CN115339628A - Three-dimensional laser scanning building structure detection device and method combined with unmanned aerial vehicle - Google Patents
Three-dimensional laser scanning building structure detection device and method combined with unmanned aerial vehicle Download PDFInfo
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- CN115339628A CN115339628A CN202211060339.1A CN202211060339A CN115339628A CN 115339628 A CN115339628 A CN 115339628A CN 202211060339 A CN202211060339 A CN 202211060339A CN 115339628 A CN115339628 A CN 115339628A
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- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 15
- 239000003381 stabilizer Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000009435 building construction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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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
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a three-dimensional combined unmanned aerial vehicle A laser scanning building structure detection device and method, relate to unmanned aerial vehicle laser scanning technical field, including unmanned aerial vehicle and battery, its characterized in that: the bottom of the unmanned aerial vehicle is rotatably connected with a rotating shell, the bottom of the rotating shell is rotatably connected with a rotating frame, the inner side of the rotating frame is rotatably connected with an installation box, a three-dimensional scanner with a lens extending out of the surface of the mounting box is fixedly mounted in the mounting box, a high-speed motor is fixedly connected in the mounting box, and an output shaft of the high-speed motor is fixedly connected with a turntable; this three-dimensional laser scanning building structure detection device and method that combine unmanned aerial vehicle through setting up the mutually supporting of rotating casing, rotation frame, install bin, high-speed motor, carousel for install bin and its inside three-dimensional scanner can not incline along with unmanned aerial vehicle slope, has guaranteed the precision and the efficiency of scanning.
Description
Technical Field
The invention relates to the technical field of laser scanning of unmanned aerial vehicles, in particular to a three-dimensional combined unmanned aerial vehicle A laser scanning building structure detection device and method.
Background
The building structure is referred to as being in a building construction, systems consisting of various structural elements (roof trusses, beams, slabs, columns, etc.) capable of withstanding various actions. The action refers to various factors which can cause the system to generate internal force and deformation, such as load, earthquake, temperature change, foundation settlement and the like. During the construction process, the pair and detecting the structure of the building.
The current detection mode is usually, artifical detection or the manual work carries three-dimensional laser scanning device to detect the building, it is more troublesome, and some positions are artifical difficult reachs, inconvenient detection, so need urgently a three-dimensional laser scanning equipment cooperation unmanned aerial vehicle carries out the device that detects, the realization is controlled unmanned aerial vehicle and just can be carried out the effect that detects to building structure, and unmanned aerial vehicle has certain slope during the flight, can influence three-dimensional scanning's precision and scanning efficiency.
Disclosure of Invention
The invention aims to provide a combined unmanned aerial vehicle a three-dimensional laser scanning building structure detection device and a method thereof, to solve the above-mentioned deficiencies in the prior art.
In order to achieve the above-mentioned objects, the invention provides the following technical scheme: a three-dimensional laser scanning building structure detection device and method combined with an unmanned aerial vehicle comprise the unmanned aerial vehicle and a battery, wherein the battery is fixedly installed in the unmanned aerial vehicle, the bottom of the unmanned aerial vehicle is rotatably connected with a rotating shell, the bottom of the rotating shell is rotatably connected with a rotating frame, the inner side of the rotating frame is rotatably connected with an installation box, rotating shafts of the rotating shell, the rotating frame and the installation box are vertical in pairs, and one axis is vertical to a plane formed by the other two vertical lines; a three-dimensional scanner with a lens extending out of the surface of the installation box is fixedly installed in the installation box, and the model of the three-dimensional scanner is DX500; the inside fixedly connected with high-speed motor of install bin, high-speed motor are connected with the battery electricity, high-speed motor's output shaft fixedly connected with carousel, the inside of rotating the casing is provided with drive mechanism and clutching mechanism, the inside fixedly connected with servo motor who rotates the casing, servo motor is connected with the battery electricity, servo motor's output rotates and is connected with the threaded rod, unmanned aerial vehicle's bottom fixedly connected with and threaded rod meshed's gear shaft, the gear shaft comprises gear and axis body, the upper end and the unmanned aerial vehicle fixed connection of axis body, gear portion and threaded rod meshing, gear shaft and rotation casing coaxial line.
Further, unmanned aerial vehicle's bottom fixedly connected with stabilizer blade, the bottom of install bin is higher than unmanned aerial vehicle's bottom.
Furthermore, the clutch mechanism comprises an electric push rod fixedly connected with the inside of the rotating shell, the model of the electric push rod is ST-801, the output end of the electric push rod is fixedly connected with a push block in the rotating shell in a sliding mode, the clutch mechanism further comprises a clutch rod in the output shaft of the servo motor in a sliding mode, clutch discs are fixedly connected to the two ends of the clutch rod, and the clutch discs can abut against a threaded rod or a bevel gear to drive the screw rod or the bevel gear to rotate.
Furthermore, the clutch rod is rotationally connected with the push block, and the push block and the clutch rod cannot axially move relatively.
Furthermore, the transmission mechanism comprises a first bevel gear, a transmission shaft and a second bevel gear which are rotatably connected inside the rotating shell, and two ends of the transmission shaft are fixedly connected with the bevel gears which are respectively meshed with the first bevel gear and the second bevel gear.
Furthermore, one end of the first bevel gear is coaxial with the output shaft of the servo motor, so that the first bevel gear is arranged on the moving track of the clutch rod, the second bevel gear is fixedly connected with the rotating frame and can drive the rotating frame to rotate.
A three-dimensional laser scanning building structure detection method combined with an unmanned aerial vehicle comprises the following steps:
s1, firstly, starting a high-speed motor to enable a turntable to rotate at a high speed, and then starting an unmanned aerial vehicle;
s2, when the unmanned aerial vehicle inclines, the inclination angle is decomposed into rotation angles in two directions of the rotation frame and the installation box, the turntable in the installation box rotates at a high speed and has certain angular momentum, the installation box can be ensured to be relatively stable according to the principle of conservation of the angular momentum, and the three-dimensional scanner extending out of the installation box is prevented from inclining;
s3, starting the electric push rod to shorten the electric push rod, driving the clutch rod to move leftwards, enabling a clutch plate at the left end of the clutch rod to abut against a threaded rod, driving the threaded rod to rotate, enabling the threaded rod to be matched with the gear shaft, enabling the rotating shell to rotate relative to the unmanned aerial vehicle, and adjusting the horizontal angle of the three-dimensional scanner;
s4, controlling the electric push rod to extend, enabling a clutch plate at the right end of the clutch rod to abut against a first bevel gear in the same way as the S3, driving the first bevel gear to rotate, driving a second bevel gear to rotate through a transmission shaft, driving a rotating frame fixedly connected with the second bevel gear to rotate through the second bevel gear, the rotating frame drives the installation box and the three-dimensional scanner inside the installation box to rotate in the vertical direction, so that the angle of the three-dimensional scanner in the vertical direction is adjusted, and the three-dimensional scanner faces to a building structure needing scanning when the unmanned aerial vehicle flies.
1. Compared with the prior art, according to the three-dimensional laser scanning building structure detection device and method combined with the unmanned aerial vehicle, the rotating shell, the rotating frame, the installation box, the high-speed motor and the rotary disc are matched with one another, so that when the unmanned aerial vehicle tilts in the flying process, the high-speed motor in the installation box drives the rotary disc to rotate at high speed to generate angular momentum, and then the rotating shell, the rotating frame and the installation box are matched with one another to rotate.
2. Compared with the prior art, the three-dimensional laser scanning building structure detection device and method combined with the unmanned aerial vehicle, provided by the invention, have the advantages that the servo motor can drive the threaded rod to rotate by arranging the mutual matching of the servo motor, the threaded rod, the gear shaft, the clutch mechanism and the transmission mechanism, the servo motor is matched with the gear shaft to enable the whole stabilizing mechanism to horizontally rotate so as to adjust the horizontal angle of the three-dimensional scanner, or the transmission mechanism is driven to rotate so as to enable the rotating frame to rotate, so that the vertical angle of the three-dimensional scanner is adjusted, the three-dimensional scanner faces to a position needing scanning more conveniently, the three-dimensional scanner is controlled to scan more conveniently, and the scanning efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a top view of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is an overall side cross-sectional view provided by an embodiment of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2 according to an embodiment of the present invention;
FIG. 4 is an enlarged view of portion B of FIG. 2 according to an embodiment of the present invention;
fig. 5 is a perspective view of a stabilization mechanism provided by an embodiment of the present invention.
Description of reference numerals:
11. an unmanned aerial vehicle; 12. a battery; 13. a support leg; 21. rotating the housing; 22. rotating the frame; 23. installing a box; 31. a servo motor; 32. a threaded rod; 33. a gear shaft; 41. an electric push rod; 42. a push block; 43. a clutch lever; 51. a first bevel gear; 52. a drive shaft; 53. a second bevel gear; 61. a high-speed motor; 62. a turntable; 71. a three-dimensional scanner.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be further described in detail with reference to the accompanying drawings.
The first embodiment is as follows:
referring to fig. 1, 2 and 5, a three-dimensional laser scanning building structure detection device combined with an unmanned aerial vehicle comprises the unmanned aerial vehicle 11 and a battery 12, the battery 12 is fixedly installed in the unmanned aerial vehicle 11, the bottom of the unmanned aerial vehicle 11 is rotatably connected with a rotating shell 21, the bottom of the rotating shell 21 is rotatably connected with a rotating frame 22, the inner side of the rotating frame 22 is rotatably connected with an installation box 23, the rotating shafts of the rotating shell 21, the rotating frame 22 and the installation box 23 are perpendicular to each other, and one axis is perpendicular to a plane formed by the other two perpendicular lines; a three-dimensional scanner 71 with a lens extending out of the surface of the installation box 23 is fixedly installed in the installation box 23, and the model of the three-dimensional scanner 71 is DX500; the inside fixedly connected with high speed motor 61 of install bin 23, high speed motor 61 is connected with battery 12 electricity, high speed motor 61's output shaft fixedly connected with carousel 62, the inside of rotating casing 21 is provided with drive mechanism and clutching mechanism, the inside fixedly connected with servo motor 31 of rotating casing 21, servo motor 31 is connected with battery 12 electricity, servo motor 31's output rotates and is connected with threaded rod 32, unmanned aerial vehicle 11's bottom fixedly connected with and the gear shaft 33 of threaded rod 32 meshing, gear shaft 33 comprises gear and axis body, the upper end and the unmanned aerial vehicle 11 fixed connection of axis body, gear portion and threaded rod 32 meshing, gear shaft 33 and the coaxial line of rotating casing 21.
Unmanned aerial vehicle 11's bottom fixedly connected with stabilizer blade 13, the bottom of install bin 23 is higher than unmanned aerial vehicle 11's bottom for when unmanned aerial vehicle 11 falls to the ground, stabilizer blade 13 falls to the ground at first, can not harm rotating casing 21 and its inside three-dimensional scanner 71.
Example two:
referring to fig. 1 to 5, the present embodiment provides a technical solution based on the first embodiment:
a three-dimensional laser scanning building structure detection device combined with an unmanned aerial vehicle comprises the unmanned aerial vehicle 11 and a battery 12, wherein the battery 12 is fixedly installed in the unmanned aerial vehicle 11, four corners of the top of the unmanned aerial vehicle 11 extend out of a body, a motor and a propeller are fixedly installed at each corner, the motors are electrically connected with the battery 12, the four motors are mutually matched to drive the propellers to rotate, and the unmanned aerial vehicle 11 is controlled to lift, hover and steer; the bottom of the unmanned aerial vehicle 11 is rotatably connected with a rotating shell 21, the bottom of the rotating shell 21 is rotatably connected with a rotating frame 22, the inner side of the rotating frame 22 is rotatably connected with an installation box 23, rotating shafts of the rotating shell 21, the rotating frame 22 and the installation box 23 are vertical in pairs, and one axis is vertical to a plane formed by the other two vertical lines; a three-dimensional scanner 71 with a lens extending out of the surface of the installation box 23 is fixedly installed in the installation box 23, and the model of the three-dimensional scanner 71 is DX500; the inside fixedly connected with high speed motor 61 of install bin 23, high speed motor 61 is connected with battery 12 electricity, high speed motor 61's output shaft fixedly connected with carousel 62, the inside of rotating casing 21 is provided with drive mechanism and clutching mechanism, the inside fixedly connected with servo motor 31 of rotating casing 21, servo motor 31 is connected with battery 12 electricity, servo motor 31's output rotates and is connected with threaded rod 32, unmanned aerial vehicle 11's bottom fixedly connected with and the gear shaft 33 of threaded rod 32 meshing, gear shaft 33 comprises gear and axis body, the upper end and the unmanned aerial vehicle 11 fixed connection of axis body, gear portion and threaded rod 32 meshing, gear shaft 33 and the coaxial line of rotating casing 21.
Unmanned aerial vehicle 11's bottom fixedly connected with stabilizer blade 13, the bottom of install bin 23 is higher than unmanned aerial vehicle 11's bottom.
The clutch mechanism comprises an electric push rod 41 fixedly connected with the inside of the rotating shell 21, the model of the electric push rod 41 is ST-801, the output end of the electric push rod 41 is fixedly connected with a push block 42 which is connected in the rotating shell 21 in a sliding mode, the clutch mechanism further comprises a clutch rod 43 which is connected on the output shaft of the servo motor 31 in a sliding mode, the clutch rod 43 cannot rotate relative to the output shaft of the servo motor 31, clutch discs are fixedly connected to two ends of the clutch rod 43, and the clutch discs can abut against the threaded rod 32 or the bevel gear 51 to drive the threaded rod 32 or the bevel gear 51 to rotate. The clutch rod 43 is rotationally connected with the pushing block 42, and the pushing block 42 and the clutch rod 43 cannot move axially relative to each other. The electric push rod 41 is shortened to drive the push block 42 fixedly connected with the output end to move leftwards, the push block 42 drives the clutch rod 43 rotationally connected with the push block to move leftwards, so that a clutch plate at the left end of the clutch rod 43 is abutted against the threaded rod 32 rotationally connected with the output shaft of the servo motor 31, and the clutch rod 43 slidably connected with the output shaft of the servo motor 31 can drive the threaded rod 32 to rotate; the electric push rod 41 extends, and similarly, the push block 42 drives the clutch lever 43 to move rightwards, so that the clutch plate at the right end of the clutch lever 43 abuts against the bevel gear I51 and can drive the bevel gear I51 to rotate, the bevel gear I51 drives the bevel gear II 53 to rotate through the transmission shaft 52, and the bevel gear II 53 drives the rotating frame 22 fixedly connected with the bevel gear II to rotate.
The transmission mechanism comprises a first bevel gear 51 rotatably connected inside the rotating shell 21 a transmission shaft 52 and a bevel gear two 53, two ends of the transmission shaft 52 are fixedly connected with bevel gears which are respectively meshed with the bevel gear I51 and the bevel gear II 53.
One end of the first bevel gear 51 is coaxial with the output shaft of the servo motor 31, so that the first bevel gear 51 is on the moving track of the clutch lever 43, the second bevel gear 53 is fixedly connected with the rotating frame 22, and the second bevel gear 53 can drive the rotating frame 22 to rotate.
Example three:
the embodiment provides a technical scheme on the basis of the second embodiment: a three-dimensional laser scanning building structure detection method combined with an unmanned aerial vehicle comprises the following steps:
at first start high-speed motor 61, high-speed motor 61 drives the carousel 62 high-speed rotation of output shaft fixed connection with it, then starts unmanned aerial vehicle 11, and unmanned aerial vehicle 11 takes off. The unmanned aerial vehicle 11 drives the three-dimensional scanner 71 installed in the stabilizing mechanism at the bottom of the unmanned aerial vehicle to take off and scan the building.
The unmanned aerial vehicle 11 can generate certain shaking inclination during flying, the installation box 23 provided with the three-dimensional scanner 71 is connected with the unmanned aerial vehicle 11 through the rotating frame 22 and the rotating shell 21 in a rotating mode, and the axial direction of the installation box 23, which is connected with the rotating frame 22 in a rotating mode, is perpendicular to the axial direction of the rotating frame 22, which is connected with the rotating shell 21 in a rotating mode. So that the unmanned aerial vehicle 11 can be tilted to rotate in two directions of the rotating frame 22 and the installation box 23. Because the turntable 62 inside the installation box 23 rotates at a high speed and has a certain angular momentum, the installation box 23 can be relatively stable according to the principle of angular momentum conservation, and the three-dimensional scanner 71 extending out of the installation box 23 is prevented from inclining.
When needing to adjust three-dimensional scanner 71 horizontal angle, start electric push rod 41 and shorten, drive the ejector pad 42 with output fixed connection and move left, ejector pad 42 drives the clutch lever 43 of being connected with it rotation and moves left, make clutch lever 43 left end clutch plate support the threaded rod 32 of being connected with servo motor 31 output shaft rotation, make the clutch lever 43 with servo motor 31 output shaft sliding connection can drive threaded rod 32 and rotate, threaded rod 32 drives the gear shaft 33 rotation of meshing with it, gear shaft 33 and unmanned aerial vehicle 11 fixed connection, thereby make the rotation casing 21 of being connected with unmanned aerial vehicle 11 rotation rotate unmanned aerial vehicle 11 relatively.
When the vertical angle of the three-dimensional scanner 71 needs to be adjusted, the electric push rod 41 is controlled to extend, and the pushing block 42 drives the clutch lever 43 to move rightwards in the same way, so that the clutch plate at the right end of the clutch lever 43 abuts against the bevel gear I51 and can drive the bevel gear I51 to rotate, the bevel gear I51 drives the bevel gear II 53 to rotate through the transmission shaft 52, the bevel gear II 53 drives the rotating frame 22 fixedly connected with the bevel gear II to rotate, and the rotating frame 22 drives the installation box 23 and the three-dimensional scanner 71 inside the installation box to rotate in the vertical direction, so that the vertical angle of the three-dimensional scanner 71 is adjusted. The three-dimensional scanner 71 is convenient to face the building structure to be scanned when the unmanned aerial vehicle 11 flies.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (7)
1. The utility model provides a three-dimensional laser scanning building structure detection device who combines unmanned aerial vehicle, includes unmanned aerial vehicle (11) and battery (12), its characterized in that: the bottom of unmanned aerial vehicle (11) is rotated and is connected with rotation casing (21), the bottom of rotating casing (21) is rotated and is connected with rotation frame (22), the inboard of rotation frame (22) is rotated and is connected with install bin (23), the inside fixed mounting of install bin (23) has the camera lens to stretch out three-dimensional scanner (71) on its surface, the inside fixedly connected with high-speed motor (61) of install bin (23), the output shaft fixedly connected with carousel (62) of high-speed motor (61), the inside of rotating casing (21) is provided with drive mechanism and clutching mechanism, the inside fixedly connected with servo motor (31) of rotating casing (21), the output of servo motor (31) is rotated and is connected with threaded rod (32), the bottom fixedly connected with and the gear shaft (33) of threaded rod (32) meshing of unmanned aerial vehicle (11), gear shaft (33) and rotation casing (21) coaxial line.
2. The unmanned aerial vehicle combination of claim 1 the three-dimensional laser scanning building structure detection device, the method is characterized in that: the bottom fixedly connected with stabilizer blade (13) of unmanned aerial vehicle (11).
3. The three-dimensional laser scanning building structure detection device combined with the unmanned aerial vehicle as claimed in claim 1, the method is characterized in that: the clutch mechanism comprises an electric push rod (41) fixedly connected with the inner part of the rotating shell (21), the output end of the electric push rod (41) is fixedly connected with a push block (42) which is connected in the rotating shell (21) in a sliding way, the clutch mechanism further comprises a clutch lever (43) slidably connected to an output shaft of the servo motor (31).
4. The three-dimensional laser scanning building structure detection device combined with the unmanned aerial vehicle as claimed in claim 3, wherein: the clutch lever (43) is rotationally connected with the push block (42).
5. The three-dimensional laser scanning building structure detection device combined with the unmanned aerial vehicle as claimed in claim 1, wherein: the transmission mechanism comprises a first bevel gear (51), a transmission shaft (52) and a second bevel gear (53) which are rotatably connected inside the rotating shell (21), wherein two ends of the transmission shaft (52) are fixedly connected with the bevel gears which are respectively meshed with the first bevel gear (51) and the second bevel gear (53).
6. The three-dimensional laser scanning building structure detection device combined with the unmanned aerial vehicle as claimed in claim 5, wherein: one end of the bevel gear I (51) is coaxial with an output shaft of the servo motor (31), and the bevel gear II (53) is fixedly connected with the rotating frame (22).
7. A three-dimensional laser scanning building structure detection method combined with an unmanned aerial vehicle is characterized in that: the method comprises the following steps:
s1, firstly, starting a high-speed motor (61) to enable a turntable (62) to rotate at a high speed, and then starting an unmanned aerial vehicle (11);
s2, when the unmanned aerial vehicle (11) inclines, the inclination angle is decomposed into rotation angles in two directions of the rotation frame (22) and the installation box (23), the turntable (62) in the installation box (23) rotates at a high speed and has certain angular momentum, the installation box (23) can be ensured to be relatively stable according to the principle of angular momentum conservation, and the three-dimensional scanner (71) extending out of the installation box (23) is prevented from inclining;
s3, starting the electric push rod (41) to shorten the electric push rod, driving the clutch rod (43) to move leftwards, enabling a clutch plate at the left end of the clutch rod (43) to abut against the threaded rod (32), driving the threaded rod (32) to rotate, matching the threaded rod (32) with the gear shaft (33), enabling the rotating shell (21) to rotate relative to the unmanned aerial vehicle (11), and adjusting the horizontal angle of the three-dimensional scanner (71);
s4, the electric push rod (41) is controlled to extend, a clutch plate at the right end of the clutch rod (43) is enabled to abut against a first bevel gear (51) in the same way as the S3, the first bevel gear (51) can be driven to rotate, a second bevel gear (53) is driven to rotate through a transmission shaft (52), the second bevel gear (53) drives a rotating frame (22) fixedly connected with the second bevel gear to rotate, the rotating frame (22) drives the installation box (23) and a three-dimensional scanner (71) inside the installation box to rotate in the vertical direction, and therefore the angle of the vertical direction of the three-dimensional scanner (71) is adjusted, and the three-dimensional scanner (71) faces to a building structure needing to be scanned when the unmanned aerial vehicle (11) flies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211060339.1A CN115339628A (en) | 2022-08-31 | 2022-08-31 | Three-dimensional laser scanning building structure detection device and method combined with unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211060339.1A CN115339628A (en) | 2022-08-31 | 2022-08-31 | Three-dimensional laser scanning building structure detection device and method combined with unmanned aerial vehicle |
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| CN115339628A true CN115339628A (en) | 2022-11-15 |
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| CN202211060339.1A Pending CN115339628A (en) | 2022-08-31 | 2022-08-31 | Three-dimensional laser scanning building structure detection device and method combined with unmanned aerial vehicle |
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| CN (1) | CN115339628A (en) |
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