CN112455707A - Hyperspectral remote sensing earth observation unmanned aerial vehicle system - Google Patents
Hyperspectral remote sensing earth observation unmanned aerial vehicle system Download PDFInfo
- Publication number
- CN112455707A CN112455707A CN202011364475.0A CN202011364475A CN112455707A CN 112455707 A CN112455707 A CN 112455707A CN 202011364475 A CN202011364475 A CN 202011364475A CN 112455707 A CN112455707 A CN 112455707A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- hole
- remote sensing
- limiting
- 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.)
- Granted
Links
- 238000003825 pressing Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 12
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000012937 correction Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012892 rational function Methods 0.000 description 3
- 238000012952 Resampling Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000013213 extrapolation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- 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
- 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)
- Remote Sensing (AREA)
- Studio Devices (AREA)
Abstract
The invention relates to the field of observation unmanned aerial vehicles, in particular to a hyperspectral remote sensing earth observation unmanned aerial vehicle system, which comprises an unmanned aerial vehicle and an acquisition unit, wherein the unmanned aerial vehicle comprises a body, a cantilever connected with the body and a wing connected to the cantilever; the acquisition unit swing joint in the fuselage lower part, the acquisition unit include with the connecting piece that the fuselage is connected, and with the subassembly of making a video recording that the connecting piece is connected. The hyperspectral remote sensing earth observation unmanned aerial vehicle system can adjust the angle of the wing under different weather environments when hyperspectral remote sensing earth observation is carried out, so that inspection work under various conditions is adapted, the camera provides two working modes, adjustment can be carried out according to actual demands, the unmanned aerial vehicle can automatically acquire high-resolution multi-sensor images and point cloud data, and inspection of a power transmission line is more automatic and intelligent.
Description
Technical Field
The invention relates to the field of observation unmanned aerial vehicles, in particular to a hyperspectral remote sensing earth observation unmanned aerial vehicle system.
Background
With the deepening of the construction of the smart power grid, the intelligent inspection of the power transmission line by means of unmanned planes, robots and the like is widely applied. The visible light, multispectral, hyperspectral, infrared thermal imagery, ultraviolet imaging, laser radar and other equipment arranged on the inspection platform can automatically acquire high-resolution multi-sensor images and point cloud data, so that the automation and intellectualization of power transmission line inspection become possible. For multi-sensor multi-source data, laser radar point cloud data and remote sensing image data need to be processed and researched respectively. In addition, the intelligent level is further improved, higher requirements are put on the accuracy and real-time performance of ground object identification, and geometric correction oriented to hyperspectral/multispectral remote sensing images is promoted to become one of key technologies for realizing automatic and accurate identification of ground objects of the power transmission line. However, the unmanned aerial vehicle for intelligent inspection in the prior art is often fixed in shape, and the chinese patent CN109367780A discloses an unmanned aerial vehicle for power inspection, the wings of which are not adjustable, and the use mode of the carried camera is single, and the image collected in inspection is easy to deviate, so that it is inconvenient to use in actual power inspection.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a hyperspectral remote sensing ground observation unmanned aerial vehicle system which can adjust the angle of a wing under different weather environments so as to adapt to inspection work under various conditions.
In order to solve the technical problems, the invention provides the following technical scheme:
a hyperspectral remote sensing earth observation unmanned aerial vehicle system comprises an unmanned aerial vehicle and an acquisition unit; the unmanned aerial vehicle comprises a body, a cantilever connected with the body and a wing connected to the cantilever; the acquisition unit swing joint in the fuselage lower part, the acquisition unit include with the connecting piece that the fuselage is connected, and with the subassembly of making a video recording that the connecting piece is connected.
Further, the fuselage with the cantilever is connected through connecting rotating assembly, rotating assembly is including fixing first articulated elements on the fuselage, fixed connection is in the second articulated elements of cantilever, first articulated elements is articulated with the second articulated elements, first articulated elements is provided with the first hinge hole that runs through, the second articulated elements is provided with the second hinge hole that runs through, can adjust the angle of wing when in-service use, and adaptability is better.
Further, still include the hinge post, the hinge post passes first articulated elements and second hinge hole.
Further, the second hinge is provided with a groove, and the first hinge is embedded in the groove.
Further, first hinge hole is the rectangular hole, the hinge post includes the rectangle post, is located the limiting plate of rectangle post one end, is located the press plate of the rectangle post other end, be provided with on the limiting plate along the spacing boss of axial, the second articulated elements contacts the one side and evenly is provided with the spacing hole of a plurality of along the circumferencial direction with the limiting plate, spacing boss is embedded into spacing downthehole.
Furthermore, a protrusion is arranged at one end of the second hinge hole, and a spring is arranged between the pressing plate and the first hinge piece.
Furthermore, a sliding groove is further formed in the second hinge part, a sliding block is installed in the sliding groove, and the sliding groove is located close to one end face of the pressing plate.
Furthermore, the connecting piece comprises a rotating shaft rotationally connected with the machine body, an L-shaped rod connected with the rotating shaft and a fork connected with the L-shaped rod, the fork is C-shaped, through holes are formed in two ends of the fork, and the axis of each through hole is perpendicular to the axis of the corresponding rotating hole.
Further, the subassembly of making a video recording include the camera, with the regulating plate that the camera is connected, the regulating plate both ends be provided with circular boss, circular boss with the coaxial setting of through-hole.
Furthermore, the adjusting plate is provided with an adjusting hole penetrating through the circular boss;
the adjusting device further comprises an adjusting unit, the adjusting unit comprises an adjusting rod and a limiting piece connected with one end of the adjusting rod, and the adjusting rod penetrates through the through hole and extends into the adjusting hole; the limiting piece comprises a circular plate, the circumference of the circular plate extends axially to form a limiting rod, a limiting groove is axially arranged on the inner wall of the adjusting hole, the circular plate is arranged in the adjusting hole, and the limiting rod is embedded in the limiting groove;
the end face of the through hole, which is in contact with the circular boss, is provided with limiting holes which are uniformly distributed along the circumference.
Compared with the prior art, the invention has the following beneficial effects: the angle of the wing can be adjusted under different weather environments, so that the wing inspection device is suitable for inspection work under various conditions. And the camera provides two kinds of mode, can adjust according to actual demand.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be 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 to obtain other drawings based on these drawings without inventive exercise. Wherein:
FIG. 1 is a schematic structural diagram of a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 2 is a schematic structural diagram of a rotating assembly in a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 3 is a schematic cross-sectional structure diagram of a rotating assembly in a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 4 is a schematic diagram of an explosion structure of a rotating assembly in a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 5 is a schematic flow chart of geometric fine correction of a hyperspectral/multispectral remote sensing image in a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 6 is a schematic structural diagram of an acquisition unit in a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 7 is a schematic structural diagram of a connecting assembly in a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 8 is a schematic structural diagram of a camera assembly in a hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 9 is a schematic structural diagram of an adjusting unit in the hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
FIG. 10 is a schematic diagram of a cross-sectional structure of an acquisition unit in the hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention;
fig. 11 is a schematic structural diagram of a buckle unit in the hyperspectral remote sensing earth observation unmanned aerial vehicle system provided by the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially according to the general scale for convenience of illustration when describing the embodiments of the present invention, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
The embodiment of the invention comprises the following steps:
example 1:
as shown in fig. 1 to 5, the present embodiment provides a hyperspectral remote sensing earth observation unmanned aerial vehicle system, which includes an unmanned aerial vehicle 100 and an acquisition unit 200; the unmanned aerial vehicle 100 comprises a body 101, a cantilever 102 connected with the body 101, and wings connected to the cantilever 102; the acquisition unit 200 is movably connected to the lower part of the body 101, and includes a connecting member 300 connected to the body 101 and a camera assembly 400 connected to the connecting member 300, the acquisition unit 200 is used for polling the circuit, in this embodiment, the body is provided with 4 cantilevers 102, and the body 101 is connected to the cantilevers 102 through a connecting rotating assembly 500.
In this embodiment, the rotating assembly 500 includes a first hinge 501 fixed on the body 101, and a second hinge 502 fixedly connected to the suspension arm 102, wherein the first hinge 501 is hinged to the second hinge 502, the first hinge 501 is provided with a first hinge hole 501a therethrough, and the second hinge 502 is provided with a second hinge hole 502a therethrough. The angle of the cantilever 102 can be adjusted by means of hinging so as to adapt to flight conditions in different environments.
In this embodiment, a hinge post 503 is further included, and the hinge post 503 passes through the first hinge 501 and the second hinge hole 502 a. The second hinge 502 is provided with a groove 502b, and the first hinge 501 is embedded in the groove 502 b.
In this embodiment, the first hinge hole 501a is a rectangular hole, and the hinge pillar 503 includes a rectangular pillar 503a, a limiting plate 503b at one end of the rectangular pillar 503a, and a pressing plate 503c at the other end of the rectangular pillar 503a, i.e. the hinge pillar 503 cannot rotate in the first hinge hole 501a, but can only move in the first hinge hole 501a along the axial direction.
In this embodiment, the limiting plate 503b is provided with an axial limiting boss 503d, the second hinge member 502 and the limiting plate 503b are uniformly provided with a plurality of limiting holes 502c along the circumferential direction on the surfaces contacting each other, the limiting boss 503d is embedded into the limiting hole 502c, when the limiting boss 503d is embedded into the limiting hole 502c, the angle between the body 101 and the cantilever 102 is fixed, and when the angle needs to be adjusted, the rectangular column 503a is operated to separate the limiting boss 503d from the limiting hole 502 c.
In this embodiment, a protrusion 502d is disposed at one end of the second hinge hole 502a, and a spring 504 is disposed between the pressing plate 503c and the first hinge 501. The protrusion 502d can prevent the hinge post 503 from falling off.
In this embodiment, the second hinge 502 is further provided with a sliding slot 502e, the sliding block 505 is installed in the sliding slot 502e, the sliding slot 502e is located at an end surface close to the pressing plate 503c, and when adjustment is not needed, the operating sliding block 505 moves in the sliding slot 502e to cover the hinge post 503, so that accidental touch can be prevented.
In this embodiment, can adjust the angle of wing under different weather environment to the work of patrolling and examining under the multiple condition is adapted to.
In specific implementation, the invention carries a spectrum/multispectral image space-three positioning technology, and the hyperspectral/multispectral remote sensing image space-three stereo positioning, and has the key that the function model-based front intersection is realized, for the left image and the right image of a stereo pair, after respective function models are respectively established, the space coordinates of corresponding ground points are calculated according to the image coordinates of image points with the same name, and the problem of calculating the coordinates of three-dimensional object space points based on the function models is solved, wherein the result obtained by encrypting control points can obviously improve the precision of geometric correction of the hyperspectral/multispectral remote sensing stereo image.
The optimal hyperspectral/multispectral remote sensing image geometric precise correction depends on the number and distribution conditions of the control points. Based on this, two typical control point deployment schemes can be designed, one is an extrapolation control scheme and one is an interpolation control scheme. The extrapolation control scheme is generally applicable to the situation that control points are rare, determines a control range according to control effectiveness, and completes relevant geometric processing on the basis of the control range. The interpolation control scheme is a relatively ideal control scheme, and generally, the peripheral and critical positions are selected, so that the optimal geometric processing performance can be obtained under an ideal condition.
The geometric correction technology of the self-checking hyperspectral/multispectral three-dimensional image is also based on a function model of a sensor, and the encryption of control points is realized by a block adjustment method. Firstly, a sensor model-based dual-image space forward intersection is carried out, then after a rational function indirect adjustment model with system parameters is established for left and right images of a stereo image pair, encryption of control points is realized, then space coordinates of corresponding ground points are calculated through a non-rigid geometric transformation error model according to image coordinates of image points with the same name, and finally high-precision geometric correction of a hyperspectral/multispectral stereo image pair is realized. A hyperspectral/multispectral remote sensing image square compensation self-checking image geometric correction technology is mainly based on a polynomial function model, image square compensation self-checking area network adjustment is carried out, then a digital elevation model is adopted to eliminate the influence of topographic relief, ground control points are adopted to carry out fine correction to eliminate residual geometric distortion in an image, and meanwhile, integral geometric transformation, projection and geographical recoding are carried out. That is, firstly, the method for producing the digital ortho-image based on the rational function model inverse solution realizes the orientation of the geometric model of the image by using the rational function model and a small number of ground control points, then adopts the digital elevation model to eliminate the image distortion and the image point displacement caused by the relief, uses the resampling methods such as the nearest neighbor method and the bilinear interpolation method, and finally corrects the ortho-projection pixel by pixel, thereby solving the problem that the efficiency and the precision cannot be considered simultaneously in the production of the ortho-corrected image. According to the implementation process of geometric correction of the hyperspectral/multispectral remote sensing image and the principle of inverse solution orthographic projection correction, the detailed implementation processes of input, geometric orientation, terrain correction, resampling, output and the like can be realized.
Example 2:
as shown in fig. 1 to 11, this embodiment is a second embodiment of the present invention, and is based on the previous embodiment, and is different from the previous embodiment in that:
the connecting piece 300 comprises a rotating shaft 301 connected with the machine body, an L-shaped rod 302 connected with the rotating shaft 301, and a fork frame 303 connected with the L-shaped rod 302, wherein the connecting piece 300 can rotate by taking the rotating shaft 301 as a circle, one end of the L-shaped rod 302 is vertically connected with the rotating shaft 301, the other end of the L-shaped rod 302 is connected to the middle part of the fork frame 303, the fork frame 303 is C-shaped, through holes 303a are formed in two ends of the fork frame 303, and the axis of each through hole 303a is vertical to the axis of the rotating; and the camera assembly 400 comprises a camera 401 and an adjusting plate 402 connected with the camera 401, wherein circular bosses 402a are arranged at two ends of the adjusting plate 402, the circular bosses 402a are coaxially arranged with the through holes 303a, and the camera assembly 400 can rotate by taking the circular bosses 402a as the circle center, namely, the camera of the embodiment is used for two-axis rotation camera shooting.
In the present embodiment, the adjustment plate 402 is provided with an adjustment hole 402b penetrating the circular boss 402 a; the adjusting device further comprises an adjusting unit 600, wherein the adjusting unit 600 comprises an adjusting rod 601 and a limiting piece 602 connected with one end of the adjusting rod 601, and the adjusting rod 601 penetrates through the through hole 303a and extends into the adjusting hole 402 b; the limiting member 602 comprises a circular plate 602a, the circumference of the circular plate 602a extends axially to form a limiting rod 602b, the circular plate 602a is in clearance fit with the adjusting hole 402b, a limiting groove 402c is axially arranged on the inner wall of the adjusting hole 402b, the circular plate 602a is arranged in the adjusting hole 402b, and the limiting rod 602b is embedded in the limiting groove 402c and can limit the rotational degree of freedom of the limiting member 602; the limiting member 602 can slide in the adjusting hole 402b in the axial direction, and whether the limiting member slides is controlled by the adjusting hole 402b, wherein the limiting holes 303b uniformly distributed along the circumference are arranged on the end surface of the through hole 303a contacting with the circular boss 402a, that is, when the limiting rod 602b is embedded into the limiting hole 303b, the rotational degree of freedom of the camera module 400, that is, the pitch angle of the camera module 400, is limited.
In this embodiment, when the pitch angle of the camera module 400 needs to be fixed, the adjustment rod 601 and the limiting member 602 connected thereto are operated, so that the limiting rod 602b is embedded in the limiting groove 402c, and the pitch angle of the camera module 400 can be fixed.
The adjusting rod 601 is divided into a pressing end 601a and a driving end 601b, and the driving end 601b is detachably connected to the circular plate 602a, i.e. the limiting member 602 can be controlled by operating the pressing end 601 a.
In this embodiment, the adjusting rod 601 is further provided with a limiting shaft shoulder 601c, one end of the through hole 303a close to the circular boss 402a is provided with a movable circular hole 402d, the limiting shaft shoulder 601c is located in the movable circular hole 402d and is in clearance fit, a first spring 603 is arranged between the limiting shaft shoulder 601c and the circular boss 402a, and the first spring 603 is a pressure spring.
In the present embodiment, the adjusting units 600 are provided in two, which are respectively installed in the two through holes 303a at both ends of the yoke 303, and are symmetrically arranged.
In this embodiment, a locking unit 700 is further included, the locking unit 700 is located in the adjusting hole 402b and connected to the two circular plates 602a, and the locking unit 700 can connect the two adjusting units 600.
In this embodiment, the fastening unit 700 includes a first fastening part 701 and a second fastening part 702 respectively connected to two circular plates 602a, one end of the first fastening part 701 is provided with a first wedge-shaped boss 701a, an end of the second fastening part 702 is provided with a second wedge-shaped boss 702a, and the first wedge-shaped boss 701a is engaged with the second wedge-shaped boss 702 a. The cross sections of the first wedge-shaped boss 701a and the second wedge-shaped boss 702a are right triangles, and when the first fastener 701 and the second fastener 702 are close to each other, the first wedge-shaped boss 701a and the second wedge-shaped boss 702a are mutually clamped.
In this embodiment, the first fastener 701 further includes a reset groove 701b, and the reset groove 701b can separate the first wedge-shaped boss 701a from the second wedge-shaped boss 702 a; the reset groove 701b comprises a fan-shaped groove 701b-1 connected with the first wedge-shaped boss 701a and a sliding groove 701b-2 located on one side of the first wedge-shaped boss 701a, and when the second wedge-shaped boss 702a is pushed to move continuously towards the direction of the first wedge-shaped boss 701a, the second wedge-shaped boss 702a crosses the first wedge-shaped boss 701a and then enters the fan-shaped groove 701b-1, and then slides into the sliding groove 701b-2 under the fan-shaped contour, so as to exit the first fastener 701; preferably, the sliding groove 701b-2 is connected with the fan-shaped groove 701b-1, and the depth of the sliding groove 701b-2 is greater than that of the fan-shaped groove 701b-1, so that the second wedge-shaped boss 702a can naturally slide into the sliding groove 701 b-2.
In this embodiment, two reset grooves 701b are symmetrically arranged and are respectively located on two sides of the first wedge-shaped boss 701 a; the second fastening member 702 is further connected with a limiting plate 703, the limiting plate 703 is fixed on the circular plate 602a, the limiting plate 703 is provided with a sliding groove 703a, the sliding groove 703a is radially arranged, the second fastening member 702 is provided with a sliding rail 702b located in the sliding groove 703a, the sliding rail 702b is embedded in the sliding groove 703a and can move along the sliding groove 703a in the sliding groove 703a without being separated, correspondingly, the second fastening member 702 is provided with two and symmetrically arranged, a baffle 703c is arranged on the outer side of the limiting plate 703, a second spring 704 is arranged between the baffle 703c and the second fastening member 702, and the second spring 704 is a pressure spring, so that the two second fastening members 702 are attached to each other.
In this embodiment, a third spring 604 is disposed in the adjustment hole 402b, the third spring 604 is a pressure spring, and both ends of the third spring 604 are connected to the two circular plates 602a, respectively.
The implementation manner of the embodiment is as follows: in an initial state, the limit rod 602b is inserted into the limit hole 303b to fix the pitch angle of the camera module 400, when adjustment is needed, the adjustment rod 601 is pushed from both ends of the fork 303 to move the two circular plates 602a in opposite directions, and at this time, the limit rod 602b is separated from the limit hole 303b, so that the pitch angle of the camera module 400 can be operated; if the pitching angle of the camera module 400 does not need to be fixed any more, the adjustment rod 601 is continuously pushed to make the two circular plates 602a continuously approach according to the above operation, so that the first buckling piece 701 and the second buckling piece 702 are buckled, it should be noted that the second buckling piece 702 is made of an elastic material and can be bent and reset after being bent, and when the first wedge-shaped boss 701a and the second wedge-shaped boss 702a are buckled with each other, the limiting rod 602b is separated from the limiting hole 303b and does not reset any more; when the pitch angle of the camera module 400 needs to be fixed again, the two circular plates 602a are continuously operated to approach, at this time, the second wedge-shaped bosses 702a enter the sector grooves 701b-1 after passing over the first wedge-shaped bosses 701a, and the two second locking pieces 702 are separated by the triangular bosses formed by the two sector grooves 701b-1, and respectively enter the corresponding sector grooves 701b-1, and then slide into the sliding grooves 701b-2 under the fan-shaped profile, so that the circular plates 602a approach and move away under the action of the third spring 604, the limiting rods 602b are re-inserted into the limiting holes 303b to fix the pitch angle of the camera module 400, and the two second locking pieces 702 are attached to each other under the action of the second spring 704.
It should be noted that, in this embodiment, the free-rotation onboard camera also supports normal pitching adjustment, where the circular boss 402a is connected with the first gear 404, the motor 405 is installed in the fork 303, the motor 405 is connected with the second gear 406, the first gear 404 is meshed with the second gear 406, the motor 405 controls the second gear 406 and how to control the motor 405 is the prior art, this function can be used when the first latch 701 is latched with the second latch 702, meanwhile, the rotating shaft 301 is connected with the third gear 406, the third gear 406 controls the rotation angle of the rotating shaft 301, and the third gear 406 is also connected with an external motor, so the free-rotation onboard camera in this embodiment is two-axis free-rotation, and can be adjusted according to different requirements.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. A hyperspectral remote sensing earth observation unmanned aerial vehicle system is characterized by comprising an unmanned aerial vehicle (100) and an acquisition unit (200);
the unmanned aerial vehicle (100) comprises a body (101), a cantilever (102) connected with the body (101) and a wing connected to the cantilever (102);
the acquisition unit (200) swing joint in fuselage (101) lower part, acquisition unit (200) including with connecting piece (300) that fuselage (101) are connected and with subassembly (400) of making a video recording that connecting piece (300) are connected.
2. The hyperspectral remote sensing earth observation unmanned aerial vehicle system of claim 1, wherein the fuselage (101) is connected with the cantilever (102) through connecting a rotating assembly (500), the rotating assembly (500) comprises a first articulated piece (501) fixed on the fuselage (101), a second articulated piece (502) fixedly connected with the cantilever (102), the first articulated piece (501) is articulated with the second articulated piece (502), the first articulated piece (501) is provided with a first articulated hole (501a) running through the first articulated piece, and the second articulated piece (502) is provided with a second articulated hole (502a) running through the second articulated piece.
3. The hyperspectral remote sensing ground observation unmanned aerial vehicle system of claim 2, further comprising a hinge post (503), the hinge post (503) passing through the first hinge (501) and the second hinge hole (502 a).
4. The hyperspectral remote sensing ground observation drone system according to claim 3, characterized in that the second articulation (502) is provided with a groove (502b), the first articulation (501) being embedded within the groove (502 b).
5. The hyperspectral remote sensing earth observation unmanned aerial vehicle system of claim 4, wherein the first hinge hole (501a) is a rectangular hole, the hinge post (503) comprises a rectangular post (503a), a limiting plate (503b) at one end of the rectangular post (503a), and a pressing plate (503c) at the other end of the rectangular post (503a), the limiting plate (503b) is provided with a limiting boss (503d) along the axial direction, the second hinge member (502) and the limiting plate (503b) are in contact with one surface and are uniformly provided with a plurality of limiting holes (502c) along the circumferential direction, and the limiting boss (503d) is embedded into the limiting hole (502 c).
6. The hyperspectral remote sensing earth observation unmanned aerial vehicle system of claim 5, wherein a protrusion (502d) is arranged at one end of the second hinge hole (502a), and a spring (504) is arranged between the pressing plate (503c) and the first hinge (501).
7. The hyperspectral remote sensing earth observation unmanned aerial vehicle system of claim 6, wherein the second hinge (502) is further provided with a sliding groove (502e), a sliding block (505) is installed in the sliding groove (502e), and the sliding groove (502e) is located at an end face close to the pressing plate (503 c).
8. The hyperspectral remote sensing earth observation unmanned aerial vehicle system of claim 7, wherein the connecting piece (300) comprises a rotating shaft (301) rotatably connected with the body (101), an L-shaped rod (302) connected with the rotating shaft (301), and a fork (303) connected with the L-shaped rod (302), the fork (303) is C-shaped, through holes (303a) are arranged at two ends of the fork (303), and the axis of the through hole (303a) is perpendicular to the axis of the rotating hole (101).
9. The hyperspectral remote sensing earth observation unmanned aerial vehicle system according to claim 8, wherein the camera assembly (400) comprises a camera (401) and an adjusting plate (402) connected with the camera (401), circular bosses (402a) are arranged at two ends of the adjusting plate (402), and the circular bosses (402a) are arranged coaxially with the through holes (303 a).
10. The hyperspectral remote sensing ground observation unmanned aerial vehicle system of claim 9, wherein the adjusting plate (402) is provided with an adjusting hole (402b) penetrating through the circular boss (402 a);
the adjusting device further comprises an adjusting unit (600), wherein the adjusting unit (600) comprises an adjusting rod (601) and a limiting piece (602) connected with one end of the adjusting rod (601), and the adjusting rod (601) penetrates through the through hole (303a) and extends into the adjusting hole (402 b); the limiting part (602) comprises a circular plate (602a), the circumference of the circular plate (602a) extends axially to form a limiting rod (602b), a limiting groove (402c) is axially arranged on the inner wall of the adjusting hole (402b), the circular plate (602a) is arranged in the adjusting hole (402b), and the limiting rod (602b) is embedded in the limiting groove (402 c);
the end face of the through hole (303a) contacting with the circular boss (402a) is provided with limit holes (303b) which are uniformly distributed along the circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011364475.0A CN112455707B (en) | 2020-11-27 | 2020-11-27 | Hyperspectral remote sensing earth observation unmanned aerial vehicle system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011364475.0A CN112455707B (en) | 2020-11-27 | 2020-11-27 | Hyperspectral remote sensing earth observation unmanned aerial vehicle system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112455707A true CN112455707A (en) | 2021-03-09 |
| CN112455707B CN112455707B (en) | 2022-03-25 |
Family
ID=74809262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011364475.0A Active CN112455707B (en) | 2020-11-27 | 2020-11-27 | Hyperspectral remote sensing earth observation unmanned aerial vehicle system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112455707B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206634196U (en) * | 2017-04-06 | 2017-11-14 | 罗元彬 | A kind of new unmanned plane |
| CN207141365U (en) * | 2017-06-21 | 2018-03-27 | 宁波派丽肯无人机有限公司 | A kind of unmanned plane horn foldable structure and unmanned plane |
| CN207972784U (en) * | 2018-01-23 | 2018-10-16 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN208344547U (en) * | 2018-06-22 | 2019-01-08 | 内蒙古新辉地质测绘科技有限公司 | A kind of comprehensive mapping unmanned plane |
| CN209351595U (en) * | 2018-12-12 | 2019-09-06 | 山东飞思智能科技有限公司 | A kind of patrol unmanned machine control system |
| CN210175142U (en) * | 2019-07-18 | 2020-03-24 | 深圳市禾启智能科技有限公司 | Telemetering device with camera shooting function |
| CN210882601U (en) * | 2019-06-25 | 2020-06-30 | 赵喜亮 | Surveying and mapping unmanned aerial vehicle with foldable rotor wings |
-
2020
- 2020-11-27 CN CN202011364475.0A patent/CN112455707B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206634196U (en) * | 2017-04-06 | 2017-11-14 | 罗元彬 | A kind of new unmanned plane |
| CN207141365U (en) * | 2017-06-21 | 2018-03-27 | 宁波派丽肯无人机有限公司 | A kind of unmanned plane horn foldable structure and unmanned plane |
| CN207972784U (en) * | 2018-01-23 | 2018-10-16 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN208344547U (en) * | 2018-06-22 | 2019-01-08 | 内蒙古新辉地质测绘科技有限公司 | A kind of comprehensive mapping unmanned plane |
| CN209351595U (en) * | 2018-12-12 | 2019-09-06 | 山东飞思智能科技有限公司 | A kind of patrol unmanned machine control system |
| CN210882601U (en) * | 2019-06-25 | 2020-06-30 | 赵喜亮 | Surveying and mapping unmanned aerial vehicle with foldable rotor wings |
| CN210175142U (en) * | 2019-07-18 | 2020-03-24 | 深圳市禾启智能科技有限公司 | Telemetering device with camera shooting function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112455707B (en) | 2022-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7072759B2 (en) | Composite calibration device and method using multiple sensors | |
| CN109270534B (en) | Intelligent vehicle laser sensor and camera online calibration method | |
| CN108127483B (en) | Numerical control machining positioning method for curved surface part | |
| DE60129009T2 (en) | MOTION CORRECTION OF AN INDUSTRIAL ROBOT | |
| CN106657764B (en) | A kind of vehicular adjusting platform and its implementation method for tunnel Image Acquisition | |
| CN110084785B (en) | Power transmission line vertical arc measuring method and system based on aerial images | |
| CN103278138A (en) | Method for measuring three-dimensional position and posture of thin component with complex structure | |
| US9052585B2 (en) | Control system for stereo imaging device | |
| CN112318107A (en) | Large-scale part hole shaft automatic assembly centering measurement method based on depth camera | |
| CN112658643B (en) | Connector assembly method | |
| Bradley et al. | Reverse engineering of quadric surfaces employing three-dimensional laser scanning | |
| CN111337946B (en) | Rotary full-field laser radar scanning system | |
| CN110849331A (en) | Monocular vision measurement and ground test method based on three-dimensional point cloud database model | |
| CN112455707B (en) | Hyperspectral remote sensing earth observation unmanned aerial vehicle system | |
| Adallah et al. | 3D point cloud analysis for automatic inspection of aeronautical mechanical assemblies | |
| CN111561936A (en) | Precise processing method and system for rotating large-breadth optical satellite | |
| CN113763479A (en) | Calibration method for catadioptric panoramic camera and IMU sensor | |
| DE102022108505A1 (en) | OBJECT DETECTION BY A NEURAL NETWORK | |
| DE102019134324A1 (en) | A method of measuring the topography of an environment | |
| CN116108722B (en) | Digital twinning-based large structural member surface shape regulation and control method | |
| CN112099505B (en) | Low-complexity visual servo formation control method for mobile robot | |
| CN111538051A (en) | Precision processing method for sweep large-width optical satellite | |
| CN116372938A (en) | Surface sampling mechanical arm fine adjustment method and device based on binocular stereoscopic vision three-dimensional reconstruction | |
| CN111598810B (en) | Method and system for sensing and recovering degradation information of rotating optical satellite image | |
| Wang et al. | An experimental testbed for the study of visual based navigation docking of two vertical compound aircraft |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |