CN116443288A - Unmanned aerial vehicle for land area mapping - Google Patents
Unmanned aerial vehicle for land area mapping Download PDFInfo
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- CN116443288A CN116443288A CN202310507916.5A CN202310507916A CN116443288A CN 116443288 A CN116443288 A CN 116443288A CN 202310507916 A CN202310507916 A CN 202310507916A CN 116443288 A CN116443288 A CN 116443288A
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- 238000013507 mapping Methods 0.000 title claims abstract description 114
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 238000004971 IR microspectroscopy Methods 0.000 claims abstract description 20
- 230000007306 turnover Effects 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 53
- 230000001788 irregular Effects 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000001125 extrusion Methods 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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
- B64D47/08—Arrangements of cameras
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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
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Details Of Aerials (AREA)
Abstract
An unmanned aerial vehicle for mapping land areas comprises a mapping device dismounting mechanism, an unmanned aerial vehicle body, a mapping device and a control end; the mapping device dismounting mechanism comprises a connecting plate, a fixing device and a turnover device, and is fixedly arranged below the unmanned aerial vehicle body through the connecting plate; the turnover device comprises a mounting frame, wherein the upper end of the mounting frame is fixedly connected with the connecting plate, and the lower end of the mounting frame is rotationally connected with the fixing device; the fixing device is used for fixedly arranging the mapping device; the control end is used for controlling the operation of the whole mapping unmanned aerial vehicle equipment; the invention realizes the portable installation and disassembly of the unmanned aerial vehicle surveying and mapping device, is simple and convenient to operate, greatly saves the installation time and improves the surveying and mapping efficiency; when the unmanned aerial vehicle is out of control and equipment rapidly descends, the surveying and mapping device can be protected through overturning the surveying and mapping device, and loss is reduced; the invention also provides an auxiliary mapping mechanism, and the infrared mapping device is controlled to be installed by utilizing the control end and the camera to assist mapping.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for carrying out land area mapping.
Background
The unmanned aerial vehicle aerial surveying and mapping land area is a powerful complement of the traditional surveying and mapping means, so that the ground surface information can be quickly acquired, the image with high resolution is acquired, and more accurate data are acquired; at present, unmanned aerial vehicle carries out land area survey and drawing through carrying on mapping device, and current land area mapping device is mostly fixed on unmanned aerial vehicle through a plurality of screws, and dismouting mapping device operation is comparatively loaded down with trivial details on unmanned aerial vehicle, is difficult to dismantle mapping device fast, and installation mapping device is also inconvenient when using unmanned aerial vehicle survey and drawing, has brought great trouble for the user, and the practicality is relatively poor; therefore, an unmanned aerial vehicle for carrying out land area mapping needs to be invented, a mapping device can be quickly detached and installed, time and labor are saved, infrared mapping can be utilized, and the mapping accuracy is improved.
Disclosure of Invention
Aiming at the problems, the invention provides an unmanned aerial vehicle for land mapping, which adopts the following technical scheme:
the unmanned aerial vehicle for land area mapping is characterized by comprising a mapping device dismounting mechanism, an unmanned aerial vehicle body, a mapping device and a control end; the mapping device dismounting mechanism comprises a connecting plate, a fixing device and a turnover device, and is fixedly arranged below the unmanned aerial vehicle body through the connecting plate; the turnover device comprises a mounting frame, wherein the upper end of the mounting frame is fixedly connected with the connecting plate, and the lower end of the mounting frame is rotationally connected with the fixing device; the fixing device is positioned in the overturning device and is used for fixedly arranging the mapping device; the control end is used for controlling the operation of the whole mapping unmanned aerial vehicle equipment.
Further, the fixing device comprises a deflector rod, a rotating disc, an extruder, a clamping block and a fixing frame; the fixing frame is rotationally connected with the lower end of the mounting frame; a connecting cylinder is fixedly arranged on the inner side of the fixing frame, and a rotating disc is rotatably arranged in the connecting cylinder; the rotating disc comprises an upper rotating disc and a lower rotating disc, the upper rotating disc and the lower rotating disc are identical in structure and are symmetrically and fixedly connected, and arc-shaped slide ways are uniformly and correspondingly distributed on one outward side; the extruder comprises a sliding rod and an extrusion plate, wherein the sliding rod comprises a cross rod and a vertical rod, and the cross rod and the vertical rod are fixedly connected in a cross shape; the upper end and the lower end of the vertical rod are respectively and slidably arranged in the arc-shaped slide ways corresponding to the upper rotating disc and the lower rotating disc, the outward end of the cross rod is in sliding connection with the connecting cylinder, and the inward end of the cross rod is fixedly connected with the extrusion plate; the deflector rod is fixedly arranged on the lower rotating disc and used for driving the rotating disc to rotate; the clamping block is arranged on the fixing frame on the same side as the deflector rod and used for clamping the deflector rod; the mapping device is installed in the fixing device through the extrusion plate.
Further, the turnover device of the disassembly and assembly mechanism of the mapping device further comprises a second motor; the second motor is arranged on the fixing frame, and the output end drives the fixing frame to rotate through the rotating shaft.
Further, the mapping device dismounting mechanism further comprises a protection device; the protection device comprises a sensor, a controllable supporting device and a buffer spring; the fixing frame is provided with an inner layer and an outer layer, the inner layer is movably connected with the outer layer, a fixing device is arranged on the inner side of the inner layer, and buffer springs are uniformly arranged in a space between the two layers; the buffer springs are at least four and are used for buffering impact force received by the equipment when the equipment falls to the ground; the controllable supporting device is arranged on the fixing frame, and when the unmanned aerial vehicle body normally operates, the controllable supporting device is connected with the inner layer and the outer layer of the fixing frame, so that the inner layer and the outer layer do not rotate relatively; the sensor is fixedly arranged on the mounting frame and used for sensing the speed and acceleration change of the equipment, and when the speed and acceleration of the equipment exceed a limit value, the sensor alarms.
Further, the protection device also comprises an air pump and a protection air bag; the protective air bag is fixedly connected with the upper end of the fixing frame; the air pump is fixedly arranged on the outer side of the fixing frame, and the output end of the air pump is connected with the protection air bag and is used for inflating the protection air bag so as to protect the mapping device.
Further, the unmanned aerial vehicle for land mapping further comprises two auxiliary mapping mechanisms, wherein each auxiliary mapping mechanism comprises a motor I, a servo screw rod, a pushing rod, a transmission device, an arc-shaped clamping plate, an infrared mapping device and a ground inserting rod; the servo screw rod is fixedly arranged at one end of the connecting plate, two sliding blocks are slidably arranged, and the two sliding blocks synchronously slide in opposite directions or reversely; the upper end of each pushing rod is rotationally connected with one sliding block on the servo screw rod, the lower end of each pushing rod is rotationally connected with the transmission device, and the two pushing rods are driven by the two sliding blocks to enable the transmission device to move up and down; the first motor is fixedly arranged on the transmission device; at least two arc clamping plates are arranged at the lower end of the transmission device; the arc clamping plate is driven by the transmission device to tightly hold the ground rod and is driven by the motor I to rotate; the infrared mapping device is arranged at the upper end of the ground inserting rod and used for carrying out auxiliary mapping.
Further, the transmission device of the auxiliary mapping mechanism comprises a rotating frame, an irregular rotating plate, a transmission rod and a transmission connecting plate; the pushing rod is rotationally connected with the upper end of the transmission connecting plate, and the lower end of the transmission connecting plate is rotationally connected with the upper end of the rotating frame; the irregular rotating plate is connected with the output end of the first motor and is rotatably arranged at the lower end of the rotating frame; connecting rods are rotatably arranged at two ends of the irregular rotating plate; limiting blocks are uniformly arranged on the lower end face of the rotating frame and distributed on two sides of the irregular rotating plate; the transmission rods are C-shaped rods, and the number of the transmission rods corresponds to that of the arc-shaped clamping plates; the upper end of each transmission rod is rotationally connected with a connecting rod of the irregular rotating plate and is in sliding connection with two ends of the rotating frame through a limiting frame; the lower end of each transmission rod is fixedly connected with one arc-shaped clamping plate and drives the arc-shaped clamping plates to rotate.
Further, the ground inserting rod comprises a placing rack and a ground entering rod, and the tail end of the placing rack is fixedly connected with the top end of the ground entering rod; the upper end of the placing rack is rotatably provided with a U-shaped support through a rotary supporting disc, and the infrared mapping device is rotatably arranged in the U-shaped support through a driving rotating shaft; the lower part of the placing frame is matched with the arc-shaped clamping plate, and the arc-shaped clamping plate clamps the lower part of the placing frame and drives the ground entering rod to rotate and insert into the ground; the tail end of the ground entering rod is pointed and is convenient to insert into the ground.
Further, an adjusting motor I is arranged on at least one side of the left side and the right side of the U-shaped support, and an output end of the adjusting motor I is connected with the driving rotating shaft and used for adjusting the pitching angle of the infrared mapping device; and a second adjusting motor is arranged in the rack, and the output end of the second adjusting motor is connected with the rotary supporting disc and is used for adjusting the orientation of the infrared mapping device.
Further, supplementary mapping mechanism still includes the camera, and camera fixed mounting is in rotating turret upper portion for observe the condition of inserting the earth pole and inserting the soil.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. according to the invention, through the cooperation design of the dismounting mechanism of the mapping device, the unmanned aerial vehicle body and the mapping device, the portable mounting and dismounting of the unmanned aerial vehicle mapping device are realized, the operation is simple and convenient, the mounting time is greatly saved, and the mapping efficiency is improved.
2. The dismounting mechanism of the surveying and mapping device is also provided with the turnover device and the protection device, when the unmanned aerial vehicle is out of control to enable equipment to rapidly descend, the turnover device can enable the surveying and mapping device to rotate upwards, and the buffer spring and the protection air bag of the protection device can relieve the impact force received by the equipment in the landing process, so that the surveying and mapping device is protected, and the loss is reduced.
3. The auxiliary surveying and mapping mechanism can carry out auxiliary surveying and mapping by using the infrared surveying and mapping device, realizes remote installation of the infrared surveying and mapping device through the control end, solves the problem that the infrared surveying and mapping device cannot be artificially installed due to the topography factors, and can avoid long-distance travel.
4. The invention greatly facilitates the operation efficiency of operators through the design of the control end; in addition, through the additional arrangement of the camera, the arrangement condition of the infrared surveying and mapping device can be intuitively known, and the arrangement position and the angle of the infrared surveying and mapping device are adjusted, so that successful infrared surveying and mapping is ensured.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of a partial enlarged structure at a of fig. 1 according to the present invention.
FIG. 3 is a schematic diagram of an auxiliary mapping mechanism according to the present invention.
Fig. 4 is a schematic view of a partial enlarged structure at B in fig. 3 according to the present invention.
Fig. 5 is a schematic structural view of an infrared mapping device placed on a ground rod according to the present invention.
Fig. 6 is a schematic view of the bottom structure of the mechanism for assembling and disassembling the mapping device of the present invention.
Fig. 7 is a schematic side view of the mechanism for assembling and disassembling the surveying instrument according to the present invention.
Fig. 8 is a schematic view of an assembly structure on a fixing frame in the dismounting mechanism of the mapping device.
Fig. 9 is a schematic diagram of an exploded structure of the mechanism for assembling and disassembling the mapping device of the present invention.
Fig. 10 is a schematic view of an explosive structure at C in fig. 9 according to the present invention.
Fig. 11 is a schematic view of the internal structure of the fixing frame in the dismounting mechanism of the surveying instrument.
Fig. 12 is a schematic structural view of the controllable supporting device of the present invention.
FIG. 13 is a schematic diagram showing the connection between the control terminal and the electrical device according to the present invention.
Reference numerals:
1-an auxiliary mapping mechanism;
101-motor one; 102-rotating frame; 103-irregular rotating plates; 104-a transmission rod; 105-clamping; 106-an infrared mapping device; 107-servo screw; 108-pushing a rod; 109-a camera; 110-floor-inserting bars (1101-placing rack; 1102-floor-entering bars); 111-a transmission connection plate;
2-a mapping device dismounting mechanism;
201-a deflector rod; 202-a turntable; 203-squeeze plate; 204-clamping blocks; 205-mounting rack; 206-connecting plates; 207-fixing frame; 208-sensor; 209-a controllable support means; 210-a buffer spring; 211-an air pump; 212-a second motor; 213-a protective airbag;
3-unmanned aerial vehicle body;
4-mapping device;
5-control terminal.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be embodied in many other forms than described herein, and persons skilled in the art will be able to make similar modifications without departing from the spirit of the invention, so that the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "in", "out", "front", "rear", etc. are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in place when the inventive product is used, are merely for convenience in describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention.
Examples:
the embodiment is used for land area mapping, and as shown in fig. 1-6 and 12, an unmanned aerial vehicle for land area mapping comprises a mapping device dismounting mechanism 2, an unmanned aerial vehicle body 3, a mapping device 4 and a control end 5; the mapping device dismounting mechanism 2 comprises a connecting plate 206, a fixing device and a turnover device, and is fixedly arranged below the unmanned aerial vehicle body 3 through the connecting plate 206; the turnover device comprises a mounting frame 205, wherein the upper end of the mounting frame 205 is fixedly connected with the connecting plate, and the lower end of the mounting frame 205 is rotationally connected with the fixing device; the fixing device is positioned in the turnover device and is used for fixedly arranging the mapping device 4; the control end 5 is used for controlling the operation of the whole mapping unmanned aerial vehicle equipment;
as a specific implementation of this embodiment, as shown in fig. 5 to 9, the fixing device includes a lever 201, a rotary disc 202, a squeezer 203, a latch 204, and a fixing frame 207; the fixing frame 207 is rotatably connected with the lower end of the mounting frame 205; a connecting cylinder is fixedly arranged on the inner side of the fixing frame 207, and a rotating disc 202 is rotatably arranged in the connecting cylinder; the rotating disc 202 comprises an upper rotating disc 2021 and a lower rotating disc 2022, the upper rotating disc 2021 and the lower rotating disc 2022 are identical in structure and are symmetrically and fixedly connected, and arc-shaped slideways are uniformly and correspondingly distributed on one outward side; the extruder 203 comprises a sliding rod and an extrusion plate 2033, the sliding rod comprises a cross rod 2031 and a vertical rod 2032, and the cross rod 2031 and the vertical rod 2032 are fixedly connected in a cross shape; the upper and lower ends of the vertical rod 2032 are respectively and slidably arranged in the arc-shaped slide ways corresponding to the upper rotating disc 2021 and the lower rotating disc 2022, one end of the cross rod 2031 facing outwards is slidably connected with the connecting cylinder, and the other end facing inwards is fixedly connected with the extrusion plate 2033; the deflector rod 201 is fixedly arranged on the lower rotating disc 2022 and is used for driving the rotating disc 202 to rotate; the clamping block 204 is arranged on the fixing frame 207 on the same side with the deflector rod 201 and is used for clamping the deflector rod 201; the mapping device 4 is installed in the fixing device through the squeeze plate 2033;
specifically, the clamping block 204 is provided with a spring, when the clamping block 204 is pulled outwards, the spring is compressed, after the deflector 201 passes through the clamping block 204, the clamping block 204 is loosened, and the spring returns to enable the clamping block 204 to return, so that the deflector 201 is clamped;
when the mapping device 4 is installed at the center of the fixing frame 207 downwards, an operator pulls the clamping block 204 outwards, pulls the deflector rod 201 to drive the rotating disc 202 to rotate, the vertical rod 2022 is driven by the rotating disc 202 and moves in the arc-shaped slideway, the cross rod 2021 moves inwards in the radial direction, the sliding rod slides from one end far away from the mapping device 4 to be close to the mapping device 4, the extruding plate 2033 clamps the mapping device 4 to fix the mapping device 4, and after the deflector rod 201 passes through the clamping block 204, the clamping block 204 is loosened, and the installation is completed; the disassembly is performed reversely;
as a specific implementation manner of this embodiment, as shown in fig. 7-8, the turnover device of the disassembling and assembling mechanism 2 of the mapping device further includes a second motor 212; the second motor 212 is mounted on the fixing frame 207, and the output end drives the fixing frame 207 to rotate through a rotating shaft;
as a specific implementation manner of this embodiment, as shown in fig. 5-8 and 10-11, the mapping device dismounting mechanism 2 further comprises a protection device; the protection means comprises a sensor 208, a controllable support 209 and a buffer spring 210; the fixing frame 207 is provided with an inner layer and an outer layer, the inner layer is connected with the outer layer through a movable connecting rod, a fixing device is arranged on the inner side of the inner layer, and buffer springs 210 are uniformly arranged in a space between the two layers; the number of the buffer springs 210 is 9, and the buffer springs are used for buffering the impact force received by the equipment when the equipment falls to the ground; the controllable supporting device 209 is arranged on the fixing frame 207, and when the unmanned aerial vehicle body 3 operates normally, the controllable supporting device 209 is connected with the inner layer and the outer layer of the fixing frame 207, so that the inner layer and the outer layer do not rotate relatively; the sensor 208 is fixedly arranged on the mounting frame 205, is electrically connected with the control end 5 and is used for sensing the speed and acceleration change of the equipment, and when the speed and acceleration of the equipment exceed a limit value, the sensor 208 alarms;
the protection device further comprises an air pump 211 and a protection air bag 213; the protection air bag 213 is fixedly connected with the upper end of the fixing frame 207; the air pump 211 is fixedly arranged outside the fixing frame 207, and the output end of the air pump is connected with the protective air bag 213 and is used for inflating the protective air bag 213 so as to protect the mapping device 4;
specifically, as shown in fig. 11, the controllable supporting device 209 includes a connection bracket, a rack, a gear, and a motor three; the connecting bracket is fixedly arranged on the outer side of the outer layer of the fixing frame 207; the motor III is fixed on the connecting bracket, and the output end is connected with the gear to drive the gear to rotate; the gear is fixed on the connecting bracket and meshed with the rack, so that the rack can be driven to move; the rack is slidably arranged in the connecting bracket; when the rack is embedded into the fixing frame 207, the rack can be used as a fixing point to fix the inner layer of the fixing frame 207;
when the unmanned aerial vehicle body 3 is out of control, the equipment starts to rapidly descend, the speed and the acceleration of the equipment exceed set values, and the sensor 208 transmits information to the control end 5; after the control end 5 receives the information, a second motor 212 is started, and the second motor 212 drives the fixing frame 207 to rotate 180 degrees through the rotating shaft, so that the mapping device 4 faces upwards, and the mapping device 4 is prevented from being broken; meanwhile, the control end 5 also starts a motor III, the motor III drives a gear to rotate, the gear drives a rack to move outwards, the inner layer of the fixing frame 207 loses a fixed point and is supported by the buffer spring 210 so as to relieve the impact force received by the equipment when the equipment falls to the ground; after the fixing frame 207 is turned over by 180 degrees, the protection air bag 213 rotates to the lower end of the fixing frame 207, then the control end 5 starts the air pump 211, and the air pump 211 charges air into the protection air bag 213 to relieve the landing impact force and protect the mapping device 4;
as a specific implementation manner of this embodiment, as shown in fig. 2-4, an unmanned aerial vehicle for performing land mapping further includes two auxiliary mapping mechanisms 1, each of which includes a motor one 101, a servo screw 107, a push rod 108, a transmission device, an arc clamping plate 105, an infrared mapping device 106 and a land insertion rod 110; the servo screw 107 is fixedly arranged at one end of the connecting plate 206, and is provided with two sliding blocks in a sliding manner, and the two sliding blocks synchronously slide in opposite directions or in opposite directions; the upper end of each push rod 108 is rotationally connected with one sliding block on the servo screw 107, the lower end of each push rod 108 is rotationally connected with the transmission device, and the two push rods 108 are driven by the two sliding blocks to enable the transmission device to move up and down; the first motor 101 is fixedly arranged on the transmission device; two arc clamping plates 105 are arranged at the lower end of the transmission device; the arc clamping plate 105 is driven by the transmission device to tightly hold the ground inserting rod 110, and the ground inserting rod 110 is driven by the first motor 101 to rotate; the infrared mapping device 106 is installed at the upper end of the earth inserting rod 110 and is used for performing auxiliary mapping;
the transmission device of the auxiliary mapping mechanism 1 comprises a rotating frame 102, an irregular rotating plate 103, a transmission rod 104 and a transmission connecting plate 111; the pushing rod 108 is rotationally connected with the upper end of the transmission connecting plate 111, and the lower end of the transmission connecting plate 111 is rotationally connected with the upper end of the rotating frame 102; the irregular rotating plate 103 is connected with the output end of the first motor 101 and is rotatably arranged at the lower end of the rotating frame 102; connecting rods are rotatably arranged at two ends of the irregular rotating plate 103; limiting blocks are uniformly arranged on the lower end face of the rotating frame 102 and distributed on two sides of the irregular rotating plate 103; the transmission rods 104 are C-shaped rods, and the number of the transmission rods corresponds to that of the arc clamping plates 105; the upper end of each transmission rod 104 is rotationally connected with a connecting rod of the irregular rotating plate 103 and is in sliding connection with two ends of the rotating frame 102 through a limiting frame; the lower end of each transmission rod 104 is fixedly connected with one arc clamping plate 105 and drives the arc clamping plate 105 to rotate;
the ground inserting rod 110 comprises a placing frame 1101 and a ground entering rod 1102, and the tail end of the placing frame 1101 is fixedly connected with the top end of the ground entering rod 1102; the upper end of the placing rack 1101 is rotatably provided with a U-shaped support through a rotary supporting disc, and the infrared mapping device 106 is rotatably arranged in the U-shaped support through a driving rotating shaft; corresponding fixed clamping teeth are arranged on the lower part of the placing frame 1101 and the inner side of the arc clamping plate 105, and the arc clamping plate 105 clamps the lower part of the placing frame 1101 to drive the ground entering rod 1102 to rotate and insert into the ground; the tail end of the ground entering rod 1102 is pointed and is convenient to insert into the ground;
an adjusting motor I is arranged on the left side of the U-shaped support, and an output end of the adjusting motor I is connected with the driving rotating shaft and is used for adjusting the pitching angle of the infrared mapping device 106; an adjusting motor II is arranged in the holding frame 1101, and the output end of the adjusting motor II is connected with the rotary supporting disc and is used for adjusting the orientation of the infrared mapping device 106;
the auxiliary mapping mechanism 1 further comprises a camera 109, wherein the camera 109 is fixedly arranged at the upper part of the rotating frame 102 and is used for observing the condition that the earth inserting rod 110 is inserted into the earth;
when the infrared mapping device 106 is used for auxiliary mapping, firstly, the infrared emission device is arranged on the placing frame, and the arc clamping plate 105 clamps the tail end of the placing frame; an operator controls the servo screw rod 107 through the control end 5, so that two sliding blocks on the servo screw rod 107 move to two ends of the servo screw rod 107; after the unmanned aerial vehicle body 3 reaches a designated place, an operator starts a first motor 101 through a control end 5, the first motor 101 drives an irregular rotating plate 103 to rotate, the irregular rotating plate 103 continuously rotates after propping against a limiting block on a rotating frame 102, a transmission rod 104 is driven to slide inwards through a connecting rod, and then an arc clamping plate 105 clamps the tail end of a placing frame; then, under the continuous driving of the first motor 101, the irregular rotating plate 103 starts to drive the rotating frame 102 to rotate through the limiting block, the rotating frame 102 starts to rotate the placing frame 1101 through the transmission rod 104 and the arc clamping plate 105, and the placing frame belt 1101 drives the ground entering rod 1102 connected with the placing frame belt 1101 to rotate; meanwhile, the control end 5 controls two sliding blocks on the servo screw rod 107 to move in opposite directions, drives two pushing rods 108 connected with the sliding blocks to move in opposite directions, and under the action of the two pushing rods 108, the infrared emission device starts to move downwards, and the ground entering rod 1102 rotates and simultaneously moves downwards so as to be smoothly inserted into the ground;
the camera 109 transmits the recorded image to the man-machine interaction display screen of the control end 5, and an operator checks the image to control whether the position and the angle of the inserting fixing of the infrared transmitting device are correct or not; after the ground insertion is completed and the inspection is correct, an operator controls the motor I101 to reversely rotate through the control end 5, so that the arc clamping plate 105 loosens the tail end of the placing frame 1101; then, an operator starts the first adjusting motor and the second adjusting motor through the control end 5 to check the image transmitted by the camera 109, and fine-tune the pitching angle and the direction of the infrared emission device; after the adjustment is finished, the placement of the infrared emission device is finished;
similarly, when the infrared receiving device is installed, the position and the angle of the infrared receiving device are adjusted through the camera 109, so that the infrared receiving device can successfully receive the signal emitted by the infrared emitting device;
as shown in fig. 12, the control end 5 includes a main controller, a man-machine interaction display screen, an information transmission module, a storage module and a power module, and the main controller is electrically connected with the man-machine interaction display screen, the information transmission module, the storage module, the power module, a first motor 101, a second motor 212, a third motor, a servo screw 107, an air pump 211, a camera 109, a sensor 208, a first adjustment motor, a second adjustment motor and an unmanned aerial vehicle driving device; the main controller is used for controlling the operation of the whole unmanned aerial vehicle equipment; the man-machine interaction display screen is used for adjusting the placement condition of the infrared mapping device 106 through the information transmitted by the camera 109; the information transmission module is used for information transmission between the main controller and the auxiliary mapping mechanism 1, the mapping device dismounting mechanism 2 and the unmanned aerial vehicle body 3; the power supply module is used for providing a stable power supply for the control end 5; the storage module is used for storing operation information data of the whole unmanned aerial vehicle equipment;
the mapping device 4 is controlled and regulated by a controller matched with the mapping device.
Claims (10)
1. The unmanned aerial vehicle for land area mapping is characterized by comprising a mapping device dismounting mechanism (2), an unmanned aerial vehicle body (3), a mapping device (4) and a control end (5); the mapping device dismounting mechanism (2) comprises a connecting plate (206), a fixing device and a turnover device, and is fixedly arranged below the unmanned aerial vehicle body (3) through the connecting plate (206); the turnover device comprises a mounting frame (205), wherein the upper end of the mounting frame (205) is fixedly connected with a connecting plate (206), and the lower end of the mounting frame is rotatably connected with the fixing device; the fixing device is positioned in the turnover device and is used for fixedly arranging the mapping device (4); the control end (5) is used for controlling the operation of the whole surveying and mapping unmanned aerial vehicle device.
2. An unmanned aerial vehicle for land mapping according to claim 1, wherein, the fixing device comprises a deflector rod (201), a rotating disc (202), an extruder (203), a clamping block (204) and a fixing frame (207); the fixing frame (207) is rotationally connected with the lower end of the mounting frame (205); a connecting cylinder is fixedly arranged on the inner side of the fixing frame (207), and a rotating disc (202) is rotatably arranged in the connecting cylinder; the rotating disc (202) comprises an upper rotating disc (2021) and a lower rotating disc (2022), the upper rotating disc (2021) and the lower rotating disc (2022) are identical in structure and are symmetrically and fixedly connected together, and arc-shaped slide ways are uniformly and correspondingly distributed on one outward side; the extruder (203) comprises a sliding rod and an extrusion plate (2033), the sliding rod comprises a cross rod (2031) and a vertical rod (2032), and the cross rod (2031) and the vertical rod (2032) are fixedly connected in a cross shape; the upper end and the lower end of the vertical rod (2032) are respectively and slidably arranged in arc-shaped slideways corresponding to the upper rotating disc (2021) and the lower rotating disc (2022), one outward end of the cross rod (2031) is slidably connected with the connecting cylinder, and one inward end is fixedly connected with the extrusion plate (2033); the deflector rod (201) is fixedly arranged on the lower rotating disc (2022) and is used for driving the rotating disc (202) to rotate; the clamping block (204) is arranged on a fixing frame (207) on the same side with the deflector rod (201) and used for clamping the deflector rod (201); the mapping device (4) is arranged in the fixing device through the pressing plate (2033).
3. The unmanned aerial vehicle for land survey according to claim 2, wherein the turning device of the surveying device attaching/detaching mechanism (2) further comprises a second motor (212); the second motor (212) is arranged on the fixing frame (207), and the output end drives the fixing frame (207) to rotate through the rotating shaft.
4. A drone for performing land mapping according to claim 3, characterized in that the mapping device dismounting mechanism (2) further comprises a protection device; the protection device comprises a sensor (208), a controllable support device (209) and a buffer spring (210); the fixing frame (207) is provided with an inner layer and an outer layer, the inner layer is movably connected with the outer layer, a fixing device is arranged on the inner side of the inner layer, and buffer springs (210) are uniformly arranged in a space between the two layers; at least four buffer springs (210) are used for buffering impact force received by the equipment when the equipment falls to the ground; the controllable supporting device (209) is arranged on the fixing frame (207), and when the unmanned aerial vehicle body (3) operates normally, the controllable supporting device (209) is connected with the inner layer and the outer layer of the fixing frame (207) so that the inner layer and the outer layer do not rotate relatively; the sensor (208) is fixedly arranged on the mounting frame (205) and is used for sensing the speed and acceleration change of the equipment, and when the speed and acceleration of the equipment exceed a limit value, the sensor (208) alarms.
5. The unmanned aerial vehicle for land mapping of claim 4, wherein the protection device further comprises an air pump (211) and a protection airbag (213); the protection air bag (213) is fixedly connected with the upper end of the fixing frame (207); the air pump (211) is fixedly arranged on the outer side of the fixing frame (207), and the output end of the air pump is connected with the protection air bag (213) and is used for inflating the protection air bag (213) so as to protect the mapping device (4).
6. An unmanned aerial vehicle for performing land mapping according to claim 1, further comprising an auxiliary mapping mechanism (1), the auxiliary mapping mechanism (1) comprising two motors one (101), a servo screw (107), a push rod (108), a transmission, an arc clamp plate (105), an infrared mapping device (106) and a ground insertion rod (110); the servo screw rod (107) is fixedly arranged at one end of the connecting plate (206), and two sliding blocks are slidably arranged and synchronously slide in opposite directions or in opposite directions; the two pushing rods (108) are arranged, the upper end of each pushing rod (108) is rotationally connected with one sliding block on the servo screw rod (107), the lower end of each pushing rod is rotationally connected with the transmission device, and the two pushing rods (108) drive the transmission device to move up and down under the drive of the two sliding blocks; the motor I (101) is fixedly arranged on the transmission device; at least two arc clamping plates (105) are arranged at the lower end of the transmission device; the arc clamping plate (105) is driven by the transmission device to tightly hold the ground inserting rod (110), and the ground inserting rod (110) is driven by the motor I (101) to rotate; the infrared mapping device (106) is arranged at the upper end of the ground inserting rod (110) and is used for performing auxiliary mapping.
7. An unmanned aerial vehicle for performing land mapping according to claim 6, wherein the transmission of the auxiliary mapping mechanism (1) comprises a turret (102), an irregular rotating plate (103), a transmission rod (104) and a transmission connection plate (111); the pushing rod (108) is rotationally connected with the upper end of the transmission connecting plate (111), and the lower end of the transmission connecting plate (111) is rotationally connected with the upper end of the rotating frame (102); the irregular rotating plate (103) is connected with the output end of the first motor (101) and is rotatably arranged at the lower end of the rotating frame (102); connecting rods are rotatably arranged at two ends of the irregular rotating plate (103); limiting blocks are uniformly arranged on the lower end face of the rotating frame (102) and distributed on two sides of the irregular rotating plate (103); the transmission rods (104) are C-shaped rods, and the number of the transmission rods corresponds to that of the arc-shaped clamping plates (105); the upper end of each transmission rod (104) is rotationally connected with a connecting rod of the irregular rotating plate (103) and is in sliding connection with two ends of the rotating frame (102) through a limiting frame; the lower end of each transmission rod (104) is fixedly connected with one arc-shaped clamping plate (105) and drives the arc-shaped clamping plates (105) to rotate.
8. The unmanned aerial vehicle for performing land mapping according to claim 7, wherein the land inserting rod (110) comprises a placing frame (1101) and a land entering rod (1102), and the tail end of the placing frame (1101) is fixedly connected with the top end of the land entering rod (1102); the upper end of the placement frame (1101) is rotatably provided with a U-shaped support through a rotary supporting disc, and the infrared mapping device (106) is rotatably arranged in the U-shaped support through a driving rotating shaft; the lower part of the placing frame (1101) is matched with the arc-shaped clamping plate (105), the arc-shaped clamping plate (105) clamps the lower part of the placing frame (1101) and drives the ground entering rod (1102) to rotationally insert into the ground; the tail end of the ground entering rod (1102) is pointed and is convenient to insert into the ground.
9. The unmanned aerial vehicle for land survey and drawing according to claim 8, wherein an adjusting motor I is arranged on at least one side of the left and right sides of the U-shaped support, and an output end of the adjusting motor I is connected with the driving rotating shaft and is used for adjusting the pitching angle of the infrared surveying and drawing device (106); and a second adjusting motor is arranged in the placement frame (1101), and the output end of the second adjusting motor is connected with the rotary supporting disc and is used for adjusting the orientation of the infrared mapping device (106).
10. The unmanned aerial vehicle for surveying and mapping the land area according to claim 9, wherein the auxiliary surveying and mapping mechanism (1) further comprises a camera (109), and the camera (109) is fixedly installed on the upper portion of the rotating frame (102) for observing the situation that the land inserting rod (110) is inserted into the land.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310507916.5A CN116443288A (en) | 2023-05-08 | 2023-05-08 | Unmanned aerial vehicle for land area mapping |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310507916.5A CN116443288A (en) | 2023-05-08 | 2023-05-08 | Unmanned aerial vehicle for land area mapping |
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