CN211167408U - Unmanned aerial vehicle nacelle for forest fire monitoring - Google Patents
Unmanned aerial vehicle nacelle for forest fire monitoring Download PDFInfo
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- CN211167408U CN211167408U CN201921125745.5U CN201921125745U CN211167408U CN 211167408 U CN211167408 U CN 211167408U CN 201921125745 U CN201921125745 U CN 201921125745U CN 211167408 U CN211167408 U CN 211167408U
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Abstract
An unmanned aerial vehicle nacelle for forest fire monitoring. Belong to unmanned aerial vehicle technical field. The vibration of the camera holder is reduced by using the damping device, so that the camera is more stable, and the measured data is more accurate. The utility model discloses a: the nacelle passes through unmanned aerial vehicle connecting plate (2) with unmanned aerial vehicle and links to each other, the vibration that damping device brought in order to reduce the external interference in the unmanned aerial vehicle motion process is equipped with to the nacelle lower part, thereby the reduction is to measuring result's influence, damping device passes through camera cloud platform link (13) and camera cloud platform frame (16) and connects camera mount (18), install in camera mount (18) for measuring laser radar (17) and infrared camera (19) and inertial navigation system (20). The utility model is used for unmanned aerial vehicle's forest fire control.
Description
Technical Field
The utility model belongs to forestry machinery, concretely relates to a nacelle structure for unmanned aerial vehicle.
Background
The land is big thing, forest resource is important resource in our country, but every year will have a large number of forest to suffer the destruction of forest fire, it can cause ecological and economic devastating destruction to the forest, even more can cause personnel to sacrifice and so on unfortunate affairs. This in time discover the fire disaster, the utility model discloses utilize unmanned aerial vehicle to carry out the early monitoring of conflagration to observe the condition of stretching of fire disaster, need design an unmanned aerial vehicle nacelle device, this device is integrated with the multisensor of forest fire monitoring, reaches the purpose of measuring forest fire condition of stretching and forest farm ground information. The sensors that the pod needs to carry include: infrared camera, laser radar and inertial navigation system, battery, and a control development board. The infrared camera carried by the unmanned aerial vehicle is used for monitoring the fire source, then the laser radar is used for ranging on the ground, and the inertial navigation system is used for positioning the unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem provide a can accurate quick location forest grassland live wire position to can accomplish the real-time forest fire monitoring of unmanned aerial vehicle towards the unmanned aerial vehicle nacelle system of forest grassland live wire location.
The utility model provides a technical scheme that technical problem adopted is: the utility model provides an unmanned aerial vehicle nacelle structure, includes that the nacelle is whole and unmanned aerial vehicle, and the two connecting device is nacelle and unmanned aerial vehicle connecting plate 2, and the connecting plate passes through bolted connection with nacelle 4, is provided with two-layer loading board in the nacelle 4, and last loading board 6 is used for bearing battery 5, and lower loading board 8 is used for bearing development board 7. In order to reduce the influence of vibration on the measurement result of the pod infrared camera 19 in the flying motion process of the unmanned aerial vehicle, a damping device is arranged at the lower part of the lower bearing plate.
The nacelle passes through unmanned aerial vehicle connecting plate (2) with unmanned aerial vehicle and links to each other, the vibration that damping device brought in order to reduce the external interference in the unmanned aerial vehicle motion process is equipped with to the nacelle lower part, thereby the reduction is to measuring result's influence, damping device passes through camera cloud platform link (13) and camera cloud platform frame (16) and connects camera mount (18), install in camera mount (18) for measuring laser radar (17) and infrared camera (19) and inertial navigation system (20).
The damping plate is connected with the connecting column through a bolt, the connecting column is in clearance fit with a hole penetrating through the damping plate (11), the damping balls are made of viscoelastic materials, the damping balls deform to play a role in buffering and damping during stress extrusion, and the damping plate is connected with the camera holder frame through the camera holder frame (11).
The damping device comprises an upper damping plate 11, a lower damping plate 12 and damping balls 9, wherein four through holes with diameters larger than the diameter of the pod connecting column are arranged at the four corners of the upper damping plate 11, the number of the shafts is four, the upper end and the lower end of each shaft are connected with the lower end of the camera pod 4 and the lower end of the damping plate 12, the upper damping plate and the lower damping plate are communicated, the upper damping plate and the camera cradle head connecting frame are fixedly connected through bolts, and the four damping balls are arranged on the damping plate and the lower damping plate.
Further, the camera holder connecting frame is connected with the damping plate through bolts.
Further, the camera pod 4 comprises an upper bearing plate 6 and a lower bearing plate 8, a battery positioning groove is formed in the upper bearing plate 6 and is matched with the fixed battery frame 3 to fix the battery 5, and the lower bearing plate is fixedly connected with the development plate 7 through bolts.
Further, camera nacelle 4 passes through screw hole 14 threaded connection with unmanned aerial vehicle connecting device, and unmanned aerial vehicle connecting device is nacelle and unmanned aerial vehicle connecting plate 2, links to each other with unmanned aerial vehicle through four fasteners.
Further on the shock attenuation board be connected with camera cloud platform link through the bolt, camera cloud platform link 13 sets up a small-size motor B21 output and links to each other with camera cloud rack 16, camera cloud rack 16 is inside to be equipped with infrared camera 19 and inertial navigation system 20, externally mounted laser radar 17.
Further, the small motor a15 controls the rotation of the camera mount 18 in the X-axis direction and the small motor B21 controls the rotation of the camera mount 18 in the Y-axis direction.
Further camera mount inner wall fixed mounting inertial navigation for measure information such as unmanned aerial vehicle speed yaw angle.
The beneficial effects of the utility model are that reduce the air resistance through shock-absorbing structure and disturb and some because the vibrations that the machine itself brought to increase the stability of nacelle structure, also reduce rocking of camera lens greatly, improve the stability that the camera was shot, and set up two small-size motors and realize that the camera cloud platform is two degrees of freedom is rotatory, improved the flexibility that the camera was shot. The pod integrated by the laser radar and the infrared camera can more accurately position the live wire and the smoke above the live wire, so that the time for acquiring forest fire conditions by managers is greatly shortened, and the best fire suppression command is conveniently and timely made.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that some embodiments of the present invention are attached to the following descriptions, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort. In the drawings:
FIG. 1 is a schematic view of the entire structure of the nacelle (view 1)
FIG. 2 is a schematic view of the entire structure of the nacelle (perspective view 2)
FIG. 3 is a partially enlarged view of the shock absorbing device at view angle 2
FIG. 4 is a schematic view of a two-degree-of-freedom rotation device
In the figure: 1-a fastener; 2-connecting the unmanned aerial vehicle; 3-fixing a battery rack; 4-a camera pod; 5-a load-bearing battery; 6-upper bearing plate; 7-development of a plate; 8-a lower bearing plate; 9-a shock absorbing ball; 10-a shock-absorbing plate connecting frame; 11-on the damping plate; 12-under the damping plate; 13-camera pan-tilt connecting frame; 14-a threaded hole; 15-small electric machine a; 16-a camera cloud gantry; 17-laser radar; 18-a camera mount; 19-an infrared camera; 20-an inertial navigation system; 21-small motor B.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
The invention is further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the pod structure for the unmanned aerial vehicle is shown, and the unmanned aerial vehicle is connected with the pod of the unmanned aerial vehicle through a fastener 1 and a connecting plate 2; the nacelle comprises an upper bearing plate, a lower bearing plate, a damping device and a camera holder capable of realizing two-degree-of-freedom rotation.
The unmanned aerial vehicle connecting plate 2 is connected with the camera nacelle 4 through four bolts, the upper bearing plate 6 is provided with three bearing battery positioning grooves, the positioning grooves are matched with the fixed battery frame 3 through bolts to fasten the bearing battery 5, and the battery is connected through a wire to provide electric power support for the development plate 7, the infrared camera, the laser radar and the inertial navigation system. The lower bearing plate is connected and fixed with the development plate 7 through bolts, and the development plate 7 is connected with ground forest fire data acquired by the infrared camera 19 and the laser radar 17 through wires to perform data processing and transmit the data back to a ground computer.
The lower bearing plate 8 is connected the damping device subassembly includes the damping plate upper 11, 12 and the three components of damping ball 9 under the damping plate, lower bearing plate 8 is connected fixedly through bolt and damping plate link 10, 11 sets up four through-holes with damping plate lower four corners department 12 peripheral symmetry on the damping plate, 11 and damping plate lower 12 are connected through nacelle connecting post on the damping plate, 11 and damping plate lower 12 middle installations set up four damping balls 9 on the damping plate, four nacelle connecting post pass through bolted connection with camera nacelle 4, 11 is greater than the stand diameter through-hole diameter through nacelle connecting post on the damping plate, the motion of stand between the through-hole cooperates the vibration of the motion filtration fixed frequency of damping ball 9 and maintains the stability of camera cloud platform 16.
The shock absorption plate connecting frame 10 is directly connected with the camera cloud platform connecting frame 13, and the camera cloud platform connecting frame 13 is used for carrying a small motor A15 to directly drive the camera cloud platform frame 16 to realize the rotation of the X axis, so that the rotation of the X axis of the infrared camera 19 is realized; a small-sized motor B21 is carried on the camera cloud platform 16, the output end of the small-sized motor B21 is fixedly provided with the camera fixing frame 18 and drives the camera fixing frame 18 to realize the rotation of the Y axis, so as to realize the rotation of the Y axis of the infrared camera, the infrared camera 19 is fixed on the camera fixing frame through a bolt, the infrared camera 19 collects the infrared data of forest fires, the infrared camera 19XY two-freedom-degree rotating device is connected and transmitted to a development board through a lead to analyze the distribution area and the spreading trend of a live wire, the purpose of flexibly monitoring forest fires is achieved through a small motor A15 and a small motor B21, the outer side of a camera fixing frame 18 is provided with a laser radar to acquire ground three-dimensional information, the information acquired by the laser radar 17 is transmitted to the development board 7 through wire connection, an inertial navigation system is fixedly arranged on the inner wall surface of the camera fixing frame 18, and establishing a navigation coordinate system according to the inertial navigation system, and calculating the speed and the position of the unmanned aerial vehicle in the navigation coordinate system according to the acceleration output.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides an unmanned aerial vehicle nacelle towards forest fire monitoring which characterized in that: the nacelle passes through unmanned aerial vehicle connecting plate (2) with unmanned aerial vehicle and links to each other, the vibration that damping device brought in order to reduce the external interference in the unmanned aerial vehicle motion process is equipped with to the nacelle lower part, thereby the reduction is to measuring result's influence, damping device passes through camera cloud platform link (13) and camera cloud platform frame (16) and connects camera mount (18), install in camera mount (18) for measuring laser radar (17) and infrared camera (19) and inertial navigation system (20).
2. A forest fire monitoring oriented drone pod as claimed in claim 1 wherein: the two unmanned aerial vehicle connecting plates (2) are connected with the unmanned aerial vehicle frame through 8 fasteners (1), four threaded holes (14) are formed in the unmanned aerial vehicle connecting plates, and the camera nacelle (4) on the lower portion is connected through four bolts.
3. A forest fire monitoring oriented drone pod as claimed in claim 1 wherein: the camera nacelle (4) comprises an upper bearing plate (6) and a lower bearing plate (8), a battery positioning groove is formed in the upper bearing plate (6), the battery positioning groove is matched with the fixed battery frame (3) to fix the bearing battery (5), and the lower bearing plate (8) is fixedly connected with the development plate (7).
4. A forest fire monitoring oriented drone pod as claimed in claim 1 wherein: damping device reaches four shock attenuation balls (9) under (12) and on (11) and the shock attenuation board on the shock attenuation board, links to each other with the spliced pole through the bolt under the shock attenuation board (12), and the spliced pole carries out clearance fit with its hole of passing on the shock attenuation board (11), and the shock attenuation ball is viscoelastic material, and the shock attenuation ball warp when the atress extrudees and plays buffering and absorbing effect, and last (11) of shock attenuation board is connected with camera cloud platform frame through camera cloud platform link.
5. A forest fire monitoring oriented drone pod as claimed in claim 1 wherein: the upper part of the camera cloud platform connecting frame (13) is connected with the damping plate, and the lower part of the camera cloud platform connecting frame is connected with the camera cloud platform frame (16).
6. A forest fire monitoring oriented drone pod as claimed in claim 5 wherein: the camera fixing frame (18) is controlled by a small motor A to realize rotation in the X-axis direction.
7. A forest fire monitoring oriented drone pod as claimed in claim 1 wherein: the camera cloud stand (16) is connected with the camera fixing frame (18) through another small-sized motor B (21).
8. A forest fire monitoring oriented drone pod as claimed in claim 7 wherein: the small-sized motor B (21) controls the motion rotation of the camera fixing frame (18) in the Y-axis direction.
9. A forest fire monitoring oriented drone pod as claimed in claim 1 wherein: the camera fixing frame (18) is provided with an infrared camera (19), a laser radar (17) and an inertial navigation system (20), the infrared camera carries out infrared measurement on forest fires, accurate point cloud information and three-dimensional imaging of a forest field can be acquired by the laser radar (17), and the inertial navigation system (20) can acquire information such as speed, yaw angle and position of the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921125745.5U CN211167408U (en) | 2019-07-18 | 2019-07-18 | Unmanned aerial vehicle nacelle for forest fire monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921125745.5U CN211167408U (en) | 2019-07-18 | 2019-07-18 | Unmanned aerial vehicle nacelle for forest fire monitoring |
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| Publication Number | Publication Date |
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| CN211167408U true CN211167408U (en) | 2020-08-04 |
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| CN201921125745.5U Active CN211167408U (en) | 2019-07-18 | 2019-07-18 | Unmanned aerial vehicle nacelle for forest fire monitoring |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590415A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司莱芜供电公司 | A connection structure, unmanned aerial vehicle and laser radar system for unmanned aerial vehicle |
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2019
- 2019-07-18 CN CN201921125745.5U patent/CN211167408U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590415A (en) * | 2020-12-04 | 2022-06-07 | 国网山东省电力公司莱芜供电公司 | A connection structure, unmanned aerial vehicle and laser radar system for unmanned aerial vehicle |
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