CN113310471A - High-stability high-precision geographic information mapping device - Google Patents

High-stability high-precision geographic information mapping device Download PDF

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Publication number
CN113310471A
CN113310471A CN202110349710.5A CN202110349710A CN113310471A CN 113310471 A CN113310471 A CN 113310471A CN 202110349710 A CN202110349710 A CN 202110349710A CN 113310471 A CN113310471 A CN 113310471A
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China
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group mechanism
propeller
main
blade
stability
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CN113310471B (en
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彭维吉
黄飒
李孝雁
黄燕
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Yellow River Conservancy Technical Institute
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Yellow River Conservancy Technical Institute
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)

Abstract

The invention discloses a high-stability high-precision geographic information mapping device, which is provided with a main propeller group mechanism and an auxiliary propeller group mechanism at the same time, can realize the balance adjustment of an unmanned aerial vehicle according to the actual vibration amplitude condition, and ensures the stability and the stationarity of the unmanned aerial vehicle during mapping; when the fluctuation range is higher than a set threshold value, the controller adjusts the rotating speed of each blade of the main propeller group mechanism so as to reduce the fluctuation range, the control stability can be effectively improved, the stability of the unmanned aerial vehicle during surveying and mapping is ensured, and the vibration and fluctuation of the unmanned aerial vehicle are reduced.

Description

High-stability high-precision geographic information mapping device
Technical Field
The invention particularly relates to a high-stability high-precision geographic information mapping device, and relates to the related field of mapping equipment.
Background
Currently, mapping of geographic information generally uses a camera or other sensor to collect image information of an object to be measured, and the image information is processed and analyzed to determine the shape, size and position of the object to be measured and determine the nature of the object. However, when the unmanned aerial vehicle is flying and surveying, due to unpredictable performance of external wind force, wind force often adversely affects unmanned aerial vehicles, especially when surveying and surveying information is generated, in order to ensure surveying and surveying accuracy, the unmanned aerial vehicle needs to be suspended at a measurement position stably, however, the influence of wind may cause the unmanned aerial vehicle to tilt or vibrate to a certain extent, which may cause great errors in surveying and surveying, and under the influence of wind, for the unmanned aerial vehicle in the prior art as shown in fig. 1, the unmanned aerial vehicle is generally simple to control the rotating speeds of different blades to suppress the imbalance, however, although theoretically, the unmanned aerial vehicle can suppress the imbalance, however, slight change of the rotating speed may cause excessive tilt compensation of the unmanned aerial vehicle, and further cause actual stationarity of the unmanned aerial vehicle to generate larger influence, which affects mapping precision.
Disclosure of Invention
Therefore, in order to solve the above-mentioned disadvantages, the present invention provides a high-precision geographical information mapping apparatus with high stability.
The invention is realized in such a way that a high-stability high-precision geographic information mapping device is constructed, which comprises a machine body, a main propeller group mechanism, an auxiliary propeller group mechanism, a pitching angle sensor group, a mapping instrument and a controller, wherein the machine body is provided with a plurality of expandable main propeller group mechanisms, the machine body is provided with a plurality of auxiliary propeller group mechanisms, the sizes of the propeller blades of the auxiliary propeller group mechanisms are the same, the sizes of the propeller blades of the main propeller group mechanisms are the same, the distance between each propeller blade of the auxiliary propeller group mechanisms and the gravity center of the machine body is a first distance, the distance between each propeller blade of the main propeller group mechanisms and the gravity center of the machine body is a second distance, and the ratio of the first distance to the second distance is one third to one half, the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism, and the pitching angle sensor group is arranged on the machine body and used for detecting the pitching angle of the machine body; the surveying instrument is installed at the bottom of the machine body, and the main propeller group mechanism, the auxiliary propeller group mechanism, the pitching angle sensor group and the surveying instrument are all in control connection with the controller; the controller can calculate the fluctuation range of the pitch angle of the machine body in unit time according to the detection condition of the pitch angle sensor group, and when the fluctuation range is lower than or equal to a set threshold value during surveying and mapping by the surveying and mapping instrument, the controller only controls the rotating speed of each blade of the auxiliary propeller group mechanism to reduce the fluctuation range and keep the rotating speed of each blade of the main propeller group mechanism unchanged; the controller adjusts the rotational speed of each blade of the main rotor set mechanism so that the fluctuation range is reduced when the fluctuation range is higher than a set threshold value.
Further, preferably, the length dimension of each propeller blade of the sub-propeller group mechanism is less than one third of the length dimension of each propeller blade of the main propeller group mechanism.
Further, as preferred, vice oar group mechanism revolves includes propeller blade, vice driving motor and urceolus cover, propeller blade by vice driving motor drives, vice driving motor fixes the below of urceolus cover, a lateral wall fixed connection of urceolus cover is in on the organism, propeller blade is coaxial to be located in the urceolus cover, just the up end of urceolus cover with interval between propeller blade's the upper end is less than the third of urceolus cover internal diameter, and is greater than the fifth of urceolus cover internal diameter.
Further, as preferred, the top of organism still is provided with sensor group, sensor group includes wind speed sensor and wind direction sensor, sensor group can be to main screw group mechanism, vice screw group mechanism carry out feedback compensation control.
Further, as preferred, main screw group mechanism includes main driving motor and fixes the main screw of main driving motor output, one side fixed connection to the one end of articulated arm of main driving motor's outer wall, the other end of articulated arm is articulated to the organism, the other end of articulated arm with the organism is the setting that can lock.
Further, preferably, at least two supporting foot rests are arranged at the bottom of the machine body, and an acute angle is formed between each supporting foot rest and the vertical direction.
Further, as a preference, a wireless communication module is further included, the wireless communication module is in communication connection with a remote control and display, and the remote control and display can receive the calculated fluctuation amplitude of the controller and the mapping information of the mapper through the wireless communication module.
Further, as preferred, still include the vision camera, the vision camera is installed on the organism, the vision camera passes through wireless communication module is connected to remote control and display.
Preferably, the main propeller group mechanism and the auxiliary propeller group mechanism are both provided with rotation speed sensors for detecting the rotation speeds of various propeller blades, and the rotation speed sensors are magnetoelectric, capacitive or variable reluctance rotation speed sensors.
Further, preferably, the pitch angle sensor group employs a three-axis gyroscope capable of outputting pitch angles in three orthogonal axes, and the fluctuation range in the unit time is an absolute value of a difference between a half of a sum of squares of pitch angle output values of each of the three orthogonal axes at a time T + Δ T and a half of a sum of squares of pitch angle output values of each of the three orthogonal axes at a time T, where Δ T is one unit time.
The invention has the following advantages: compared with the same type of equipment, the high-stability and high-precision geographic information mapping device provided by the invention has the following advantages:
(1) the high-stability high-precision geographic information mapping device is provided with the main propeller group mechanism and the auxiliary propeller group mechanism, so that the balance adjustment of the unmanned aerial vehicle can be realized according to the actual vibration amplitude condition, and the stability and the stationarity of the unmanned aerial vehicle during mapping are ensured; when the fluctuation amplitude is higher than a set threshold value, the controller adjusts the rotating speed of each blade of the main propeller group mechanism so as to reduce the fluctuation amplitude, so that the control stability can be effectively improved, the stability of the unmanned aerial vehicle during surveying and mapping is ensured, and the vibration and fluctuation of the unmanned aerial vehicle are reduced;
(2) the distance between each blade of the auxiliary propeller group mechanism and the gravity center of the machine body is a first distance, the distance between each blade of the main propeller group mechanism and the gravity center of the machine body is a second distance, the ratio of the first distance to the second distance is one third to one half, and the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism.
Drawings
Fig. 1 is a schematic diagram of a prior art drone for surveying and mapping;
FIG. 2 is a schematic view of a top side three dimensional structure of the present invention;
fig. 3 is a schematic front view of the present invention.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 3, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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 invention.
The invention provides a high-stability high-precision geographic information mapping device which comprises a machine body 8, a main propeller group mechanism 1, an auxiliary propeller group mechanism 3, a pitching angle sensor group, a mapper 7 and a controller, wherein the machine body 8 is provided with a plurality of expandable main propeller group mechanisms 1, the machine body 8 is provided with a plurality of auxiliary propeller group mechanisms 3, the sizes of all propeller blades of the auxiliary propeller group mechanisms 3 are the same, the sizes of all propeller blades of the main propeller group mechanism 1 are the same, the distance between each propeller blade of the auxiliary propeller group mechanism 3 and the gravity center of the machine body is a first distance, the distance between each propeller blade of the main propeller group mechanism 1 and the gravity center of the machine body is a second distance, and the ratio of the first distance to the second distance is one third to one half, the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism 1, and the pitching angle sensor group is arranged on the machine body and used for detecting the pitching angle of the machine body; the surveying instrument is installed at the bottom of the machine body, and the main propeller group mechanism 1, the auxiliary propeller group mechanism 3, the pitching angle sensor group and the surveying instrument 7 are all in control connection with the controller; the controller can calculate the fluctuation range of the pitch angle of the machine body in unit time according to the detection condition of the pitch angle sensor group, and when the fluctuation range is lower than or equal to a set threshold value during surveying and mapping by the surveying and mapping instrument, the controller only controls the rotating speed of each blade of the auxiliary propeller group mechanism to reduce the fluctuation range and keep the rotating speed of each blade of the main propeller group mechanism unchanged; the controller adjusts the rotational speed of each blade of the main rotor set mechanism so that the fluctuation range is reduced when the fluctuation range is higher than a set threshold value.
In this embodiment, for ease of control, the length dimension of each propeller blade of the secondary propeller group mechanism is less than one third of the length dimension of each propeller blade of the primary propeller group mechanism.
Vice oar group mechanism 3 includes propeller blade, vice driving motor and urceolus cover 2, propeller blade by vice driving motor drives, vice driving motor fixes the below of urceolus cover 2, a lateral wall fixed connection of urceolus cover is in on the organism, propeller blade is coaxial to be located in the urceolus cover, just the up end of urceolus cover with interval between propeller blade's the upper end is less than the third of urceolus cover internal diameter, and is greater than the fifth of urceolus cover internal diameter.
The top of organism still is provided with sensor group 4, sensor group includes air velocity transducer and wind direction sensor, sensor group can be right main screw group mechanism, vice screw group mechanism carry out feedback compensation control.
The main screw group mechanism comprises a main driving motor and a main screw fixed at the output end of the main driving motor, one side of the outer wall of the main driving motor is fixedly connected to one end of an articulated arm, the other end of the articulated arm is hinged to the machine body, and the other end of the articulated arm and the machine body are arranged in a lockable manner.
At least two supporting foot frames 6 are arranged at the bottom of the machine body, and the two supporting foot frames 6 are arranged at an acute angle with the vertical direction.
The invention also includes a wireless communication module in communication with a remote control and display capable of receiving the calculated fluctuation amplitude of the controller and the mapping information of the mapper through the wireless communication module.
The remote control and display device further comprises a visual camera 5, wherein the visual camera 5 is installed on the machine body and is connected to the remote control and display through the wireless communication module.
The main propeller group mechanism and the auxiliary propeller group mechanism are respectively provided with a rotating speed sensor for detecting the rotating speed of various propeller blades, and the rotating speed sensors adopt magnetoelectric, capacitive or variable reluctance rotating speed sensors; the main propeller group mechanism and the auxiliary propeller group mechanism are not at the same height.
The pitch angle sensor group adopts a three-axis gyroscope which can output pitch angles on three orthogonal axes, and the fluctuation amplitude in unit time is the absolute value of the difference between the half power of the square sum of the pitch angle output value of each axis in the three orthogonal axes at the T + delta T moment and the half power of the square sum of the pitch angle output value of each axis in the three orthogonal axes at the T moment, wherein delta T is one unit time; the auxiliary propeller group mechanism is positioned above the main propeller group mechanism.
The high-stability high-precision geographic information mapping device is provided with the main propeller group mechanism and the auxiliary propeller group mechanism, so that the balance adjustment of the unmanned aerial vehicle can be realized according to the actual vibration amplitude condition, and the stability and the stationarity of the unmanned aerial vehicle during mapping are ensured; when the fluctuation amplitude is higher than a set threshold value, the controller adjusts the rotating speed of each blade of the main propeller group mechanism so as to reduce the fluctuation amplitude, so that the control stability can be effectively improved, the stability of the unmanned aerial vehicle during surveying and mapping is ensured, and the vibration and fluctuation of the unmanned aerial vehicle are reduced; the distance between each blade of the auxiliary propeller group mechanism and the gravity center of the machine body is a first distance, the distance between each blade of the main propeller group mechanism and the gravity center of the machine body is a second distance, the ratio of the first distance to the second distance is one third to one half, and the maximum rotating speed of each blade of the auxiliary propeller group mechanism is lower than that of each blade of the main propeller group mechanism.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described, and the standard parts used in the present invention are all available on the market, the special-shaped parts can be customized according to the description and the accompanying drawings, the specific connection mode of each part adopts the conventional means of bolt and rivet, welding and the like mature in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a high accuracy geographic information mapping device of high stability, its includes organism, main screw group mechanism, vice screw group mechanism, every single move angle sensor group, surveying instrument and controller, wherein, be provided with a plurality of that can expand on the organism main screw group mechanism, be provided with a plurality of vice screw group mechanisms on the organism, each propeller blade's of vice screw group mechanism size is the same, each propeller blade's of main screw group mechanism size is the same, just each propeller blade of vice screw group mechanism with interval between the focus of organism is first interval, each propeller blade of main screw group mechanism with interval between the focus of organism is the second interval, its characterized in that, the ratio of first interval and second interval is between one third to one half, the maximum rotational speed of each paddle of vice screw group mechanism is less than the maximum rotational speed of each paddle of main screw group mechanism The pitching angle sensor group is arranged on the machine body and used for detecting the pitching angle of the machine body; the surveying instrument is installed at the bottom of the machine body, and the main propeller group mechanism, the auxiliary propeller group mechanism, the pitching angle sensor group and the surveying instrument are all in control connection with the controller; the controller can calculate the fluctuation range of the pitch angle of the machine body in unit time according to the detection condition of the pitch angle sensor group, and when the fluctuation range is lower than or equal to a set threshold value during surveying and mapping by the surveying and mapping instrument, the controller only controls the rotating speed of each blade of the auxiliary propeller group mechanism to reduce the fluctuation range and keep the rotating speed of each blade of the main propeller group mechanism unchanged; the controller adjusts the rotational speed of each blade of the main rotor set mechanism so that the fluctuation range is reduced when the fluctuation range is higher than a set threshold value.
2. The high-stability high-precision geographic information mapping apparatus according to claim 1, wherein: the length dimension of each propeller blade of the auxiliary propeller group mechanism is less than one third of the length dimension of each propeller blade of the main propeller group mechanism.
3. The high-stability high-precision geographic information mapping apparatus according to claim 1, wherein: vice oar group mechanism revolves includes propeller blade, vice driving motor and urceolus cover, propeller blade by vice driving motor drives, vice driving motor fixes the below of urceolus cover, a lateral wall fixed connection of urceolus cover is in on the organism, propeller blade is coaxial to be located in the urceolus cover, just the up end of urceolus cover with interval between propeller blade's the upper end is less than the third of urceolus cover internal diameter, and is greater than the fifth of urceolus cover internal diameter.
4. The high-stability high-precision geographic information mapping apparatus according to claim 1, wherein: the top of organism still is provided with sensor group, sensor group includes air velocity transducer and wind direction sensor, sensor group can be right main screw group mechanism, vice screw group mechanism carry out feedback compensation control.
5. A high-stability high-precision geographical information mapping apparatus according to claim 3, wherein: the main screw group mechanism comprises a main driving motor and a main screw fixed at the output end of the main driving motor, one side of the outer wall of the main driving motor is fixedly connected to one end of an articulated arm, the other end of the articulated arm is hinged to the machine body, and the other end of the articulated arm and the machine body are arranged in a lockable manner.
6. The high-stability high-precision geographic information mapping apparatus according to claim 1, wherein: at least two supporting foot frames are arranged at the bottom of the machine body, and an acute angle is formed between each supporting foot frame and the vertical direction.
7. A high-stability high-precision geographical information mapping apparatus according to claim 3, wherein: further comprising a wireless communication module in communication with a remote control and display capable of receiving the calculated fluctuation amplitude of the controller and mapping information of the mapper through the wireless communication module.
8. The high-stability high-precision geographic information mapping apparatus according to claim 7, wherein: still include the vision camera, the vision camera is installed on the organism, the vision camera passes through wireless communication module is connected to remote control and display.
9. A high-stability high-precision geographical information mapping apparatus according to claim 8, wherein: the main propeller group mechanism and the auxiliary propeller group mechanism are respectively provided with a rotating speed sensor for detecting the rotating speed of various propeller blades, and the rotating speed sensors adopt magnetoelectric, capacitive or variable reluctance rotating speed sensors; the main propeller group mechanism and the auxiliary propeller group mechanism are not at the same height.
10. A high-stability high-precision geographical information mapping apparatus according to claim 9, wherein: the pitch angle sensor group adopts a three-axis gyroscope which can output pitch angles on three orthogonal axes, and the fluctuation amplitude in unit time is the absolute value of the difference between the half power of the square sum of the pitch angle output value of each axis in the three orthogonal axes at the T + delta T moment and the half power of the square sum of the pitch angle output value of each axis in the three orthogonal axes at the T moment, wherein delta T is one unit time; the auxiliary propeller group mechanism is positioned above the main propeller group mechanism.
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Cited By (2)

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CN114488165A (en) * 2022-02-11 2022-05-13 山东省地质矿产勘查开发局第一地质大队(山东省第一地质矿产勘查院) Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle
CN114524088A (en) * 2022-02-24 2022-05-24 黄河水利职业技术学院 Multifunctional unmanned aerial vehicle for oblique photography surveying and mapping geographic information

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CN106980322A (en) * 2016-01-18 2017-07-25 纬创资通股份有限公司 Multi-axis unmanned aerial vehicle, balance control method thereof and computer program product
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Publication number Priority date Publication date Assignee Title
CN114488165A (en) * 2022-02-11 2022-05-13 山东省地质矿产勘查开发局第一地质大队(山东省第一地质矿产勘查院) Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle
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CN114524088B (en) * 2022-02-24 2022-11-11 黄河水利职业技术学院 Multifunctional unmanned aerial vehicle for oblique photography surveying and mapping geographic information

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