CN205981234U - Measuring head adjusting device with calibration function - Google Patents

Abstract

The utility model discloses a measuring head adjusting device with calibration function, measuring head adjusting device with calibration function includes first regulating part, can drive first regulating part around the first driving piece of the planar direction pivoted of perpendicular to YZ, the second regulating part, install on first regulating part and can drive the second regulating part around the planar direction pivoted second driving piece of perpendicular to XZ with install the calibration subassembly on the second regulating part, be provided with the mounting that is used for installing the laser survey head on the second regulating part, the calibration subassembly is including installing the third driving piece on the second regulating part, the support be connected with the transmission of third driving piece with install the blank on the support, the support can move down in the drive of third driving piece to or leave the mounting under. The utility model provides a measuring head adjusting device with calibration function can calibrate it before laser surveying device measures at every turn when unmanned aerial vehicle flies.

Description

There is the measurement head adjusting means of calibration function

Technical field

This utility model is related to unmanned plane field of measuring technique, the measurement apparatus that more particularly, to a kind of unmanned plane uses.

Background technology

With the continuous development of unmanned air vehicle technique, unmanned plane mapping measurement occupies very important work in remote sensing mapping With.Unmanned plane can be with airborne multiple remote sensing equipments, such as high resolution CCD digital camera, laser scanner, light optical camera etc. Acquisition information, and by corresponding software, acquired image information is processed, it is fabricated to figure according to certain required precision Picture.In actual applications, for adapting to the demand of mapping measurement, having high-precision requirement is needed to the altitude information of unmanned plane.

The height measuring device that unmanned plane uses at present mainly has barometertic altimeter, laser measuring device for measuring etc..With respect to gas Pressure altimeter measures wide ranges but the larger problem of error, and laser measuring device for measuring is ideal height measuring device.

All can there is certain measured deviation in measurement in laser measuring device for measuring, need by blank, laser measurement to be hit Hit and calibrated, the calibrating mode of the laser measuring device for measuring that existing unmanned plane is installed is to carry out before unmanned plane takes off every time Calibration, but laser measuring device for measuring takes multiple measurements during unmanned plane during flying and will accumulate larger error, leads to survey There is deviation in the range data of amount.

Utility model content

The purpose of this utility model is to provide a kind of measurement head adjusting means with calibration function, can fly in unmanned plane Before laser measuring device for measuring measures every time, it is calibrated during row.

To achieve these goals, this utility model provides a kind of measurement head adjusting means with calibration function, institute State and there is the measurement head adjusting means of calibration function include the first regulating part, described first regulating part can be driven around perpendicular to YZ The first actuator that the direction of plane rotates, the second regulating part, it is arranged on described first regulating part and can drive described Second regulating part is around perpendicular to the second actuator that the direction of XZ plane rotates and the calibration being arranged on described second regulating part Assembly, described second regulating part is provided with the fixture for installing laser measuring head, and described calibration assemblies include being arranged on Support that the 3rd actuator on described second regulating part is in transmission connection with described 3rd actuator and installing on the bracket Blank, described support can be displaced downwardly in the driving of the 3rd actuator or leave the underface of described fixture.

Preferably, described 3rd actuator be steering wheel, described support can under the driving of the 3rd actuator around perpendicular to The direction of X/Y plane rotates, described blank can move to the rotation of described support or leave described fixture just under Side.

Preferably, described support is included the connecting plate being in transmission connection with described 3rd actuator and is fixedly connected on described company The securing member for fixing described blank on fishplate bar.

Preferably, described securing member includes having dead ring jaggy and bolt, and the both sides of the breach of described dead ring are divided It is not provided with the projection offering through hole, described bolt is provided with nut after passing through two described raised through holes.

Preferably, described first actuator is fixedly mounted on connector, and it is rotatable that described first regulating part passes through rotating shaft Be arranged on described connector, described first actuator is in transmission connection with described first regulating part, with drive described first tune Section part is around described axis of rotation.

Preferably, described first regulating part includes the first installing plate being mutually connected vertically and the second installing plate, described turn Axle is arranged on described first installing plate, and described second actuator is arranged on described second installing plate, described first actuator Output shaft be in transmission connection with described first installing plate by driving plate.

Preferably, described first actuator is steering wheel, and one end of described driving plate is articulated and connected with the swing arm of described steering wheel, The other end of described driving plate is articulated and connected with described second installing plate.

Preferably, described second regulating part includes the 3rd installing plate, and described 3rd installing plate is passed with described second actuator It is dynamically connected.

Preferably, described second actuator is steering wheel, and the swing arm of described steering wheel is fixedly connected with described 3rd installing plate.

Preferably, described fixture is included the fixed plate being arranged on described second regulating part and is fixed with described fixed plate The mounting seat connecting, described mounting seat offers the installing hole for installing laser measuring head, the axis of described installing hole with The pivot center of described first regulating part and the second regulating part is all vertical.

This utility model is with the difference of prior art, the measurement with calibration function that this utility model provides Head adjusting means is passed through to arrange the first regulating part, the first actuator, the second regulating part and the second actuator, can fly in unmanned plane Realize adjust automatically and be arranged on fixture by control first actuator of the flight control system of unmanned plane and the second actuator during row On measurement head angle it is ensured that measurement head is in vertical state during unmanned plane during flying all the time, pass through setting the simultaneously Blank can be moved to the underface of fixture, to laser measurement before every time using laser measuring head measurement by three actuators Head is calibrated such that it is able to be realized laser measuring head being calibrated in unmanned plane during flying.

Brief description

Fig. 1 is a kind of structure of the measurement head adjusting means with calibration function of embodiment that this utility model provides Schematic diagram；

Fig. 2 is the front view of the measurement head adjusting means with calibration function shown in Fig. 1；

Fig. 3 is the top view of the measurement head adjusting means with calibration function shown in Fig. 1；

Fig. 4 is the structural representation of the calibration assemblies of measurement head adjusting means with calibration function shown in Fig. 1；

Fig. 5 is the structural representation of the measurement head adjusting means (calibration assemblies are not shown) with calibration function shown in Fig. 1 Figure；

Description of reference numerals：

1- first regulating part；11- first installing plate；12- second installing plate；2- first actuator；21- driving plate；22- puts Arm；3- second regulating part；31- the 3rd installing plate；4- second actuator；5- fixture；51- fixed plate；52- mounting seat；53- pacifies Dress hole；54- top wire hole；6- laser measuring head；7- connector；8- rotating shaft；9- calibration assemblies；91- the 3rd actuator；92- support； 93- blank；94- connecting plate；95- securing member；951- dead ring；952- is raised.

Specific embodiment

With embodiment, this utility model is further illustrated below in conjunction with the accompanying drawings.But the use of these exemplary embodiments Way and purpose are only used for enumerating this utility model, not real protection scope of the present utility model are constituted any type of any Limit, more non-protection domain of the present utility model is confined to this.

Some nouns of locality are defined in this utility model, in the case of not being specified to the contrary, the orientation that used Word such as " upper and lower, left and right " refers to that the measurement head adjusting means with calibration function that this utility model provides normally is using feelings Condition is undefined, and consistent with the direction up and down shown in accompanying drawing 2." inside and outside " refers to take turns with respect to each parts itself Wide is inside and outside.These nouns of locality adopt for the ease of understanding, thus do not constitute the limit to this utility model protection domain System.

Suitably with reference to shown in Fig. 1, the measurement head with calibration function of the basic embodiment that this utility model provides is adjusted Regulating device includes the first regulating part 1, can drive described first regulating part 1 around the first drive rotating perpendicular to the direction of YZ plane Moving part 2, the second regulating part 3, be arranged on described first regulating part 1 and can drive described second regulating part 3 around perpendicular to The direction of XZ plane the second actuator 4 rotating and the calibration assemblies 9 being arranged on described second regulating part 3, described second tune Fixture 5 for installing laser measuring head 6 is provided with section part 3, described calibration assemblies 9 include being arranged on described second regulation Support 92 that the 3rd actuator 91 on part 3 is in transmission connection with described 3rd actuator 91 and being arranged on described support 92 Blank 93, described support 92 can be displaced downwardly in the driving of the 3rd actuator 91 or leave the underface of described fixture 5.

In this utility model, described YZ plane, that is, the plane of the Y-axis shown in Fig. 1 and Z axis composition, puts down perpendicular to YZ The direction in face, that is, parallel to the direction of X-axis, described XZ plane, i.e. the plane of the X-axis shown in Fig. 1 and Z axis composition, perpendicular to The direction of XZ plane, that is, parallel to the direction of Y-axis.Z-direction shown in figure, the unmanned plane measurement providing for this utility model Head adjusting means is arranged on unmanned plane and the horn of unmanned plane is in vertical direction during horizontality, and that is, Z-direction is When unmanned plane horn is in horizontality, perpendicular to the direction of unmanned plane horn.

Above-mentioned basic embodiment there is the measurement head adjusting means of calibration function when using, first pass through unmanned plane Flight control system determine the flight attitude of unmanned plane, and determine that now vertical direction is with respect to the angle of the coordinate system of unmanned plane, Then control the first actuator 2, adjust the angle of the first regulating part 1 by the first actuator 2, and control the second actuator 4, lead to Cross the angle that the second actuator 4 adjusts the second regulating part 3, thus structure adjusting is arranged on the fixture 5 on the second regulating part 3 Angle, makes the measurement head 6 being arranged on fixture 5 keep vertical state.When need using laser measuring head 6 measure height number When, control the 3rd actuator 91 to rotate so that the blank 93 being arranged on support 92 moves to by the flight control system of unmanned plane The underface of fixture 5, the laser measuring head 6 being arranged on fixture 5 can be calibrated by blank 93, and laser measurement fills Put after calibration finishes, flight control system controls the 3rd actuator 91 so that described blank 93 is removed from the underface of fixture 5, swashs Optical measurement instrument can accurately measure altitude information by the laser measuring head 6 being arranged on fixture 5.When in each use During laser measuring head 6 measurement altitude information, you can make blank 93 just move to laser measuring head 6 by the 3rd actuator 91 Lower section is such that it is able to ensure the accuracy of altitude information recording every time.

In this utility model, described calibration assemblies 9 can move to Laser Measuring using the various suitable blanks 93 that make Appropriate configuration immediately below amount 6.For example, described 3rd actuator 91 can adopt linear electric motors, and linear electric motors are fixed on On two regulating parts 3, perpendicular to laser measuring head 6, blank 93 is fixedly mounted on linear electric motors to the axis of the output shaft of linear electric motors Output shaft on, by control linear electric motors output shaft stretch out with retract, you can so that moving to or leaving described fixation The underface of part 5.

In a preferred embodiment of the present utility model, as shown in figure 4, described 3rd actuator 91 is steering wheel, described Support 92 can rotate around perpendicular to the direction of X/Y plane under the driving of the 3rd actuator 91, and described blank 93 can be with institute State the rotation of support 92 and move to or leave the underface of described fixture 5.

Specifically, described support 92 is included the connecting plate 94 being in transmission connection with described 3rd actuator 91 and is fixedly connected on The securing member 95 for fixing described blank 93 on described connecting plate 94.By arranging securing member 95, can facilitate securely Blank 93 is installed.

In this utility model, described securing member 95 preferably includes have dead ring 951 jaggy and bolt, described fastening The both sides of the breach of ring 951 are respectively arranged with the projection 952 offering through hole, and described bolt passes through two described raised 952 Nut is installed after through hole.

Nut, when installing blank 93, is unscrewed so that between two projections 952 by the securing member 95 of said structure first Spacing increases, thus increasing the internal diameter of dead ring 951, then blank 93 is placed in dead ring 951, then tightens nut, that is, The fixation of achievable blank 93.

The unmanned plane measurement head adjusting means providing in this utility model can be fixed on unmanned plane in any appropriate manner It is preferable that with reference to shown in Fig. 1, described first actuator 2 is fixedly mounted on connector 7, described first regulating part 1 on body It is installed in rotation on described connector 7 by rotating shaft 8, described first actuator 2 is with described first regulating part 1 transmission even Connect, to drive described first regulating part 1 to rotate around described rotating shaft 8.In the present embodiment, unmanned plane measurement head adjusting means It is to be fixed on unmanned plane body by connector 7.

Now, the first regulating part 1 is installed in rotation on connector 7 by rotating shaft 8, and its mounting means can be rotating shaft 8 are fixedly mounted on connector 7, and the first regulating part 1 is arranged in rotating shaft 8 by bearing, or rotating shaft 8 is rotatable by bearing Be arranged on connector 7, the first regulating part 1 is fixedly connected with rotating shaft 8.

In this utility model, described first regulating part 1 is for installing the second actuator 4, therefore can adopt various Suitable shape and structure.

In preferred implementation of the present utility model, with reference to shown in Fig. 2, Fig. 5, described first regulating part 1 includes mutually First installing plate 11 connected vertically and the second installing plate 12, described rotating shaft 8 is arranged on described first installing plate 11, and described Two actuators 4 are arranged on described second installing plate 12, and the output shaft of described first actuator 2 passes through driving plate 21 and described the One installing plate 11 is in transmission connection.

Described first actuator 2 is arranged on connector 7, by the first actuator 2 can drive the first regulating part 1 around Rotating shaft 8 rotates.

Alternatively, described first actuator 2 can be linear electric motors, and the body of linear electric motors is hinged on connector 7, directly The output shaft of line motor is hinged with the second installing plate 12, stretching out and retract by the output shaft of linear electric motors, you can drive the Two installing plates 12 rotate around rotating shaft 8.

In a preferred implementation of the present utility model, as shown in figure 5, described first actuator 2 is steering wheel, described One end of driving plate 21 is articulated and connected with the swing arm 22 of described steering wheel, the other end of described driving plate 21 and described second installing plate 12 are articulated and connected.Thus, by the swing of the swing arm 22 of steering wheel, driving plate 21 can be driven to rotate, thus driving the second installation Plate 12 rotates around rotating shaft 8.

In this utility model, described second regulating part 3 is for mounting fixing parts 5, therefore with the first regulating part 1 class Seemingly, the second regulating part 3 can also adopt any suitable structure, such as cylinder, block or framework etc..

It is preferable that described second regulating part 3 includes the 3rd installing plate 31, described 3rd installing plate in this utility model 31 are in transmission connection with described second actuator 4.Rotation by the second actuator 4, you can drive the 3rd installing plate 31 to rotate.

In a preferred implementation of the present utility model, as shown in figure 3, described second actuator 4 is steering wheel, described The swing arm of steering wheel is fixedly connected with described 3rd installing plate 31.

In this utility model, it is used for during described fixture 5 fixedly mounting the device of laser measuring head 6, therefore, as long as energy Enough fixed laser measurement heads 6, fixture 5 can adopt any suitable shape and structure.

In a preferred implementation of the present utility model, as shown in figure 5, described fixture 5 include being arranged on described Fixed plate 51 on second regulating part 3 and the mounting seat 52 being fixedly connected with described fixed plate 51, described mounting seat 52 is opened up There is the installing hole 53 for installing laser measuring head 6.Described fixed plate 51 and mounting seat 52 can be integrally formed, in fixed plate 51 On offer screwed hole, fixed plate 51 can be bolted on the 3rd installing plate 31.By by fixture 5 be set to by Fixed plate 51 and mounting seat 52 are constituted, so that fixture 5 can easily be fixed on the 3rd installing plate 31, and are easy to Laser measuring head 6 is installed.Further, as shown in figure 4, the axis of described installing hole 53 and described first regulating part 1 and second The pivot center of regulating part 3 is all vertical.Such that it is able to simplify the operation sequence of flight control system.

So that laser measuring head 6 installs ground more firmly, in another preferred implementation of the present utility model, The top wire hole 54 being connected with described installing hole 53 is offered on described mounting seat 52, the axis of described top wire hole 54 is perpendicular to described The axis of installing hole 53, is provided with the jackscrew for fixing described laser measuring head 6 in described top wire hole 54.Suitable by jackscrew Hold out against the laser measuring head 6 being arranged in installing hole 53, laser measuring head 6 can be avoided small with respect to installing hole 53 position Change, thus ensureing the accuracy measuring.

The sequencing of embodiment of above only for ease of description, does not represent the quality of embodiment.

Finally it should be noted that：Embodiment of above is only in order to illustrating the technical solution of the utility model, rather than it is limited System；Although being described in detail to this utility model with reference to aforementioned embodiments, those of ordinary skill in the art should Understand：It still can be modified to the technical scheme described in aforementioned each embodiment, or special to wherein portion of techniques Levy and carry out equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from each reality of this utility model Apply the spirit and scope of mode technical scheme.

Claims (10)

1. a kind of measurement head adjusting means with calibration function is it is characterised in that the described measurement head with calibration function is adjusted Regulating device includes the first regulating part (1), can drive described first regulating part (1) around rotating perpendicular to the direction of YZ plane One actuator (2), the second regulating part (3), to be arranged on described first regulating part (1) upper and can drive described second regulating part (3) around perpendicular to the second actuator (4) that the direction of XZ plane rotates with the calibration group that is arranged on described second regulating part (3) Part (9), described second regulating part (3) is provided with the fixture (5) for installing laser measuring head (6), described calibration assemblies (9) the 3rd actuator (91) including being arranged on described second regulating part (3) is in transmission connection with described 3rd actuator (91) Support (92) and the blank (93) being arranged on described support (92), described support (92) can be in the 3rd actuator (91) Driving is displaced downwardly to or leaves the underface of described fixture (5).

2. the measurement head adjusting means with calibration function according to claim 1 is it is characterised in that described 3rd driving Part (91) is steering wheel, and described support (92) can turn around the direction perpendicular to X/Y plane under the driving of the 3rd actuator (91) Dynamic, described blank (93) can move to or leave the underface of described fixture (5) with the rotation of described support (92).

3. the measurement head adjusting means with calibration function according to claim 1 and 2 is it is characterised in that described support (92) include the connecting plate (94) that is in transmission connection with described 3rd actuator (91) and be fixedly connected on described connecting plate (94) Be used for fixing the securing member (95) of described blank (93).

4. the measurement head adjusting means with calibration function according to claim 3 is it is characterised in that described securing member (95) include having dead ring jaggy (951) and bolt, the both sides of the breach of described dead ring (951) are respectively arranged with and open up There is the projection (952) of through hole, described bolt is provided with nut through after the through hole of two described projections (952).

5. the measurement head adjusting means with calibration function according to claim 1 is it is characterised in that described first drives Part (2) is fixedly mounted on connector (7), and described first regulating part (1) is installed in rotation on described connection by rotating shaft (8) On part (7), described first actuator (2) is in transmission connection with described first regulating part (1), to drive described first regulating part (1) Rotate around described rotating shaft (8).

6. the measurement head adjusting means with calibration function according to claim 5 is it is characterised in that described first is adjusted Part (1) includes the first installing plate (11) of being mutually connected vertically and the second installing plate (12), and described rotating shaft (8) is arranged on described the On one installing plate (11), described second actuator (4) is arranged on described second installing plate (12), described first actuator (2) Output shaft be in transmission connection with described first installing plate (11) by driving plate (21).

7. the measurement head adjusting means with calibration function according to claim 6 is it is characterised in that described first drives Part (2) is steering wheel, and one end of described driving plate (21) is articulated and connected with the swing arm (22) of described steering wheel, described driving plate (21) The other end is articulated and connected with described second installing plate (12).

8. the measurement head adjusting means with calibration function according to claim 1 is it is characterised in that described second is adjusted Part (3) includes the 3rd installing plate (31), and described 3rd installing plate (31) and described second actuator (4) are in transmission connection.

9. the measurement head adjusting means with calibration function according to claim 8 is it is characterised in that described second drives Part (4) is steering wheel, and the swing arm of described steering wheel is fixedly connected with described 3rd installing plate (31).

10. the measurement head adjusting means with calibration function according to claim 1 is it is characterised in that described fixture (5) inclusion is arranged on described second regulating part (3) fixed plate (51) and the installation being fixedly connected with described fixed plate (51) Seat (52), described mounting seat (52) offers the installing hole (53) for installing laser measuring head (6), described installing hole (53) Axis all vertical with the pivot center of described first regulating part (1) and the second regulating part (3).