CN113390396B

CN113390396B - CH unmanned aerial vehicle airborne laser radar synthesizes aerial survey system

Info

Publication number: CN113390396B
Application number: CN202110698340.6A
Authority: CN
Inventors: 柯尊杰; 阚博才; 张然; 朱振宇
Original assignee: Beijing Zhongke Tianhua Remote Sensing Technology Co ltd
Current assignee: Beijing Zhongke Tianhua Remote Sensing Technology Co ltd
Priority date: 2021-06-23
Filing date: 2021-06-23
Publication date: 2022-05-27
Anticipated expiration: 2041-06-23
Also published as: CN113390396A

Abstract

The invention discloses a CH unmanned aerial vehicle airborne laser radar comprehensive aerial survey system, which comprises an unmanned aerial vehicle and a ground base station, wherein the unmanned aerial vehicle comprises an aerial survey control system, a GPS navigation system, a flight control system and a signal transmission system, the unmanned aerial vehicle is provided with a laser radar, a camera, a mounting unit for reducing high-frequency vibration generated by the camera and a visual angle adjusting unit for driving the camera to rotate to increase the shooting range, the aerial survey control system measures the position coordinate of the unmanned aerial vehicle by using the GPS navigation system, and the unmanned aerial vehicle flies according to a planned route by matching with the flight control system, and the camera sends shot image information to the ground base station through the signal transmission system. According to the invention, through the design of the mounting unit, the shock absorption effect can be achieved, so that the influence on the aerial survey work is reduced; through the design of visual angle regulating unit, can increase the visual angle and shoot the position, can reflect the actual conditions of ground object more really, compensatied the not enough of orthophoto.

Description

CH unmanned aerial vehicle airborne laser radar synthesizes aerial survey system

Technical Field

The invention relates to the technical field of aerial survey of unmanned aerial vehicles, in particular to a CH unmanned aerial vehicle airborne laser radar comprehensive aerial survey system.

Background

Photogrammetry and remote sensing of unmanned aerial vehicles, also called aerial survey, is an important research topic in the field of aerospace, and is widely applied in the fields of national major engineering construction, disaster emergency and treatment, national soil supervision, resource development and the like. The key technology of aerial survey is image acquisition and processing technology, and the acquired image is required to have higher imaging effect and imaging quality and can be transmitted in real time.

However, the high-frequency vibration of the airframe structure caused by the change of the airflow and the high-speed running of the engine during the flight of the unmanned aerial vehicle can affect the normal operation of the aerial survey system installed inside the airframe, and the generated surveying and mapping image is blurred.

On the other hand, the traditional aerial photography technology can only shoot from a vertical angle, cannot truly reflect the actual situation of the ground object, and has insufficient orthoimage.

Disclosure of Invention

The invention aims to provide a CH unmanned aerial vehicle airborne laser radar comprehensive aerial survey system to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: CH unmanned aerial vehicle carries laser radar and synthesizes aerial survey system, including unmanned aerial vehicle and ground base station, unmanned aerial vehicle includes aerial survey control system, GPS navigation system, flight control system and signal transmission system, unmanned aerial vehicle is last to be loaded with laser radar, camera, reduce the mount unit that the camera produced high frequency vibration, drive camera rotation increase the visual angle regulating unit of shooting range, the camera includes camera unit and storage unit, aerial survey control system utilizes GPS navigation system to determine unmanned aerial vehicle's position coordinate, cooperates with flight control system, lets unmanned aerial vehicle fly according to the planning course, thereby realizes unmanned aerial vehicle's automatic control, the camera sends the image information of shooing to ground base station through signal transmission system, laser radar is used for surveying the position of target, camera unit is used for acquireing image data, the storage unit is used for realizing the analysis and storage of the camera shooting data.

Preferably, the carry unit is used for connecting unmanned aerial vehicle and visual angle regulating unit, the carry unit includes the bottom plate, the upper surface of bottom plate is provided with the sleeve, the sleeve is the equal open-ended drum in upper and lower both ends, telescopic up end is provided with the ring, the top of ring is provided with the roof, connect through bolt activity between roof and the ring, just be located telescopic inside and be provided with the spring between the opposite face of roof and bottom plate, just the outside that is located the spring on the lower surface of roof and the upper surface of bottom plate all is provided with the spacing ring, the bottom plate links to each other with visual angle regulating unit, the roof links to each other with unmanned aerial vehicle.

Preferably, the visual angle adjusting unit is connected with the camera, the visual angle adjusting unit comprises a mounting plate, a motor and a bearing seat are respectively installed on the upper side and the lower side of the mounting plate, a bearing is installed inside the bearing seat, a rotating shaft is installed inside the bearing, the output end of the motor penetrates through the mounting plate and is provided with a motor gear, a driven gear is installed on the rotating shaft and is positioned below the motor gear, a synchronous toothed belt is arranged between the motor gear and the driven gear, an installation box is arranged on the end face of the rotating shaft, away from the driven gear, of the rotating shaft, a second bearing seat and a motor seat are respectively arranged on the left side and the right side of the inner lower surface of the installation box, a second bearing is installed inside the second bearing seat, a second rotating shaft is installed inside the second bearing, and a second motor is installed on the motor seat, the output end of the second motor is provided with a motor bevel gear, a driven bevel gear is arranged on the second rotating shaft and inside the installation box, the motor bevel gear is meshed with the driven bevel gear in a tooth-to-tooth manner, and the camera is installed on the lower end face of the second rotating shaft.

Preferably, the number of the first bearing and the second bearing is two, and the first bearing and the second bearing are both angular contact ball bearings and are installed oppositely.

Preferably, bearing seat sealing covers are arranged on the left end face and the right end face of the first bearing seat and the upper end face and the lower end face of the second bearing seat.

Preferably, the outside of a motor is provided with the motor protective housing, the outside of motor gear and driven gear all is provided with the gear protective housing, motor protective housing and gear protective housing all are fixed in on the mounting panel.

Preferably, the aerial survey control system is electrically connected with the GPS navigation system, the flight control system, the signal transmission system, the laser radar, the camera and the visual angle adjusting unit.

Preferably, the ground base station comprises a data processing computer, and the data processing computer sends a control instruction to the aerial survey control system through the signal transmission system, receives the states of the modules of the aerial survey control system in real time, collects radar data in real time, and confirms that the modules of the aerial survey control system work normally.

Compared with the prior art, the invention has the beneficial effects that: the invention relates to a CH unmanned aerial vehicle airborne laser radar comprehensive aerial survey system, which can play a role in shock absorption through the design of a mounting unit, and effectively reduce the vibration generated by a camera, thereby reducing the influence on aerial survey work; according to the invention, through the design of the visual angle adjusting unit, the camera can be driven to rotate in a vertical plane and can also be driven to rotate in a horizontal plane, so that the visual angle shooting direction is increased, the limitation that the traditional aerial photography technology can only shoot from a vertical angle is overcome, the actual condition of a ground object can be reflected more truly, and the defect of an orthographic image is overcome.

Drawings

FIG. 1 is a block diagram of the components of the aerial survey system of the present invention;

FIG. 2 is a schematic sectional view of the mounting unit and the viewing angle adjusting unit;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;

FIG. 4 is an enlarged view of the structure at B in FIG. 2;

fig. 5 is a schematic perspective view of the mounting unit and the viewing angle adjusting unit.

In the figure: 1-bottom plate, 2-sleeve, 3-ring, 4-top plate, 5-bolt, 6-spring, 7-mounting plate, 8-first motor, 9-first bearing seat, 10-first bearing, 11-first rotating shaft, 12-motor gear, 13-driven gear, 14-synchronous toothed belt, 15-mounting box, 16-second bearing seat, 17-motor seat, 18-second bearing, 19-second rotating shaft, 20-second motor, 21-motor bevel gear, 22-driven bevel gear, 23-motor protective shell and 24-gear protective shell.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: CH unmanned aerial vehicle carries laser radar and synthesizes aerial survey system, including unmanned aerial vehicle and ground base station, unmanned aerial vehicle includes aerial survey control system, GPS navigation system, flight control system and signal transmission system, unmanned aerial vehicle is last to be loaded with laser radar, camera, reduce the mount unit that the camera produced high frequency vibration, drive camera rotation increase the visual angle regulating unit of shooting range, the camera includes camera unit and storage unit, aerial survey control system utilizes GPS navigation system to determine unmanned aerial vehicle's position coordinate, cooperates with flight control system, lets unmanned aerial vehicle fly according to the planning course, thereby realizes unmanned aerial vehicle's automatic control, the camera sends the image information of shooing to ground base station through signal transmission system, laser radar is used for surveying the position of target, camera unit is used for acquireing image data, the storage unit is used for realizing the analysis and storage of the camera shooting data.

Specifically, the mounting unit is used for connecting an unmanned aerial vehicle and a visual angle adjusting unit, the mounting unit comprises a bottom plate 1, a sleeve 2 is arranged on the upper surface of the bottom plate 1, the sleeve 2 is a cylinder with openings at the upper end and the lower end, a circular ring 3 is arranged on the upper end surface of the sleeve 2, a top plate 4 is arranged above the circular ring 3, the top plate 4 and the circular ring 3 are movably connected through a bolt 5, a spring 6 is arranged between the opposite surfaces of the top plate 4 and the bottom plate 1 and inside the sleeve 2, limiting rings are arranged on the lower surface of the top plate 4 and the upper surface of the bottom plate 1 and outside the spring 6, the bottom plate 1 is connected with the visual angle adjusting unit, the top plate 4 is connected with the unmanned aerial vehicle, the spring 6 of the mounting unit has elasticity, when the unmanned aerial vehicle vibrates, the vibration can be transmitted to the spring 6, and the spring 6 can play a role of shock absorption, and partial energy is absorbed, and the vibration generated by the camera is effectively reduced, so that the influence on aerial surveying work is reduced.

Specifically, visual angle adjusting unit links to each other with the camera, visual angle adjusting unit includes mounting panel 7, a motor 8 and a bearing frame 9 are installed respectively to the upper and lower both sides of mounting panel 7, the internally mounted of a bearing frame 9 has a bearing 10, plays the effect of roll support, the internally mounted of a bearing 10 has a pivot 11, the output of a motor 8 passes mounting panel 7 and installs motor gear 12, install driven gear 13 on a pivot 11 and be located the below of motor gear 12, be provided with synchronous cog belt 14 between motor gear 12 and the driven gear 13, be provided with install bin 15 on the terminal surface that a driven gear 13 was kept away from to a pivot 11, a motor 8 works, drives motor gear 12 and rotates, drives driven gear 13 through synchronous cog belt 14 and rotates, and then drive the first rotating shaft 11 to rotate, finally drive the camera to rotate, thereby increasing the viewing angle shooting orientation, the left and right sides of the inner lower surface of the mounting box 15 are respectively provided with a second bearing seat 16 and a motor seat 17, the second bearing seat 16 is internally provided with a second bearing 18 for rolling support, the second bearing 18 is internally provided with a second rotating shaft 19, the motor seat 17 is provided with a second motor 20, the output end of the second motor 20 is provided with a motor bevel gear 21, the second rotating shaft 19 is provided with a driven bevel gear 22 inside the mounting box 15, the motor bevel gear 21 and the driven bevel gear 22 are in inter-tooth meshing connection, the camera is mounted on the lower end surface of the second rotating shaft 19, the second motor 20 works to drive the motor bevel gear 21 to rotate, and drive the driven bevel gear 22 to rotate through inter-tooth meshing action, and then drive No. two pivot 19 rotations, finally drive the camera and rotate to increase the visual angle and shoot the position, overcome the limitation that traditional aerial photography technique can only shoot from the vertical angle, can reflect the actual conditions of ground object more really, compensatied the not enough of orthophoto.

Specifically, the number of the first bearing 10 and the second bearing 18 is two, the first bearing 10 and the second bearing 18 are both angular contact ball bearings and are mounted oppositely, and the first bearing 10 and the second bearing 18 are used for bearing the axial force and the radial force applied to the first rotating shaft 11 and the second rotating shaft 19 respectively.

Specifically, bearing seat sealing covers are arranged on the left end face and the right end face of the first bearing seat 9 and the upper end face and the lower end face of the second bearing seat 16, and the sealing protection effect is achieved.

Specifically, the outside of a motor 8 is provided with a motor protective shell 23, the outside of motor gear 12 and driven gear 13 all is provided with gear protective shell 24, motor protective shell 23 and gear protective shell 24 are all fixed in on the mounting panel 7, play the effect of safety protection.

Specifically, the aerial survey control system is electrically connected with the GPS navigation system, the flight control system, the signal transmission system, the laser radar, the camera and the visual angle adjusting unit.

Specifically, the ground base station comprises a data processing computer, the data processing computer sends a control instruction to the aerial survey control system through the signal transmission system, receives the states of all modules of the aerial survey control system in real time, collects radar data in real time and confirms that all modules of the aerial survey control system work normally.

The working principle is as follows: the spring 6 of the mounting unit has elasticity, when the unmanned aerial vehicle vibrates, the vibration can be transmitted to the spring 6, the spring 6 can play a role in shock absorption, partial energy is absorbed, and the vibration generated by the camera is effectively reduced, so that the influence on aerial survey work is reduced; no. 8 motor operation work, can drive motor gear 12 and rotate, drive driven gear 13 through synchronous cog belt 14 and rotate, and then drive pivot 11 and rotate, finally drive the camera in vertical rotation in face, thereby increase the visual angle and shoot the position, No. two motor 20 operation work, can drive motor bevel gear 21 and rotate, through the intertooth meshing effect, drive driven bevel gear 22 and rotate, and then drive No. two pivot 19 and rotate, finally drive the camera in horizontal plane rotation, thereby increase the visual angle and shoot the position, overcome the limitation that traditional aerial photography technique can only follow the vertical angle and shoot, can reflect the actual conditions of ground object more truly, the not enough of orthographic image has been remedied.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

The standard parts used by the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the attached drawings, the specific connection mode of each part adopts conventional means such as mature bolts, rivets, welding and the like in the prior art, the machines, the parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, so that the detailed description is omitted.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

CH unmanned aerial vehicle machine carries laser radar and synthesizes aerial survey system, including unmanned aerial vehicle and ground basic station, its characterized in that: the unmanned aerial vehicle comprises an aerial survey control system, a GPS navigation system, a flight control system and a signal transmission system, wherein the unmanned aerial vehicle is provided with a laser radar, a camera, a mounting unit for reducing high-frequency vibration generated by the camera, and a visual angle adjusting unit for driving the camera to rotate to increase the shooting range, the camera comprises a camera shooting unit and a storage unit, the aerial survey control system utilizes the GPS navigation system to determine the position coordinate of the unmanned aerial vehicle, and the unmanned aerial vehicle is guided to fly according to a planned route by matching with the flight control system, so that the automatic control of the unmanned aerial vehicle is realized, the camera sends shot image information to a ground base station through the signal transmission system, the laser radar is used for detecting the position of a target, the camera shooting unit is used for acquiring image data, the storage unit is used for realizing the analysis and storage of the camera shooting data, and the visual angle adjusting unit is connected with the camera, the visual angle adjusting unit comprises an installing plate (7), a motor (8) and a bearing seat (9) are respectively installed on the upper side and the lower side of the installing plate (7), a bearing (10) is installed inside the bearing seat (9), a rotating shaft (11) is installed inside the bearing (10), an output end of the motor (8) penetrates through the installing plate (7) and is provided with a motor gear (12), a driven gear (13) is installed on the rotating shaft (11) and is located below the motor gear (12), a synchronous toothed belt (14) is arranged between the motor gear (12) and the driven gear (13), an installing box (15) is arranged on the end face of the first rotating shaft (11) far away from the first driven gear (13), a second bearing seat (16) and a motor seat (17) are respectively arranged on the left side and the right side of the inner lower surface of the installing box (15), the utility model discloses a camera, including bearing frame (16), No. two bearing (18) of internally mounted of No. two bearing (16), the internally mounted of No. two bearing (18) has No. two pivot (19), install No. two motor (20) on motor cabinet (17), motor bevel gear (21) are installed to the output of No. two motor (20), the inside that just is located install bin (15) on No. two pivot (19) is provided with driven bevel gear (22), motor bevel gear (21) and driven bevel gear (22) intertooth meshing connection, the camera is installed in the lower terminal surface of No. two pivot (19).
2. The CH unmanned aerial vehicle airborne laser radar integrated aerial survey system of claim 1, characterized in that: the mounting unit is used for connecting unmanned aerial vehicle and visual angle regulating unit, the mounting unit includes bottom plate (1), the upper surface of bottom plate (1) is provided with sleeve (2), sleeve (2) are the equal open-ended drum in upper and lower both ends, the up end of sleeve (2) is provided with ring (3), the top of ring (3) is provided with roof (4), pass through bolt (5) swing joint between roof (4) and ring (3), the inside that just is located sleeve (2) between the opposite face of roof (4) and bottom plate (1) is provided with spring (6), the lower surface of roof (4) and the outside that just is located spring (6) on the upper surface of bottom plate (1) all are provided with the spacing ring, bottom plate (1) links to each other with visual angle regulating unit, roof (4) link to each other with unmanned aerial vehicle.
3. The CH unmanned aerial vehicle airborne laser radar integrated aerial survey system of claim 1, characterized in that: the number of the first bearings (10) and the second bearings (18) is two, and the first bearings (10) and the second bearings (18) are both angular contact ball bearings and are installed oppositely.
4. The CH unmanned aerial vehicle airborne laser radar integrated aerial survey system of claim 1, characterized in that: bearing seat sealing covers are arranged on the left end face and the right end face of the first bearing seat (9) and the upper end face and the lower end face of the second bearing seat (16).
5. The CH unmanned aerial vehicle airborne laser radar integrated aerial survey system of claim 1, characterized in that: a motor protective housing (23) is arranged outside the first motor (8), gear protective housings (24) are arranged outside the motor gear (12) and the driven gear (13), and the motor protective housing (23) and the gear protective housings (24) are fixed on the mounting plate (7).
6. The CH unmanned aerial vehicle airborne laser radar integrated aerial survey system of claim 1, characterized in that: and the aerial survey control system is electrically connected with the GPS navigation system, the flight control system, the signal transmission system, the laser radar, the camera and the visual angle adjusting unit.
7. The CH unmanned aerial vehicle airborne laser radar integrated aerial survey system of claim 1, wherein: the ground base station comprises a data processing computer, the data processing computer sends a control instruction to the aerial survey control system through the signal transmission system, receives the states of all modules of the aerial survey control system in real time, collects radar data in real time and confirms that all the modules of the aerial survey control system work normally.