.
Example 2
Referring to fig. 3, a landing frame 4 is connected to the lower surface of the unmanned aerial vehicle body 1, and specifically, the landing frame 4 includes two connecting strips 401 connected to the lower surface of the unmanned aerial vehicle body, the lower surface of each connecting strip 401 is connected to two outwards-opened diagonal rods 402, and the lower ends of the four diagonal rods 402 are connected to a rectangular frame 403.
Referring to fig. 2 and 4, be connected with upper junction plate 5 at the unmanned aerial vehicle body 1 lower surface that lies in the middle of descending frame 4, a plurality of round holes 501 have evenly been seted up to upper junction plate 5's upper surface, have inserted in the round hole 501 and have been equipped with slide bar 502, the top of slide bar 502 is connected with spacing cap 503, the lower extreme of a plurality of slide bars 502 is connected with buffer board 6 down jointly, be connected with a plurality of buffer spring 7 between upper junction plate 5 and the lower buffer board 6. The connected mode of concrete upper junction plate 5 and unmanned aerial vehicle body 1 lower surface all is provided with flange 504 in four corners of upper junction plate 5, and the upper surface of flange 504 all is connected with spliced pole 505 that is connected with unmanned aerial vehicle body 1 lower surface.
Referring to fig. 2, 5 and 6, the lower surface of lower buffer plate 6 is connected with U template 8, and when concrete U template 8 is connected with lower buffer plate 6, horizontal bar 801 is connected to the upper ends of two vertical side plates of U template 8, and a plurality of connecting holes 802 have been seted up on horizontal bar 801, are provided with connecting bolt 803 that is connected with lower buffer plate 6 in connecting block 802. Camera support plates 9 are rotatably connected to the left end and the right end of the U-shaped plate 8, a high-definition camera 2 is fixedly connected to the lower surface of each camera support plate 9, a strip 10 is connected to the upper surface of each camera support plate 9, a limiting sliding groove 11 is formed in the upper surface of each strip 10, a limiting sliding block 12 is arranged in each limiting sliding groove 11, rotating seats 13 are arranged at the left end and the right end of the upper surface of the U-shaped plate 8, a worm 14 is rotatably arranged between the two rotating seats 13, two ends of the worm 14 are connected with lead screws 15, the thread directions of the two lead screws 15 are opposite, a limiting block 16 is arranged at the outer end of each lead screw 15, a movable block 17 is arranged on each lead screw 15, a screw hole matched with the corresponding lead screw 15 is formed in each movable block 17, a rotating piece 18 is arranged on the lower surface of each movable block 17, a movable rod 19 is rotatably, an adjusting motor 20 is connected to the U-shaped plate 8 between the two rotating groups 13, and a worm wheel 21 matched with the worm 14 is arranged on an output shaft of the adjusting motor 20. In the unmanned aerial vehicle high altitude photography and surveying and mapping process, accessible control module 101 controls adjusting motor 20's positive and negative rotation, then makes under the effect of lead screw 15 and movable block 17, movable rod 19 fly leaf 17 take place to rotate to change high definition camera 2's shooting angle, thereby obtain more wide angle ranges.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle ground-imitating flying device based on a laser radar comprises an unmanned aerial vehicle body (1), a high-definition camera (2) and the laser radar (3), wherein a control module (101) is arranged on the upper surface of the unmanned aerial vehicle body (1), it is characterized in that the lower surface of the unmanned aerial vehicle body (1) is connected with a descending frame (4), the lower surface of the unmanned aerial vehicle body (1) positioned in the middle of the descending frame (4) is connected with an upper connecting plate (5), a plurality of round holes (501) are uniformly arranged on the upper surface of the upper connecting plate (5), a sliding rod (502) is inserted into the round hole (501), the top end of the sliding rod (502) is connected with a limiting cap (503), the lower ends of the sliding rods (502) are connected with a lower buffer plate (6) together, a plurality of buffer springs (7) are connected between the upper connecting plate (5) and the lower buffer plate (6);
the lower surface of the lower buffer plate (6) is connected with a U-shaped plate (8), the left end and the right end of the U-shaped plate (8) are rotatably connected with camera carrier plates (9), the lower surface of each camera carrier plate (9) is fixedly connected with a high-definition camera (2), the upper surface of each camera carrier plate (9) is connected with a strip block (10), the upper surface of each strip block (10) is provided with a limiting sliding groove (11), a limiting sliding block (12) is arranged in each limiting sliding groove (11), the left end and the right end of the upper surface of the U-shaped plate (8) are respectively provided with a rotating seat (13), a worm (14) is rotatably arranged between the two rotating seats (13), the two ends of the worm (14) are respectively connected with a lead screw (15), the thread directions of the two lead screws (15) are opposite, and the outer end of each lead screw (15, each screw rod (15) is provided with a movable block (17), each movable block (17) is provided with a screw hole matched with the corresponding screw rod (15), the lower surface of each movable block (17) is provided with a rotating part (18), each rotating part (18) is rotatably connected with a movable rod (19), the lower end of each movable rod (17) is movably connected with the upper surface of a limiting slide block (12), a U-shaped plate (8) positioned between two rotating groups (13) is connected with an adjusting motor (20), and the output shaft of each adjusting motor (20) is provided with a worm wheel (21) matched with a worm (14);
the lower surface of U template (8) is provided with first U type frame (22), be provided with first horizon bar (23) on first U type frame (22), the cover is equipped with rotation cover (24) on first horizon bar (23), the lower extreme that rotates cover (24) is connected with second U type frame (25), be provided with second horizon bar (26) on second U type frame (25), it is provided with vertical connection spare (27) to rotate on second horizon bar (26), laser radar (3) and the lower extreme fixed connection of vertical connection spare (27).
2. The ground-imitating flying device of the unmanned aerial vehicle based on the laser radar as claimed in claim 1, wherein the unmanned aerial vehicle body (1) comprises a vehicle body (102) and four wings (103), the four wings (103) are connected to the vehicle body (102) in a central symmetry manner, the lower surface of the outer end of each wing (103) is connected with a micro motor (104), and the upper end of the output shaft of the micro motor (104) extending out of the wings (103) is connected with a propeller (105).
3. The unmanned aerial vehicle ground-imitating flying device based on the laser radar as claimed in claim 1, wherein the laser radar (3) comprises a transmitting unit, a receiving unit and an information processing module, and the information processing module is electrically connected with the control module (101).
4. The ground-imitating flying device of the unmanned aerial vehicle based on the laser radar as claimed in claim 1, wherein the landing frame (4) comprises two connecting bars (401) connected with the lower surface of the unmanned aerial vehicle body, the lower surface of each connecting bar (401) is connected with two outwards-opened oblique rods (402), and the lower ends of the four oblique rods (402) are connected with a rectangular frame (403) together.
5. The ground-imitating flying device of unmanned aerial vehicle based on laser radar as claimed in claim 1, wherein four corners of the upper connecting plate (5) are provided with convex plates (504), and the upper surfaces of the convex plates (504) are connected with connecting columns (505) connected with the lower surface of the unmanned aerial vehicle body (1).
6. The unmanned aerial vehicle ground-imitating flying device based on the laser radar of claim 1, wherein the upper ends of two vertical side plates of the U-shaped plate (8) are connected with horizontal bars (801), the horizontal bars (801) are provided with a plurality of connecting holes (802), and the connecting blocks (802) are provided with connecting bolts (803) connected with the lower buffer plate (6).
7. The ground-imitating flying device of the unmanned aerial vehicle based on the laser radar as claimed in claim 1, wherein the number of the rotating sleeves (24) arranged on the first horizontal rod (23) is two, and the lower ends of the two rotating sleeves (24) are connected with the second U-shaped frame (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010685403.XA CN111880562A (en) | 2020-07-16 | 2020-07-16 | Unmanned aerial vehicle ground-imitating flying device based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010685403.XA CN111880562A (en) | 2020-07-16 | 2020-07-16 | Unmanned aerial vehicle ground-imitating flying device based on laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111880562A true CN111880562A (en) | 2020-11-03 |
Family
ID=73156112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010685403.XA Pending CN111880562A (en) | 2020-07-16 | 2020-07-16 | Unmanned aerial vehicle ground-imitating flying device based on laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111880562A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112748740A (en) * | 2020-12-25 | 2021-05-04 | 深圳供电局有限公司 | Multi-rotor unmanned aerial vehicle automatic route planning method and system, equipment and medium thereof |
| CN113252996A (en) * | 2021-05-13 | 2021-08-13 | 新疆师范大学 | Unmanned aerial vehicle electromagnetic field testboard |
| CN113335541A (en) * | 2021-06-20 | 2021-09-03 | 漳州源泉信息科技有限公司 | Digital image monitoring equipment for intelligent community security inspection |
| CN113391296A (en) * | 2021-08-02 | 2021-09-14 | 陈时 | Laser radar mapping equipment and damping assembly thereof |
| CN113390396A (en) * | 2021-06-23 | 2021-09-14 | 北京中科天绘遥感技术有限公司 | CH unmanned aerial vehicle airborne laser radar synthesizes aerial survey system |
| CN114877862A (en) * | 2022-05-31 | 2022-08-09 | 歌尔科技有限公司 | Unmanned aerial vehicle equipment and height detection method, device and equipment thereof |
| CN116620588A (en) * | 2023-07-26 | 2023-08-22 | 济南恒达新科技发展有限公司 | Security monitoring equipment with support structure |
| CN116902220A (en) * | 2023-09-11 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Agricultural unmanned plane ground-imitating flight detection method and detection equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103852957A (en) * | 2012-12-03 | 2014-06-11 | 天津市威风科技发展有限公司 | Aerial ropeway shooting control system |
| CN107608371A (en) * | 2016-07-12 | 2018-01-19 | 何守印 | Four rotor automatic obstacle avoiding unmanned plane under the environment of community in urban areas |
| CN108423159A (en) * | 2018-05-15 | 2018-08-21 | 苏州莱锦机电自动化有限公司 | A kind of flying robot's holder that can carry photographic device |
| CN208013788U (en) * | 2018-04-20 | 2018-10-26 | 广州市极臻智能科技有限公司 | High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system |
| CN208110040U (en) * | 2018-03-30 | 2018-11-16 | 四川水利职业技术学院 | A kind of aerial device with airborne laser radar |
| CN208216979U (en) * | 2018-05-15 | 2018-12-11 | 苏州莱锦机电自动化有限公司 | A kind of flying robot's bracket that can carry photographic device |
| EP3454159A1 (en) * | 2017-09-06 | 2019-03-13 | Alerion Technologies, S.L. | Method and device of autonomous navigation |
| CN110989652A (en) * | 2019-11-05 | 2020-04-10 | 北京金景科技有限公司 | Method for unmanned aerial vehicle ground-imitating flight by using laser radar |
-
2020
- 2020-07-16 CN CN202010685403.XA patent/CN111880562A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103852957A (en) * | 2012-12-03 | 2014-06-11 | 天津市威风科技发展有限公司 | Aerial ropeway shooting control system |
| CN107608371A (en) * | 2016-07-12 | 2018-01-19 | 何守印 | Four rotor automatic obstacle avoiding unmanned plane under the environment of community in urban areas |
| EP3454159A1 (en) * | 2017-09-06 | 2019-03-13 | Alerion Technologies, S.L. | Method and device of autonomous navigation |
| CN208110040U (en) * | 2018-03-30 | 2018-11-16 | 四川水利职业技术学院 | A kind of aerial device with airborne laser radar |
| CN208013788U (en) * | 2018-04-20 | 2018-10-26 | 广州市极臻智能科技有限公司 | High-tension overhead line and shaft tower refine inspection intelligent barrier avoiding system |
| CN108423159A (en) * | 2018-05-15 | 2018-08-21 | 苏州莱锦机电自动化有限公司 | A kind of flying robot's holder that can carry photographic device |
| CN208216979U (en) * | 2018-05-15 | 2018-12-11 | 苏州莱锦机电自动化有限公司 | A kind of flying robot's bracket that can carry photographic device |
| CN110989652A (en) * | 2019-11-05 | 2020-04-10 | 北京金景科技有限公司 | Method for unmanned aerial vehicle ground-imitating flight by using laser radar |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112748740A (en) * | 2020-12-25 | 2021-05-04 | 深圳供电局有限公司 | Multi-rotor unmanned aerial vehicle automatic route planning method and system, equipment and medium thereof |
| CN113252996A (en) * | 2021-05-13 | 2021-08-13 | 新疆师范大学 | Unmanned aerial vehicle electromagnetic field testboard |
| CN113252996B (en) * | 2021-05-13 | 2023-09-05 | 新疆师范大学 | Unmanned aerial vehicle electromagnetic field testboard |
| CN113335541A (en) * | 2021-06-20 | 2021-09-03 | 漳州源泉信息科技有限公司 | Digital image monitoring equipment for intelligent community security inspection |
| CN113390396A (en) * | 2021-06-23 | 2021-09-14 | 北京中科天绘遥感技术有限公司 | CH unmanned aerial vehicle airborne laser radar synthesizes aerial survey system |
| CN113390396B (en) * | 2021-06-23 | 2022-05-27 | 北京中科天绘遥感技术有限公司 | CH unmanned aerial vehicle airborne laser radar synthesizes aerial survey system |
| CN113391296A (en) * | 2021-08-02 | 2021-09-14 | 陈时 | Laser radar mapping equipment and damping assembly thereof |
| CN114877862A (en) * | 2022-05-31 | 2022-08-09 | 歌尔科技有限公司 | Unmanned aerial vehicle equipment and height detection method, device and equipment thereof |
| CN116620588A (en) * | 2023-07-26 | 2023-08-22 | 济南恒达新科技发展有限公司 | Security monitoring equipment with support structure |
| CN116620588B (en) * | 2023-07-26 | 2023-09-29 | 济南恒达新科技发展有限公司 | Security monitoring equipment with support structure |
| CN116902220A (en) * | 2023-09-11 | 2023-10-20 | 农业农村部南京农业机械化研究所 | Agricultural unmanned plane ground-imitating flight detection method and detection equipment |
| CN116902220B (en) * | 2023-09-11 | 2023-12-22 | 农业农村部南京农业机械化研究所 | Agricultural unmanned plane ground-imitating flight detection method and detection equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111880562A (en) | Unmanned aerial vehicle ground-imitating flying device based on laser radar | |
| WO2020102927A1 (en) | Photographing method and unmanned aerial vehicle | |
| WO2020215188A1 (en) | Method for generating flight route, control device and unmanned aerial vehicle system | |
| US9915955B2 (en) | Extensible quadrotor body | |
| WO2018053785A1 (en) | Image processing in an unmanned autonomous vehicle | |
| CN205854525U (en) | Rotating lens and unmanned plane | |
| CN105235912A (en) | Aerial photography collection unmanned aerial vehicle for law enforcement of police fire protection and control method thereof | |
| CN103754378B (en) | A kind of many lens aerial photography stable platforms | |
| US20210129989A1 (en) | Unmanned aerial vehicles with stereoscopic imaging, and associated systems and methods | |
| CN111272146B (en) | Surveying instrument, surveying method and apparatus, terminal device, storage medium | |
| WO2019100825A1 (en) | Unmanned aerial vehicle | |
| CN108995820B (en) | Cloud platform, have shooting device and unmanned aerial vehicle of this cloud platform | |
| CN205594455U (en) | Three -dimensional modeling system of transmission line shaft tower | |
| DE202014011084U1 (en) | Replaceable mounting platform | |
| CN106428549A (en) | Carrying device for unmanned aerial vehicle | |
| CN212448091U (en) | Unmanned aerial vehicle frame is patrolled and examined to bridge and unmanned aerial vehicle is patrolled and examined to bridge | |
| US10807708B2 (en) | Air vehicle and imaging apparatus therefor | |
| CN211223849U (en) | Combined type unmanned aerial vehicle vibration damping mount | |
| DE202009009741U1 (en) | Aero-Oblique system (AOS) | |
| CN107618672B (en) | Shooting assembly and unmanned aerial vehicle with same | |
| Klare et al. | Impact of platform attitude disturbances on the 3D imaging quality of the UAV ARTINO | |
| CN211364985U (en) | Integrative multipurpose diaxon cloud platform unmanned aerial vehicle with two three-dimensional cameras | |
| CN220640211U (en) | Unmanned aerial vehicle with independently keep away barrier function | |
| CN213649902U (en) | Unmanned aerial vehicle for agriculture and forestry environmental monitoring | |
| CN216509154U (en) | Unmanned aerial vehicle with radar camera damper |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201103 |
|
| RJ01 | Rejection of invention patent application after publication |