CN207258000U - A kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection - Google Patents
A kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection Download PDFInfo
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- CN207258000U CN207258000U CN201721088779.2U CN201721088779U CN207258000U CN 207258000 U CN207258000 U CN 207258000U CN 201721088779 U CN201721088779 U CN 201721088779U CN 207258000 U CN207258000 U CN 207258000U
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- installing mechanism
- gondola
- imu
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Abstract
The utility model discloses a kind of inertial guidance data to share the multi-platform gondola of unmanned plane inspection, including installing plate and the first turntable installing mechanism, the side of the IMU gun iron links frame is installed with the second turntable installing mechanism, and the side of the second turntable installing mechanism is installed with the first turntable installing mechanism.This inertial guidance data shares the multi-platform gondola of unmanned plane inspection, ultraviolet holder, infrared holder and full length shot visible ray holder has the control system of oneself same, transmission system, with corresponding code-disc data, sensor is installed separately, take into full account the angle of each sensor, ensure normal operation when mutually without interference with, and it is double axle table, ensure that data have higher angle control precision, the present apparatus has given full play to the speciality of each sensor, it is ultraviolet, visible ray, it is infrared, laser radar can work independently according to respective characteristic and not interfere with each other mutually, and costly IMU data are shared, cost is greatly saved, and installation space.
Description
Technical field
Power-line patrolling gondola technical field is the utility model is related to, specially it is more to share unmanned plane inspection for a kind of inertial guidance data
Platform gondola.
Background technology
Multiple sensors, for the requirement such as convenience of operation, are typically integrated in together by existing power-line patrolling gondola
In one turntable gondola, it is that data are observed on direction that all sensors of such turntable are all fixed again, but the fact is that it is infrared,
Ultraviolet, visible ray, and laser radar, have field angle and sensor concern main points that oneself is different, reduce operating efficiency,
It is difficult to take into account the characteristic concern main points of each sensor.And whole equipment is larger, inertia is also larger, so also bad control rotation
Corner.
If taking into account infrared, ultraviolet, visible ray, laser radar, a distributed platform can be designed, wherein it is infrared, can
See light, it is ultraviolet have oneself independent turntable, laser radar is fixed on rear side, and four kinds of sensors do not disturb mutually.
There is part no dress holder, be also very limited without zoom, the whole visual angle of equipment, effect out is undesirable.
Utility model content
The purpose of this utility model is to provide a kind of inertial guidance data to share the multi-platform gondola of unmanned plane inspection, possesses sensing
The advantages of device does not disturb mutually, solves the problems of the prior art.
To achieve the above object, the utility model provides following technical solution：
A kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection, including installing plate and the first turntable installing mechanism, institute
The top side for stating installing plate is installed with laser radar scanning head erecting bed, consolidates on the laser radar scanning head erecting bed
Dingan County is equipped with laser radar scanning head, and the side of the laser radar scanning head erecting bed is installed with tight shot installation
Platform, is installed with tight shot on the tight shot erecting bed, the side of the tight shot erecting bed is installed with
IMU gun iron link framves, are installed with the IMU gun iron links frame and share high accuracy IMU, the IMU gun iron links frame
Side is installed with the second turntable installing mechanism, and ultraviolet holder is installed with the second turntable installing mechanism, described
The side of second turntable installing mechanism is installed with the first turntable installing mechanism, is installed with the first turntable installing mechanism
Infrared holder, the opposite side of the second turntable installing mechanism are installed with the 3rd turntable installing mechanism, the 3rd turntable
Full length shot visible ray holder is installed with installing mechanism.
Preferably, the ultraviolet holder, infrared holder and full length shot visible ray holder have that single control system is same respectively,
Transmission system and corresponding code-disc data, all rotating platform control systems share IMU data.
Preferably, the ultraviolet holder, infrared holder and full length shot visible ray holder are double axle table, ensure data tool
There is higher angle control precision, the gondola for having respective sensor below turntable, gondola size is completely according to sensing tolerance body
Customization.
Preferably, the ultraviolet holder, infrared holder and full length shot visible ray holder are double axle table, below turntable all
There is the gondola of respective sensor, gondola size is customized according to sensor.
Compared with prior art, the beneficial effects of the utility model are as follows：
This inertial guidance data shares the multi-platform gondola of unmanned plane inspection, ultraviolet holder, infrared holder and the visible Shekinah of full length shot
Platform has the control system of oneself, transmission system, and corresponding code-disc data, and IMU data, are all total to by all rotating platform control systems
With ultraviolet holder, infrared holder and full length shot visible ray holder are double axle table, ensure that there is data higher angle to control
Precision, has the gondola of respective sensor below turntable, gondola size is completely customized according to sensor, and the present apparatus is fully sent out
The speciality of each sensor is waved, ultraviolet, visible ray, infrared, laser radar can work independently mutual according to respective characteristic
Do not disturb, and costly IMU data are shared, and have greatly saved cost and installation space.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model.
In figure：1 installing plate, 2 laser radar scanning head erecting beds, 3 laser radar scanning heads, 4 tight shots, 5 share height
Precision IMU, 6 the 3rd turntable installing mechanisms, 7 full length shot visible ray holders, 8 ultraviolet holders, 9 infrared holders, 10 first turntables peace
Mounting mechanism, 11 second turntable installing mechanisms, 12IMU gun iron links frame, 13 tight shot erecting beds.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection, including 1 and first turntable of installing plate
Installing mechanism 10, the top side of installing plate 1 are installed with laser radar scanning head erecting bed 2, laser radar scanning head peace
Laser radar scanning first 3 is installed with dress platform 2, the side of laser radar scanning head erecting bed 2, which is installed with, focuses mirror
Head erecting bed 13, tight shot 4 is installed with tight shot erecting bed 13, and peace is fixed in the side of tight shot erecting bed 13
Equipped with IMU gun iron links frame 12, it is installed with IMU gun iron links frame 12 and shares high accuracy IMU5, shares high accuracy IMU5
Real-time exact position and posture are provided directly to fixed-focus camera and laser radar, the side of IMU gun iron links frame 12 is fixedly mounted
There is the second turntable installing mechanism 11, ultraviolet holder 8, the second turntable installing mechanism are installed with the second turntable installing mechanism 11
11 side is installed with the first turntable installing mechanism 10, and infrared holder 9 is installed with the first turntable installing mechanism 10,
The opposite side of second turntable installing mechanism 11 is installed with the 3rd turntable installing mechanism 6, consolidates on the 3rd turntable installing mechanism 6
Dingan County is equipped with full length shot visible ray holder 7, this inertial guidance data shares the multi-platform gondola of unmanned plane inspection, ultraviolet holder 8, infrared cloud
Platform 9 and full length shot visible ray holder 7 have that the control system of oneself is same, transmission system, and corresponding code-disc data, all turntable controls
System processed, all by IMU data sharings, the position relationship by turntable center point relative to IMU, it is current directly to extrapolate turntable
The angle that angles and positions and turntable need to adjust according to motion state, compensates because angular movement and caused change of jolting,
Increasing the stability of picture, Imu provides real-time exact position and posture directly to fixed-focus camera and laser radar, ultraviolet holder 8,
Sensor is mounted on infrared holder 9 and full length shot visible ray holder 7, sensor is installed separately, and takes into full account each sensor
Angle, ensure normal operation when mutually without interference with, so gondola installation distance relatively far away from, ultraviolet holder 8, infrared cloud
Platform 9 and full length shot visible ray holder 7 are double axle table, ensure that data have a higher angle control precision, below turntable all
There is the gondola of respective sensor, gondola size is completely customized according to sensor, the ultraviolet main corona inspection for completing electrical body
Survey, the abnormal heating of the infrared electric power facility for being primarily to see equipment, holder carrying visible ray is primarily to see naked eyes color and can recognize that
The defects of and exception, laser radar be primarily to see the facility of electric power relative position relation and surrounding enviroment it is abnormal, fixed-focus camera
Main point cloud colouration, the making of positive photograph picture, and the auxiliary judgment of surrounding enviroment, the present apparatus completed has given full play to each biography
The speciality of sensor, ultraviolet, visible ray, infrared, laser radar can work independently according to respective characteristic and not interfere with each other mutually, and
Costly IMU data are shared, and have greatly saved cost, and installation space.
In summary：This inertial guidance data shares the multi-platform gondola of unmanned plane inspection, ultraviolet holder 8, infrared holder 9 and length
Camera lens visible ray holder 7 has the control system of oneself, transmission system, and a corresponding code-disc data, all rotating platform control systems, all
By IMU data sharings, the position relationship by turntable center point relative to IMU, directly extrapolates the current angle of turntable and position
Put and turntable needs the angle that adjusts according to motion state, compensation increases picture because angular movement and caused change of jolting
Stability, Imu provides real-time exact position and posture, ultraviolet holder 8, infrared holder directly to fixed-focus camera and laser radar
9 and full length shot visible ray holder 7 on be mounted on sensor, sensor is installed separately, and takes into full account the angle of each sensor, protect
When demonstrate,proving normal operation mutually without interference with, so the distance of gondola installation is relatively far away from, ultraviolet holder 8, infrared holder 9 and long
Camera lens visible ray holder 7 is double axle table, ensures that data have higher angle control precision, has corresponding biography below turntable
The gondola of sensor, gondola size is completely customized according to sensor, the ultraviolet main corona detection for completing electrical body, infrared master
If seeing the abnormal heating of the electric power facility of equipment, holder carries visible ray and is primarily to see the identifiable defect of naked eyes color and different
Often, laser radar is primarily to see the relative position relation of the facility of electric power and surrounding enviroment exception, fixed-focus camera are mainly completed a little
Cloud colouration, the making of positive photograph picture, and the auxiliary judgment of surrounding enviroment, the present apparatus have given full play to the spy of each sensor
Long, ultraviolet, visible ray, infrared, laser radar can work independently according to respective characteristic and not interfere with each other mutually, and costly
IMU data shared, greatly saved cost, and installation space.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from the principle of the utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (4)
1. a kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection, including installing plate (1) and the first turntable installing mechanism
(10), it is characterised in that：The top side of the installing plate (1) is installed with laser radar scanning head erecting bed (2), described
Laser radar scanning head (3), the laser radar scanning head erecting bed are installed with laser radar scanning head erecting bed (2)
(2) side is installed with tight shot erecting bed (13), is installed with and focuses on the tight shot erecting bed (13)
Camera lens (4), the side of the tight shot erecting bed (13) are installed with IMU gun iron links frame (12), and the IMU rigidity connects
Connect to be installed with frame (12) and share high accuracy IMU (5), the side of the IMU gun iron links frame (12) is installed with the
Two turntable installing mechanisms (11), are installed with ultraviolet holder (8) on the second turntable installing mechanism (11), described second turn
The side of platform installing mechanism (11) is installed with the first turntable installing mechanism (10), is fixed on the first turntable installing mechanism (10)
Infrared holder (9) is installed, the opposite side of the second turntable installing mechanism (11) is installed with the 3rd turntable installing mechanism
(6), it is installed with full length shot visible ray holder (7) on the 3rd turntable installing mechanism (6).
2. a kind of inertial guidance data according to claim 1 shares the multi-platform gondola of unmanned plane inspection, it is characterised in that：It is described
Ultraviolet holder (8), infrared holder (9) and full length shot visible ray holder (7) have a single control system respectively, transmission system and right
The code-disc data answered, all rotating platform control systems share IMU data.
3. a kind of inertial guidance data according to claim 1 shares the multi-platform gondola of unmanned plane inspection, it is characterised in that：It is described
Ultraviolet holder (8), infrared holder (9) and full length shot visible ray holder (7) are double axle table, are had below turntable to inductive sensing
The gondola of device, gondola size are customized according to sensor.
4. a kind of inertial guidance data according to claim 1 shares the multi-platform gondola of unmanned plane inspection, it is characterised in that：It is described
Sensor is mounted on ultraviolet holder (8), infrared holder (9) and full length shot visible ray holder (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721088779.2U CN207258000U (en) | 2017-08-28 | 2017-08-28 | A kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721088779.2U CN207258000U (en) | 2017-08-28 | 2017-08-28 | A kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207258000U true CN207258000U (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721088779.2U Active CN207258000U (en) | 2017-08-28 | 2017-08-28 | A kind of inertial guidance data shares the multi-platform gondola of unmanned plane inspection |
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| CN (1) | CN207258000U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439386A (en) * | 2020-04-17 | 2020-07-24 | 江苏无国界无人机科技有限公司 | Unmanned aerial vehicle electric power inspection nacelle integrating ultraviolet light, visible light and infrared light |
| CN113156450A (en) * | 2021-03-17 | 2021-07-23 | 北京理工大学 | Active rotating laser radar system on unmanned aerial vehicle and control method thereof |
-
2017
- 2017-08-28 CN CN201721088779.2U patent/CN207258000U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439386A (en) * | 2020-04-17 | 2020-07-24 | 江苏无国界无人机科技有限公司 | Unmanned aerial vehicle electric power inspection nacelle integrating ultraviolet light, visible light and infrared light |
| CN113156450A (en) * | 2021-03-17 | 2021-07-23 | 北京理工大学 | Active rotating laser radar system on unmanned aerial vehicle and control method thereof |
| CN113156450B (en) * | 2021-03-17 | 2024-02-27 | 北京理工大学 | Active rotation laser radar system on unmanned aerial vehicle and control method thereof |
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