CN113371196B - High remote sensing survey and drawing unmanned aerial vehicle of security - Google Patents
High remote sensing survey and drawing unmanned aerial vehicle of security Download PDFInfo
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- CN113371196B CN113371196B CN202110799999.0A CN202110799999A CN113371196B CN 113371196 B CN113371196 B CN 113371196B CN 202110799999 A CN202110799999 A CN 202110799999A CN 113371196 B CN113371196 B CN 113371196B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The invention discloses a high-safety remote sensing and mapping unmanned aerial vehicle, which comprises a body, wherein wings are arranged on two sides of the body, a front propeller is arranged in front of the body, and a tail rudder is arranged at the tail of the body; the two wings are symmetrically and respectively fixed with a fixed rod parallel to the machine body, the two ends of each fixed rod are rotatably provided with vertical propellers, and each vertical propeller can be driven to rotate by a vertical motor fixed in the fixed rod; a plurality of arc-shaped protective blocking pieces are distributed at the bottom of the vertical propeller along the circumferential direction of the vertical propeller, the protective blocking pieces are connected with the fixed rod through protective rods, and the protective rods can adjust the distance between the protective blocking pieces and the center of the vertical propeller; compared with the prior art, the invention can realize a vertical lifting mode and a fixed wing mode, and has the advantages of good maneuverability, high mapping efficiency and large moving range. And the protective separation blade can be opened and closed, a protective net is formed between the protective separation blade and the protective rope, the safety is high when the protective net is close to the ground, and the air resistance is small when the protective net is high above the ground.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a remote sensing surveying and mapping unmanned aerial vehicle with high safety.
Background
The unmanned aerial vehicle for remote sensing and mapping can automatically, intelligently and specially and quickly acquire space remote sensing information of national resources, natural environment, earthquake disaster areas and the like by utilizing the unmanned aerial vehicle technology, the remote sensing sensor technology, the remote sensing technology and the communication technology.
The existing remote sensing surveying and mapping unmanned aerial vehicle can be divided into two types, namely a fixed wing type unmanned aerial vehicle and an unmanned helicopter according to flight characteristics, the fixed wing type unmanned aerial vehicle realizes take-off and landing and flight through sliding of a power system and wings, the wind resistance is strong, the speed is high, the surveying and mapping efficiency is high, the endurance time is long, but the take-off and landing of the fixed wing type unmanned aerial vehicle needs a relatively open field, sliding needs to be carried out on a runway, and the use scene is limited; the unmanned helicopter has the technical advantages of capability of taking off and landing at fixed points, low requirement on the taking-off and landing site, good maneuverability, better obstacle avoidance capability, capability of floating at fixed points, low flying speed, small effective surveying and mapping range and short endurance, and is mainly applied to investigation of emergency events.
The unmanned aerial vehicle that can take off and land now is in the low easy personnel of hitting of aerial screw, the building, obstacles such as branch, the incident takes place at the in-process of taking off and land easily, current unmanned aerial vehicle protects the security that can improve it to the screw through at the screw plus protection casing, nevertheless do not have the barrier when high altitude and high-speed flight, the protection casing becomes drag on the contrary, air resistance has been increased, the flying speed has been restricted, and the protection casing also disturbs the air current easily, produce the influence to unmanned aerial vehicle's operation.
Therefore, it is necessary to provide a high safety remote sensing surveying and mapping unmanned aerial vehicle to solve the problems in the background art.
Disclosure of Invention
In order to achieve the purpose, the invention provides the following technical scheme: a high-safety remote sensing surveying and mapping unmanned aerial vehicle comprises a vehicle body, wherein wings are arranged on two sides of the vehicle body, a front propeller is arranged in front of the vehicle body, and a tail rudder is arranged at the tail of the vehicle body; the two wings are symmetrically and respectively fixed with a fixed rod parallel to the machine body, the two ends of the fixed rod are rotatably provided with vertical propellers, and each vertical propeller can be driven to rotate by a vertical motor fixed in the fixed rod;
a plurality of arc-shaped protective blocking pieces are distributed at the bottom of the vertical propeller along the circumferential direction of the vertical propeller, the protective blocking pieces are connected with the fixed rod through protective rods, and the protective rods can adjust the distance between the protective blocking pieces and the center of the vertical propeller;
when each protective separation blade moves to the nearest distance from the center of the vertical propeller, a plurality of protective separation blades jointly form a closed cylinder; the inside of the machine body also comprises a remote sensing mapping system; rotatable spoilers are arranged in the wings and the tail rudder.
Further, as a preferred option, the guard bar is connected with the fixing bar by spokes:
many the spoke is fixed in the dead lever with perpendicular screw center outwards radiation ground, set up the spout in the spoke, the guard bar with the spout cooperation slidable ground is connected, the guard bar end and protection separation blade below fixed connection.
Further, preferably, a groove is formed in the protective blocking piece in the direction close to the center of the vertical propeller, penetrates through the upper end face of the protective blocking piece, a sliding piece is arranged in the groove in a matched mode, and the sliding piece and the groove are connected in a vertically sliding mode;
and when the sliding piece slides to the lowest position, the upper end surface of the sliding piece is positioned below the vertical screw propeller, and when the sliding piece slides to the highest position, the upper end surface of the sliding piece is positioned above the vertical screw propeller.
Further, preferably, each sliding sheet is connected with the corresponding spoke through a third connecting rod, a second connecting rod and a first connecting rod:
the spoke is hinged with a first connecting rod, the other end of the first connecting rod is hinged to one end of a second connecting rod, the center of the second connecting rod is hinged to the side face of the protection rod, and the hinged point of the first connecting rod and the second connecting rod is located below the protection rod; one end, far away from the first connecting rod, of the second connecting rod is hinged with a third connecting rod, and the other end of the third connecting rod is hinged into the sliding piece;
and when the distance between the protecting separation blade and the center of the vertical screw exceeds the radius of the vertical screw, the slip sheet is higher than the vertical screw.
Further, preferably, the guard bar adjusts the sliding position thereof by adjusting a turntable:
the adjusting turntable is rotationally connected with the fixed rod and the vertical propeller is concentric, a plurality of arc-shaped clamping grooves which are communicated with the upper surface and the lower surface and extend outwards from the arc of the circle center are distributed on the periphery of the adjusting turntable, a sliding pin is fixed at one end, far away from the protective blocking piece, of the protective rod, and the sliding pin is limited in the corresponding arc-shaped clamping groove.
Further, preferably, an adjusting gear is fixed at the center of the adjusting turntable, an adjusting rack is meshed at one side of the adjusting gear, and the adjusting rack is parallel to the fixing rod and is slidably connected with the fixing rod.
Further, preferably, the adjusting gear is driven by the first transmission gear to rotate through the adjusting rack so as to drive the adjusting turntable to rotate:
the first transmission gear is rotatably connected in the wing, the first transmission gear is the same as the two corresponding adjusting gears on the same fixed rod in size and is positioned on the same straight line, and two sides of the first transmission gear are respectively meshed with adjusting racks connected in the two corresponding adjusting gears on the same fixed rod.
Further, preferably, the first transmission gear is concentrically and fixedly connected with the second transmission gear, the second transmission gear is rotatably connected with the wings, one side of the second transmission gear is meshed with a transmission rack, and the transmission rack is slidably connected with the wings;
the second transmission gear is driven by the driving gear to rotate through the transmission rack:
two transmission gears II connected with wings on two sides are the same as the driving gear in size and are positioned on the same straight line, and two sides of the driving gear are respectively meshed with transmission racks connected with the two transmission gears II;
and a servo motor is connected in the driving gear.
Further, as an optimization, a plurality of protection ropes are connected between two adjacent protection blocking pieces/sliding pieces, two ends of each protection rope are respectively fixed in accommodating holes formed in the side surfaces of the two protection blocking pieces/sliding pieces, each protection rope is an elastic rope, and when the two adjacent protection blocking pieces/sliding pieces are attached, each protection rope can retract into the corresponding accommodating hole;
when each protective separation blade moves to the farthest distance from the center of the vertical propeller, the distance between the protective rope and the center of the vertical propeller is larger than the radius of the vertical propeller;
and a broken notch is arranged at the position, corresponding to the fixed rod, in the ring formed by the protective separation blade/sliding blade and the protective rope.
Further, as preferred, including laser range finding system in the organism, laser range finding system includes vertical range finding device and horizontal range finding device, laser range finding system carries out feedback control to preceding screw and the operation of vertical screw:
the vertical distance measuring device is provided with a controllable threshold A, and the horizontal distance measuring device is provided with a controllable threshold B;
when the A/B is within the threshold value, the vertical propeller runs, the front propeller stops running, the protective separation blade extends out to the farthest distance, and the equipment is in a vertical lifting mode;
when the A and the B exceed the threshold values, the vertical propeller stops running, the front propeller runs, the protective blocking piece retracts to the nearest distance, and the equipment is in a fixed wing mode;
the laser ranging system also performs feedback control on the rotating speed of the front propeller and the vertical propeller and the deflection angle of the spoilers of the wings and the tail vane so as to realize the obstacle avoidance function.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the front propeller and the vertical propeller are subjected to feedback control through the laser ranging system, so that the front propeller and the vertical propeller are in a vertical lift mode when approaching the ground, can vertically take off and control the height, are good in maneuverability and strong in obstacle avoidance capability, and are in a fixed wing mode when in high altitude, so that the laser ranging system is high in operation speed, high in surveying and mapping efficiency and large in moving range.
According to the invention, the protective net is formed by extending the protective barrier and the protective rope when the air flow is close to the ground, so that the safety of personnel can be protected and the vertical propeller can be prevented from hitting the branch and other obstacles when the air flow is close to the ground, and the air resistance of the protective barrier can be reduced by retracting the protective barrier when the air flow is high, so that the protective barrier can be prevented from disturbing the air flow.
Drawings
Fig. 1 is a schematic structural diagram of a remote sensing surveying and mapping unmanned aerial vehicle with high safety;
FIG. 2 is a schematic view of a protective barrier of the remote sensing surveying and mapping unmanned aerial vehicle with high safety;
FIG. 3 is a schematic structural view of a protective barrier projection surface of the remote sensing surveying and mapping unmanned aerial vehicle with high safety;
FIG. 4 is a schematic diagram of a transmission rack structure of a high-safety remote sensing surveying and mapping unmanned aerial vehicle;
FIG. 5 is a schematic diagram of a protective rope structure of a high-safety remote sensing surveying and mapping unmanned aerial vehicle;
in the figure: 1. a body; 2. an airfoil; 3. a front propeller; 4. a tail rudder; 5. a fixing rod; 51. adjusting the rack; 52. a first transmission gear; 53. a second transmission gear; 54. a drive rack; 55. a driving gear; 6. a vertical propeller; 61. a vertical motor; 7. a protective baffle sheet; 71. sliding a sheet; 8. a guard bar; 81. spokes; 82. a first connecting rod; 83. a second connecting rod; 84. a third connecting rod; 85. adjusting the turntable; 86. an arc-shaped clamping groove; 87. a slide pin; 88. adjusting the gear; 9. a protective rope.
Detailed Description
Referring to fig. 1, in the embodiment of the invention, a high-safety remote sensing surveying and mapping unmanned aerial vehicle comprises a body 1, wings 2 are arranged on two sides of the body 1, a front propeller 3 is arranged in front of the body 1, and a tail rudder 4 is arranged at the tail of the body; wherein, two fixed rods 5 parallel to the body 1 are symmetrically fixed in each of the two wings 2, vertical propellers 6 are rotatably arranged at two ends of each fixed rod 5, and each vertical propeller 6 can be driven to rotate by a vertical motor 61 fixed in the fixed rod 5;
a plurality of arc-shaped protective blocking pieces 7 are distributed at the bottom of the vertical propeller 6 along the circumferential direction of the vertical propeller, the protective blocking pieces 7 are connected with the fixed rod 5 through protective rods 8, and the protective rods 8 can adjust the distance between the protective blocking pieces 7 and the center of the vertical propeller 6;
when each piece of the protective separation blade 7 moves to the nearest distance from the center of the vertical propeller 6, the plurality of protective separation blades 7 together form a closed cylinder;
the body 1 further comprises a remote sensing and mapping system, and the remote sensing and mapping system maps and maps by using electromagnetic wave signals reflected, scattered or emitted by the ground features received by the sensor, which is not repeated herein for the effect that can be realized by the prior art;
rotatable spoilers are arranged in the wings 2 and the tail rudder 4.
Referring to fig. 2, in the present embodiment, the protection rod 8 is connected to the fixing rod 5 through a spoke 81:
many the spoke 81 with perpendicular 6 central outward radiation of screw fix in dead lever 5, set up the spout in the spoke 81, guard bar 8 with spout cooperation slidable ground is connected, 8 terminal and the protection separation blade 7 below fixed connection of guard bar.
In this embodiment, a groove is formed in the protective baffle 7 in a direction close to the center of the vertical propeller 6, the groove penetrates through the upper end face of the protective baffle 7, a sliding sheet 71 is arranged in the groove in a matched manner, and the sliding sheet 71 and the groove are connected in a vertically sliding manner;
and when the sliding sheet 71 slides to the lowest position, the upper end surface of the sliding sheet is positioned below the vertical screw propeller 6, and when the sliding sheet 71 slides to the highest position, the upper end surface of the sliding sheet is positioned above the vertical screw propeller 6.
In this embodiment, each sliding blade 71 is connected to the corresponding spoke 81 through a third connecting rod 84, a second connecting rod 83, and a first connecting rod 82:
a first connecting rod 82 is hinged in the spoke 81, the other end of the first connecting rod 82 is hinged to one end of a second connecting rod 83, the center of the second connecting rod 83 is hinged to the side face of the guard bar 8, and the hinged point of the first connecting rod 82 and the second connecting rod 83 is located below the guard bar 8; one end of the second connecting rod 83, far away from the first connecting rod 82, is hinged with a third connecting rod 84, and the other end of the third connecting rod 84 is hinged into the sliding piece 71;
that is, when the guard bar 8 slides to make the guard flap 7 away from the center of the vertical propeller 6, the first connecting rod 82 pulls the second connecting rod 83 to rotate, and the third connecting rod 84 pushes the sliding piece 84 to slide upwards, so that the sliding piece can protect the periphery of the vertical propeller 6, and vice versa;
moreover, the sliding piece 71 is linked with the third connecting rod 84, the second connecting rod 83 and the first connecting rod 82, so that when the distance between the protective barrier 7 and the center of the vertical propeller 6 is smaller than the radius of the vertical propeller 6, the sliding piece 71 is positioned below the vertical propeller 6, and when the distance between the protective barrier 7 and the center of the vertical propeller 6 exceeds the radius of the vertical propeller 6, the sliding piece 71 is higher than the vertical propeller 6.
Referring to fig. 3, in the present embodiment, the sliding position of the protection rod 8 is adjusted by the adjusting turntable 85:
the adjusting turntable 85 is rotatably connected with the fixed rod 5 and is concentric with the vertical propeller 6, a plurality of arc-shaped clamping grooves 86 which penetrate through the upper surface and the lower surface and extend outwards in an arc shape are distributed on the circumference of the adjusting turntable 85, a sliding pin 87 is fixed at one end of the protective rod 8, which is far away from the protective baffle 7, and each sliding pin 87 is limited in the corresponding arc-shaped clamping groove 86;
that is, when the adjusting turntable 85 rotates, the position of the sliding pin 87 in the arc-shaped slot 86 can be changed to be close to or far from the center of the adjusting turntable 85, so as to push the protective rod 8 to slide in the spoke 81, so that the protective baffle 7 is close to or far from the center of the vertical propeller 6.
In this embodiment, an adjusting gear 88 is fixed at the center of the adjusting turntable 85, an adjusting rack 51 is engaged with one side of the adjusting gear 88, and the adjusting rack 51 is parallel to and slidably connected with the fixing rod 5.
Referring to fig. 4, in the present embodiment, the adjusting gear 88 is driven by the first transmission gear 52 to rotate through the adjusting rack 51, so as to drive the adjusting turntable 85 to rotate:
the first transmission gear 52 is rotatably connected in the airfoil 2, the first transmission gear 52 and two corresponding adjusting gears 88 on the same fixing rod 5 are the same in size and are located on the same straight line, and two sides of the first transmission gear 52 are respectively meshed with the adjusting racks 51 connected in the two corresponding adjusting gears 88 on the same fixing rod 5.
In this embodiment, the first transmission gear 52 and the second transmission gear 53 are concentrically and fixedly connected, the second transmission gear 53 is rotatably connected with the wing 2, one side of the second transmission gear 53 is engaged with a transmission rack 54, and the transmission rack 54 is slidably connected with the wing 2;
the second transmission gear 53 is driven by the driving gear 55 to rotate through the transmission rack 54:
the two transmission gears 53 connected with the two wings 2 are the same in size with the driving gear 55 and are positioned on the same straight line, and the two sides of the driving gear 55 are respectively meshed with the transmission racks 54 connected with the two transmission gears 53;
and, a servo motor is connected to the driving gear 55.
Referring to fig. 5, a plurality of protection ropes 9 are connected between two adjacent protection blocking pieces 7/sliding pieces 71, the two ends of each protection blocking piece are respectively fixed in accommodating holes formed in the side surfaces of the two protection blocking pieces 7/sliding pieces 71, each protection rope 9 is an elastic rope, and when the two adjacent protection blocking pieces 7/sliding pieces 71 are attached to each other, the protection ropes 9 can retract into the accommodating holes;
when each protective baffle 7 moves to the farthest distance from the center of the vertical propeller 6, the distance between the protective rope 9 and the center of the vertical propeller 6 is larger than the radius of the vertical propeller 6, and the protective rope 9 is close to the extension limit;
the position of the annular formed by the protective separation blade 7/sliding blade 71 and the protective rope 9 and corresponding to the fixed rod 5 is provided with a disconnected notch, so that the protective effect is not influenced, and the protective rope 9 and the fixed rod 5 are prevented from colliding.
In this embodiment, the machine body 1 includes a laser ranging system, the laser ranging system includes a vertical ranging device and a horizontal ranging device, and the laser ranging system performs feedback control on the operation of the front propeller 3 and the vertical propeller 6:
the vertical distance measuring device is provided with a controllable threshold A, and the horizontal distance measuring device is provided with a controllable threshold B;
when the A/B is within the threshold value, the vertical propeller 6 operates, the front propeller 3 stops operating, the protective baffle 7 extends out to the farthest distance, and the equipment is in a vertical lifting mode;
when both the A and the B exceed the threshold values, the vertical propeller 6 stops running, the front propeller 3 runs, the protective baffle 7 retracts to the nearest distance, and the equipment is in a fixed wing mode;
the laser ranging system further performs feedback control on the rotating speed of the front propeller 3 and the vertical propeller 6 and the deflection angle of the spoilers of the wings 2 and the tail vane 4 so as to achieve the obstacle avoidance function, and the obstacle avoidance functions of the helicopter mode and the fixed wing mode are the effects which can be achieved by the prior art and are not repeated here.
During specific implementation, the front propeller 3 and the vertical propeller 6 are subjected to feedback control through the laser ranging system, automatic topographic mapping can be realized by utilizing electromagnetic wave signals reflected, scattered or transmitted by a ground object received by the remote sensing mapping system in a set area, and the laser ranging system also performs feedback control on the rotating speeds of the front propeller 3 and the vertical propeller 6 and the deflection angles of spoilers of the wings 2 and the tail vane 4 so as to achieve an obstacle avoidance function;
the device is in a vertical lift mode when being close to the ground, can vertically take off and control the height, has good maneuverability and strong obstacle avoidance capacity, can protect the safety of personnel and prevent the vertical propeller 6 from hitting branches and other obstacles when being close to the ground by extending out the protective barrier 7 and forming a protective net between the protective rope and the protective barrier, is in a fixed wing mode when being high, has high running speed, high surveying and mapping efficiency and large moving range, and can reduce the air resistance of the protective barrier 7 by retracting the protective barrier 7 to prevent the protective barrier 7 from disturbing the airflow; the specific control mode of the protective baffle 7 is as follows:
when the vertical propeller 6 runs, a servo motor connected in the driving gear 55 drives the vertical propeller to rotate, a transmission gear II 53 and a transmission gear I52 in the wings 2 on two sides are driven to rotate through the transmission rack 54, and an adjusting rack 51 meshed with the transmission gear I52 side drives the adjusting gear 85 to rotate, so that the adjusting turntable 85 rotates;
when the adjusting turntable 85 rotates, the position of the sliding pin 87 in the arc-shaped clamping groove 86 can be changed to be close to or far away from the center of the adjusting turntable 85, so that the protective rod 8 is pushed to slide in the spoke 81, and the protective baffle 7 is far away from the center of the vertical propeller 6;
meanwhile, when the protective barrier 7 is far away from the center of the vertical propeller 6 due to the sliding of the protective rod 8, the first connecting rod 82 pulls the second connecting rod 83 to rotate, and the third connecting rod 84 pushes the sliding piece 84 to slide upwards, so that the sliding piece can protect the periphery of the vertical propeller 6;
and the protective ropes 9 in the two adjacent protective baffles 7/sliding sheets 71 are stretched by pulling force to form a protective net.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (6)
1. A remote sensing surveying and mapping unmanned aerial vehicle with high safety comprises a machine body (1), wings (2) are arranged on two sides of the machine body (1), a front propeller (3) is arranged in front of the machine body, and a tail rudder (4) is arranged at the tail of the machine body; the aircraft is characterized in that two fixed rods (5) parallel to the aircraft body (1) are symmetrically fixed in the two wings (2), two ends of each fixed rod (5) are rotatably provided with vertical propellers (6), and each vertical propeller (6) can be driven to rotate by a vertical motor (61) fixed in the fixed rod (5);
a plurality of arc-shaped protective blocking pieces (7) are distributed at the bottom of the vertical propeller (6) along the circumferential direction of the vertical propeller, the protective blocking pieces (7) are connected with the fixed rod (5) through protective rods (8), and the protective rods (8) can adjust the distance between the protective blocking pieces (7) and the center of the vertical propeller (6);
when each protective blocking piece (7) moves to the nearest distance from the center of the vertical propeller (6), the protective blocking pieces (7) enclose a closed cylinder shape together;
the body (1) also comprises a remote sensing mapping system;
rotatable spoilers are arranged in the wings (2) and the tail rudder (4);
guard bar (8) are connected with dead lever (5) through spoke (81):
the spokes (81) are fixed in the fixing rod (5) in a manner of extending outwards in a radiation manner from the center of the vertical propeller (6), sliding grooves are formed in the spokes (81), the protection rod (8) is matched and slidably connected with the sliding grooves, and the tail ends of the protection rods (8) are fixedly connected with the lower part of the protection blocking piece (7);
the guard bar (8) adjusts the sliding position thereof through an adjusting turntable (85):
the adjusting turntable (85) is rotatably connected with the fixed rod (5) and is concentric with the vertical propeller (6), a plurality of arc-shaped clamping grooves (86) which penetrate through the upper surface and the lower surface and extend outwards in an arc shape are distributed on the periphery of the adjusting turntable (85), sliding pins (87) are fixed at one end, far away from the protective blocking piece (7), of the protective rod (8), and each sliding pin (87) is limited in the corresponding arc-shaped clamping groove (86);
an adjusting gear (88) is fixed at the center of the adjusting turntable (85), one side of the adjusting gear (88) is engaged with an adjusting rack (51), and the adjusting rack (51) is parallel to the fixed rod (5) and is connected with the fixed rod in a sliding manner;
the adjusting gear (88) is driven by the first transmission gear (52) to rotate through the adjusting rack (51) to drive the adjusting turntable (85) to rotate:
the first transmission gear (52) is rotatably connected in the wing (2), the first transmission gear (52) and two corresponding adjusting gears (88) on the same fixing rod (5) are the same in size and are located on the same straight line, and two sides of the first transmission gear (52) are respectively meshed with adjusting racks (51) connected in the two corresponding adjusting gears (88) on the same fixing rod (5).
2. The unmanned aerial vehicle for remote sensing surveying and mapping with high safety according to claim 1, wherein a groove is formed in the protective baffle (7) in the direction close to the center of the vertical propeller (6), the groove penetrates through the upper end face of the protective baffle (7), a sliding sheet (71) is arranged in the groove in a matching manner, and the sliding sheet (71) is connected with the groove in a vertically sliding manner;
and when the sliding sheet (71) slides to the lowest position, the upper end surface of the sliding sheet is positioned below the vertical screw propeller (6), and when the sliding sheet (71) slides to the highest position, the upper end surface of the sliding sheet is positioned above the vertical screw propeller (6).
3. The unmanned aerial vehicle for remote sensing surveying and mapping with high safety according to claim 2, wherein each sliding piece (71) is connected with the corresponding spoke (81) through a third connecting rod (84), a second connecting rod (83) and a first connecting rod (82):
a first connecting rod (82) is hinged in the spoke (81), the other end of the first connecting rod (82) is hinged to one end of a second connecting rod (83), the center of the second connecting rod (83) is hinged to the side face of the guard bar (8), and the hinged point of the first connecting rod (82) and the second connecting rod (83) is located below the guard bar (8); one end, far away from the first connecting rod (82), of the second connecting rod (83) is hinged with a third connecting rod (84), and the other end of the third connecting rod (84) is hinged into the sliding piece (71);
and when the sliding sheet (71) is linked with the third connecting rod (84), the second connecting rod (83) and the first connecting rod (82) so that the central distance between the protective blocking sheet (7) and the vertical propeller (6) is smaller than the radius of the vertical propeller (6), the sliding sheet (71) is positioned below the vertical propeller (6), and when the central distance between the protective blocking sheet (7) and the vertical propeller (6) exceeds the radius of the vertical propeller (6), the sliding sheet (71) is higher than the vertical propeller (6).
4. The unmanned aerial vehicle for remote sensing mapping with high safety as claimed in claim 1, wherein the first transmission gear (52) is concentrically and fixedly connected with the second transmission gear (53), the second transmission gear (53) is rotatably connected with the wing (2), one side of the second transmission gear (53) is engaged with a transmission rack (54), and the transmission rack (54) is slidably connected with the wing (2);
the second transmission gear (53) is driven by a driving gear (55) to rotate through a transmission rack (54):
two transmission gears (53) connected with the wings (2) on the two sides are the same as the driving gear (55) in size and are positioned on the same straight line, and the two sides of the driving gear (55) are respectively meshed with transmission racks (54) connected in the two transmission gears (53);
and a servo motor is connected in the driving gear (55).
5. The remote sensing surveying and mapping unmanned aerial vehicle with high safety according to claim 1, wherein a plurality of protective ropes (9) are connected between two adjacent protective separation blades (7)/sliding pieces (71), two ends of each protective rope (9) are respectively fixed in accommodating holes formed in the side surfaces of the two protective separation blades (7)/sliding pieces (71), each protective rope (9) is an elastic rope, and when the two adjacent protective separation blades (7)/sliding pieces (71) are attached, each protective rope (9) can retract into the corresponding accommodating hole;
when each protective baffle (7) moves to the farthest distance from the center of the vertical propeller (6), the distance between the protective rope (9) and the center of the vertical propeller (6) is greater than the radius of the vertical propeller (6);
and a broken notch is arranged at the position corresponding to the fixed rod (5) in the ring formed by the protective separation blade (7)/the sliding sheet (71) and the protective rope (9).
6. The unmanned aerial vehicle for remote sensing mapping with high safety as claimed in claim 1, wherein the body (1) comprises a laser ranging system, the laser ranging system comprises a vertical ranging device and a horizontal ranging device, and the laser ranging system performs feedback control on the operation of the front propeller (3) and the vertical propeller (6):
the measured value of the vertical distance measuring device is A, and the measured value of the horizontal distance measuring device is B;
when A and/or B is within a set threshold value, the vertical propeller (6) operates, the front propeller (3) stops operating, the protective separation blade (7) extends out for the farthest distance, and the equipment is in a vertical lifting mode;
when both the A and the B exceed the set threshold values, the vertical propeller (6) stops running, the front propeller (3) runs, the protective baffle (7) retracts to the nearest distance, and the equipment is in a fixed wing mode;
the laser ranging system also performs feedback control on the rotating speeds of the front propeller (3) and the vertical propeller (6) and the deflection angles of spoilers of the wings (2) and the tail rudder (4) so as to realize an obstacle avoidance function.
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| CN116238730B (en) * | 2023-01-13 | 2023-09-12 | 山东省核工业二四八地质大队 | Intelligent low altitude remote sensing survey and drawing structure |
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