CN210526843U - Unmanned aerial vehicle for measuring tree height - Google Patents
Unmanned aerial vehicle for measuring tree height Download PDFInfo
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- CN210526843U CN210526843U CN201921203682.0U CN201921203682U CN210526843U CN 210526843 U CN210526843 U CN 210526843U CN 201921203682 U CN201921203682 U CN 201921203682U CN 210526843 U CN210526843 U CN 210526843U
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- unmanned aerial
- aerial vehicle
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- height
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Abstract
The utility model discloses an unmanned aerial vehicle of measuring tree height, including the host computer body and folding horn, host computer body below is equipped with measuring device, is equipped with data transmission device and location and decides high device on the host computer body, is equipped with the cloud platform that carries on measuring device under the host computer body, and measuring device includes that mutually perpendicular installs two measuring instruments on the cloud platform and the measuring instrument controller that is used for controlling the measuring instrument, and the measuring instrument controller is installed at the internal portion of host computer. The utility model discloses unmanned aerial vehicle is folded cascade many rotor unmanned aerial vehicle, small in size, convenient to carry and install; by adopting the GPS positioner and the flight controller, the automatic cruising and data acquisition can be realized under the unmanned operation condition, the manpower and material resources are saved, the measurement efficiency is improved, and the cost is reduced.
Description
Technical Field
The utility model relates to an agricultural many rotor unmanned aerial vehicle technical field, in particular to unmanned aerial vehicle that many rotors measured tree height.
Background
Unmanned aerial vehicles are playing an incomparable role in agricultural production, and the number of farmers using unmanned aerial vehicles is steadily increasing. In the fields of soil analysis, targeted application of fertilizer agriculture, storm tracking, safety monitoring, pollution control, air monitoring and the like, unmanned aerial vehicles are all used. In the current forestry production and ecological research monitoring, in order to improve the production efficiency, people must measure the height of each tree. The main measurement means at present is a height measuring instrument for measuring height by utilizing a similar triangle principle, and the equipment of the method has the advantages of large volume, complex carrying and installing process, time consumption and trouble and limitation of operation environment. When the measured object is a few trees, the traditional tree height measuring method can also cope with the situation, but when the tree height of a forest or a forest with more trees needs to be measured, the order of magnitude can reach tens of thousands, and the traditional tree height measuring method is not applicable any more. Meanwhile, in a dense forest, the height measuring instrument is complex and inconvenient to erect, and a place is provided for erecting the height measuring equipment by cutting down some trees when necessary, so that the original forest environment is greatly damaged, and the measured height has a large error even if the heights of some forests can be measured, and the method also has the defect of high cost.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art not enough, provide an unmanned aerial vehicle of measurement trees height that can fly above the woods.
The technical scheme of the utility model is that: the utility model provides an unmanned aerial vehicle of measurement tree height, includes the host computer body and folding horn, host computer body below is equipped with measuring device, is equipped with data transmission device and location and height-fixing device on the host computer body, is equipped with the cloud platform that carries on measuring device under the host computer body, and measuring device includes that mutually perpendicular installs two measuring instruments on the cloud platform and is used for controlling the measuring instrument's measuring instrument controller, and the measuring instrument controller is installed at the internal portion of host computer.
The outside of the host computer body is equipped with four horn, and the horn is hollow structure, and the horn includes fixed horn and activity horn, and fixed horn is connected with the host computer body, and the one end of activity horn is passed through the articulated joint with fixed horn and is articulated.
The included angle of adjacent fixed horn is 90, and the activity horn is rotated to and is in the same straight line with fixed horn on same horizontal plane around the articulated joint, and the biggest rotation angle of activity horn is 135.
The tail end of the movable horn is provided with a motor base, and a rotor, an electronic speed regulator and a motor for driving the rotor to rotate are mounted on the motor base.
Four foot stands are arranged below the main machine body.
And a holder controller for controlling the holder is arranged in the main machine body.
The positioning and height-fixing device comprises a GPS positioner and a flight controller arranged in the main machine body, and the GPS positioner is connected with the flight controller through a data transmission line.
The data transmission device adopts a data transmission radio station, the data transmission radio station comprises a sky end and a ground end, and the sky end is installed on the unmanned aerial vehicle and is connected with the flight controller through a data line; the ground end is connected with the ground station computer host through a data line. The sky end and the ground end can both send and receive data to reach the purpose of unmanned aerial vehicle and ground station data communication.
The measuring instrument adopts two laser radars which are arranged on a holder below the main machine body, wherein the two laser radars are mutually vertical.
When the unmanned aerial vehicle flies over the forest to be measured, the measuring instrument controller controls the two measuring instruments to scan trees and the ground within a range, the two measuring instruments which are perpendicular to each other collect distance information in the vertical direction, the collected data are transmitted to a ground station connected with the data receiving device in real time through the data transmission device, the ground station converts the received information into distance points of the forest, a forest three-dimensional model is formed through a large number of points, and the generated forest three-dimensional model is processed to obtain the number and height information of the trees with high precision.
The GPS positioner receives positioning information sent by a positioning satellite, decodes the received position information and transmits the position information to the flight controller through the data transmission line, and the flight controller correspondingly adjusts the flight state of the unmanned aerial vehicle based on the position information received by the GPS positioner so as to achieve the purposes of automatic cruising and stable flight.
The unmanned aerial vehicle for measuring the tree height has the use mode that the unmanned aerial vehicle comprises the following steps: firstly, finding a target forest to be operated; switching on a power supply of the unmanned aerial vehicle, and confirming that the data transmission device is normally connected with the data receiving device, and the data receiving device is normally connected with the ground station; starting the propeller until the unmanned aerial vehicle rises to be higher than the tested tree; starting the measuring instrument and starting to collect information of trees in the forest, monitoring the terrain environment of the forest in real time, and adjusting the holder according to the actual terrain to enable the measuring instrument to be perpendicular to the ground all the time in the whole flight operation process. Under the common control of the GPS positioner and the flight controller, the unmanned aerial vehicle automatically cruises above the forest along the straight line direction and is overlapped layer by layer until information of a complete piece of forest is collected. The data transmission device transmits the information acquired by the measuring instrument to a ground station connected with the data receiving device, the ground station reproduces the forest in a three-dimensional model mode according to the acquired data, and then the number and the height of the trees in the forest are measured.
Compared with the prior art, the utility model, following beneficial effect has:
the utility model discloses unmanned aerial vehicle is folded cascade many rotor unmanned aerial vehicle, small in size, convenient to carry and install; light weight and convenient carrying.
The utility model discloses a GPS locator and flight control ware can realize the automatic data collection that cruises under unmanned operation's the condition, and the material resources of using manpower sparingly can improve measurement of efficiency's reduce cost simultaneously.
The utility model discloses use two mutually perpendicular's measuring instrument, also can gather the data on ground when gathering the trees data of woods, compare with traditional approach, the precision of the trees height that records has obvious improvement.
The utility model discloses the modularization degree is higher, can transplant to other ordinary many wings unmanned aerial vehicle, can realize measuring trees height equally, convenient operation, and the practicality is strong.
Drawings
Fig. 1 is a schematic structural diagram of the unmanned aerial vehicle, and the horn is in an unfolded state.
Fig. 2 is this unmanned aerial vehicle's top view, and the horn is fold condition.
Fig. 3 is a top view of the unmanned aerial vehicle, and the horn is in an unfolded state.
Fig. 4 is a right side view of the unmanned aerial vehicle, with the horn in the deployed state.
Fig. 5 is a partially enlarged structural view of the pan/tilt and the measuring instrument.
Wherein, as shown in the figure, 1 is a rotor wing, 2 is a motor, 3 is a motor base, 4 is a movable arm, 5 is a hinge joint, 6 is a GPS positioner, 7 is a data transmission device, 8 is a main machine body, 9 is a tripod head, 10 is a measuring instrument, and 11 is a foot rest.
Detailed Description
The present invention will be described in further detail with reference to examples, but the present invention is not limited thereto.
Examples
The unmanned aerial vehicle for measuring the height of the tree comprises a main machine body 8 and a foldable arm, wherein a measuring device is arranged below the main machine body, a data transmission device and a positioning and height-fixing device are arranged on the main machine body, a cradle head 9 carrying the measuring device is arranged right below the main machine body, a cradle head controller for controlling the cradle head is arranged inside the main machine body, the measuring device comprises two measuring instruments and a measuring instrument controller, the two measuring instruments and the measuring instrument controller are perpendicularly arranged on the cradle head, and the measuring instrument controller is arranged inside the main machine body. The data transmission device 7 adopts a data transmission radio station, the data transmission radio station comprises a sky end and a ground end, and the sky end is installed on the unmanned aerial vehicle and is connected with the flight controller through a data line; the ground end is connected with the ground station computer host through a data line. The sky end and the ground end can both send and receive data to reach the purpose of unmanned aerial vehicle and ground station data communication. The measuring instrument 10 employs a lidar. The positioning and height-fixing device comprises a GPS positioner 6 and a flight controller (not shown in the figure) arranged in the main machine body, the GPS positioner is connected with the flight controller through a data transmission line, and the GPS positioner can receive satellite signals and decode position information.
The outside of the host computer body is equipped with four horn, and host computer body below is equipped with four foot rests 11, and the horn is hollow structure, and the horn includes fixed horn and activity horn 4, and fixed horn is connected with the host computer body, and the one end of activity horn is passed through articulated joint 5 with fixed horn and is articulated. The included angle of the adjacent fixed machine arms is 90 degrees, the movable machine arms rotate on the same horizontal plane around the hinged joints to be in the same straight line with the fixed machine arms, and the maximum rotation angle of the movable machine arms is 135 degrees. The tail end of the movable horn is provided with a motor base 3, a rotor wing 1 and a motor 2 for driving the rotor wing to rotate are mounted on the motor base, the rotor wing can generate downward strong wind power when rotating, an electronic speed regulator is arranged in the main body, and the flight controller controls the rotating speed of the motor through the electronic speed regulator. The object placed in the main engine body is distributed along the central uniform weight, and the center of gravity of the whole unmanned aerial vehicle is located at the center of the main engine body.
When the unmanned aerial vehicle flies over the forest to be measured, the measuring instrument controller controls the two measuring instruments to scan trees and the ground within a range, the two measuring instruments which are perpendicular to each other are used for collecting distance information in the vertical direction, the collected data are transmitted to a ground station connected with a data receiving device in real time through a data transmission device, the ground station converts the received information into distance points of the forest, a forest three-dimensional model is formed through a large number of points, and the generated forest three-dimensional model is processed to obtain the number and height information of the trees with high precision.
The GPS positioner receives positioning information sent by a positioning satellite, decodes the received position information and transmits the position information to the flight controller through the data transmission line, and the flight controller correspondingly adjusts the flight state of the unmanned aerial vehicle based on the position information received by the GPS positioner so as to achieve the purposes of automatic cruising and stable flight.
The models of parts of the components of the embodiment are that the electronic speed regulator adopts a good sky walker SkyWalker50A, the flight controller and the GPS locator adopt PIXHAWK2, the laser radar adopts a SLATEC Silan laser radar RPLIDAR A2, and the data transmission Radio is a thunder CUAV SX Radio.
The unmanned aerial vehicle for measuring the tree height has the use mode that the unmanned aerial vehicle comprises the following steps: firstly, finding a target forest to be operated; switching on a power supply of the unmanned aerial vehicle, and confirming that the data transmission device is normally connected with the data receiving device, and the data receiving device is normally connected with the ground station; starting the propeller until the unmanned aerial vehicle rises to be higher than the tested tree; starting the measuring instrument and starting to collect information of trees in the forest, monitoring the terrain environment of the forest in real time, and adjusting the holder according to the actual terrain to enable the measuring instrument to be perpendicular to the ground all the time in the whole flight operation process. Under the common control of the GPS positioner and the flight controller, the unmanned aerial vehicle automatically cruises above the forest along the straight line direction and is overlapped layer by layer until information of a complete piece of forest is collected. The data transmission device transmits the information acquired by the measuring instrument to a ground station connected with the data receiving device, the ground station reproduces the forest in a three-dimensional model mode according to the acquired data, and then the number and the height of the trees in the forest are measured.
In order to realize large-area operation, the unmanned aerial vehicle can automatically cruise according to a specified air route, and the air route can be adjusted and changed in the ground station during actual operation so as to realize accurate and efficient operation task completion of the unmanned aerial vehicle for measuring the height of the tree.
As described above, the present invention can be realized well, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present invention are intended to be covered by the scope of the claims of the present invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle of measurement tree height, its characterized in that, includes the host computer body and folding horn, host computer body below is equipped with measuring device, is equipped with data transmission device and location and height-fixing device on the host computer body, is equipped with the cloud platform that carries on measuring device under the host computer body, and measuring device includes that mutually perpendicular installs two measuring instruments on the cloud platform and is used for controlling the measuring instrument's measuring instrument controller, and the measuring instrument controller is installed at the internal portion of host computer.
2. The unmanned aerial vehicle for measuring the height of the tree as claimed in claim 1, wherein the main body is provided with four arms at the outer side, the arms are hollow structures, the arms include a fixed arm and a movable arm, the fixed arm is connected with the main body, and one end of the movable arm is hinged to the fixed arm through a hinge joint.
3. Unmanned aerial vehicle for measuring tree height according to claim 2, wherein the angle between adjacent fixed booms is 90 °, the movable boom rotates around the joint on the same horizontal plane to be in the same straight line with the fixed boom, and the maximum rotation angle of the movable boom is 135 °.
4. The unmanned aerial vehicle for measuring the height of the tree as claimed in claim 2, wherein the end of the movable arm is provided with a motor base, and the motor base is provided with a rotor, an electronic speed regulator and a motor for driving the rotor to rotate.
5. The unmanned aerial vehicle of claim 1, wherein four foot rests are provided under the main body.
6. Unmanned aerial vehicle of measurement tree height according to claim 1, characterized in that, the main engine body is inside to be equipped with the cloud platform controller of control cloud platform.
7. The unmanned aerial vehicle for measuring tree height of claim 1, wherein the positioning and height-fixing device comprises a GPS positioner and a flight controller arranged inside the main body, and the GPS positioner is connected with the flight controller through a data transmission line.
8. The unmanned aerial vehicle for measuring tree height of claim 1, wherein the data transmission device employs a data transmission station, the data transmission station includes a sky end and a ground end, the sky end is installed on the unmanned aerial vehicle and is connected with the flight controller through a data line.
9. Unmanned aerial vehicle for measuring tree height according to claim 1, wherein the measuring instrument employs a lidar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921203682.0U CN210526843U (en) | 2019-07-29 | 2019-07-29 | Unmanned aerial vehicle for measuring tree height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921203682.0U CN210526843U (en) | 2019-07-29 | 2019-07-29 | Unmanned aerial vehicle for measuring tree height |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210526843U true CN210526843U (en) | 2020-05-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921203682.0U Expired - Fee Related CN210526843U (en) | 2019-07-29 | 2019-07-29 | Unmanned aerial vehicle for measuring tree height |
Country Status (1)
| Country | Link |
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| CN (1) | CN210526843U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896535A (en) * | 2021-03-09 | 2021-06-04 | 上海澄派信息科技有限公司 | Prevent that branch shelves unmanned aerial vehicle of saving oneself |
| RU210411U1 (en) * | 2021-11-29 | 2022-04-14 | Михаил Владимирович Титович | FOLDING UNMANNED AIRCRAFT OF MULTI-ROTOR TYPE FOR VEGETATION CONDITION MONITORING |
-
2019
- 2019-07-29 CN CN201921203682.0U patent/CN210526843U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896535A (en) * | 2021-03-09 | 2021-06-04 | 上海澄派信息科技有限公司 | Prevent that branch shelves unmanned aerial vehicle of saving oneself |
| CN112896535B (en) * | 2021-03-09 | 2022-05-31 | 上海澄派信息科技有限公司 | Prevent that branch shelves unmanned aerial vehicle of saving oneself |
| RU210411U1 (en) * | 2021-11-29 | 2022-04-14 | Михаил Владимирович Титович | FOLDING UNMANNED AIRCRAFT OF MULTI-ROTOR TYPE FOR VEGETATION CONDITION MONITORING |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200515 Termination date: 20210729 |