CN212228093U - A sensor automatic calibration device for unmanned aerial vehicle - Google Patents
A sensor automatic calibration device for unmanned aerial vehicle Download PDFInfo
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- CN212228093U CN212228093U CN202021178084.5U CN202021178084U CN212228093U CN 212228093 U CN212228093 U CN 212228093U CN 202021178084 U CN202021178084 U CN 202021178084U CN 212228093 U CN212228093 U CN 212228093U
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Abstract
The utility model discloses a sensor automatic calibration device for unmanned aerial vehicle. Belongs to the field of unmanned aerial vehicles; the utility model comprises an X-axis rotating ring, a Y-axis rotating ring and a Z-axis rotating ring which are connected by an X-ring connecting shaft, a Y-ring connecting shaft and a Z-ring connecting shaft; place the unmanned aerial vehicle organism on the fixed platform in the middle of the rotatory ring of Z axle after, thereby fix the unmanned aerial vehicle organism with four buckles on the fixed platform on the unmanned aerial vehicle organism, later with three calibration ring homing, can begin to calibrate after making it mutually perpendicular, press behind the start calibration button, control system in the fixed bolster just can rotate in proper order according to the rotatory order of setting for in advance, when the rotatory rotation of an axle, the connecting axle of other two axles carries out the auto-lock, thereby stability when the calibration has been guaranteed. The very big improvement of this device the precision of calibration, liberated the manual work, put into the device with unmanned aerial vehicle and can realize the full automatization calibration, the effectual calibration efficiency that has improved reduces calibration error.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field, concretely relates to a sensor automatic calibration device for unmanned aerial vehicle.
Background
The unmanned aerial vehicle is a tool with a very wide application prospect at present, and is often used for various purposes such as shooting and reconnaissance. The attitude detection is mainly carried out through various sensors, so that the balance and stability of the aircraft body are ensured, and various flight actions are carried out simultaneously.
However, current self-assembly unmanned aerial vehicle's sensor calibration mainly relies on artifical calibration, needs the handheld unmanned aerial vehicle of user to carry out various calibration actions and just can carry out rough calibration, hard and the precision is not enough to probably cause accidents such as crash that unmanned aerial vehicle produced because of sensor calibration error when the flight, cause serious loss. Based on the problem, the device capable of automatically calibrating the unmanned aerial vehicle sensor based on the cartoons ring is designed, so that the calibration precision is improved, the labor consumption is reduced, and the hidden danger of crash is reduced.
The magnetic compass calibration device of the unmanned aerial vehicle disclosed in patent number CN204329971U comprises a horizontal calibration table, a four-corner base, a base vertical bearing and four height-correcting screw seats; the horizontal and vertical placement of the unmanned aerial vehicle is performed on the placement area of the horizontal calibration platform, the horizontal calibration platform is rotated to perform horizontal calibration and vertical calibration on the magnetic compass of the unmanned aerial vehicle, the calibration of the magnetic compass of the unmanned aerial vehicle is realized, the device is small in size, the operation is simple, the magnetic compass of the unmanned aerial vehicle can be calibrated without disassembling and assembling the inertial measurement unit of the unmanned aerial vehicle, the horizontal calibration and the vertical calibration of the magnetic compass of the unmanned aerial vehicle can be realized by the magnetic compass calibration device of the unmanned aerial vehicle, but the calibration device cannot realize the free movement of three dimensions, the unmanned aerial vehicle needs to be manually replaced when the Z-axis negative direction of the magnetic compass and the gyroscope is calibrated, the full-automatic calibration purpose cannot be achieved, meanwhile, manual measurement is required, and the calibration precision is poor.
The invention relates to an auxiliary calibration device for a unmanned aerial vehicle and a method for calibrating the unmanned aerial vehicle by using the auxiliary calibration device, as disclosed in patent No. CN108253951A, wherein the auxiliary calibration device comprises a base, a rotatable bearing positioned on the base, and a fixed cylinder connected to the rotatable bearing and used for placing and/or fixing the unmanned aerial vehicle; a method of calibrating a drone using a drone-assisted calibration device, comprising: the ground station sends an indication that a certain face of the unmanned aerial vehicle rotates, and places the face of the unmanned aerial vehicle on the unmanned aerial vehicle calibration auxiliary device, if the face is one of the left, right, front or back of the unmanned aerial vehicle, the face is directly fixed in the groove above the fixed barrel, otherwise, the unmanned aerial vehicle is directly placed above the fixed barrel, and the unmanned aerial vehicle calibration auxiliary device rotates. The method can simply realize plane calibration of the unmanned aerial vehicle sensor in the direction perpendicular to the Z axis, but cannot simply calibrate the x axis and the y axis, and meanwhile, the sensor can be calibrated only by manually changing the position of the unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model provides a sensor automatic calibration device for unmanned aerial vehicle provides one kind and utilizes the card dan to encircle and carry out three-dimentional free rotation's calibrating device, puts into calibrating device with unmanned aerial vehicle and the sensor above that and fixes the back, starts calibrating device, and the step motor of the connecting axle department of three ring will slowly rotate according to the order in proper order, drives the ring and rotates to reach each side calibration unmanned aerial vehicle gyroscope, sensors such as accelerometer. The very big improvement of this device the precision of calibration, liberated the manual work, put into the device with unmanned aerial vehicle and can realize the full automatization calibration, the effectual calibration efficiency that has improved reduces calibration error.
The technical scheme of the utility model is that: the utility model provides a sensor automatic calibration device for unmanned aerial vehicle, includes three mutually perpendicular X rotatory ring, Y rotatory ring and the rotatory ring of Z axle the perpendicular department that X rotatory ring, Y rotatory ring and the rotatory ring three of Z axle are connected is equipped with rotatable X ring connecting axle, Y ring connecting axle and Z ring connecting axle respectively.
Furthermore, the X-ring connecting shaft, the Y-ring connecting shaft and the Z-ring connecting shaft are respectively connected with a stepping motor.
Furthermore, two fixing columns are arranged on the Z-axis rotating ring, and fixing platforms are arranged on the two fixing columns;
four buckles used for fixing the unmanned aerial vehicle body are arranged at four corners of the fixed platform.
Furthermore, two fixed brackets are arranged on the X-axis rotating ring, and a battery and a stepping motor controller are arranged in the fixed brackets; the stepping motor controller is connected to the stepping motor through a wire line.
Furthermore, all be equipped with the number of degrees scale on X rotatory ring, Y rotatory ring and the rotatory ring of Z axle, divide into 360 degrees with each ring.
The utility model has the advantages that: (1) the rotary effect of three dimensions can be provided by utilizing the clan ring type device, so that the unmanned aerial vehicle sensor can be calibrated in three dimensions, various problems caused by rotation of a handheld unmanned aerial vehicle in the traditional manual calibration are solved, the convenience of calibration is improved, the manual labor is reduced, and the calibration precision is improved; (2) the automatic calibration and the supplementary two kinds of calibration modes of artifical calibration can be provided, rotate the automatic calibration that can realize unmanned aerial vehicle sensor through controller control connecting axle, can break away from artificial interference completely. When the use scene can not provide electric energy, the unmanned aerial vehicle is fixed on the fixed column and then passes through the scales on the ring, so that auxiliary manual calibration can be realized, the workload of manual calibration is reduced, and the calibration precision is increased; (3) the artificial workload of reducing traditional calibration mode increases the calibration precision, improves the sensor stability to reduce the crash accident that produces because of calibration error, improve unmanned aerial vehicle usability.
Drawings
FIG. 1 is a flow chart of the structure of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a left side view of FIG. 1;
in the figure, 1 is a fixed support, 2 is an X-axis ring connecting shaft, 3 is an unmanned aerial vehicle body, 4 is a Y-axis rotating ring, 5 is a Y-axis ring connecting shaft, 6 is a Z-axis ring connecting shaft, 7 is a Z-axis rotating ring, and 8 is an X-axis rotating ring.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
as shown in the figure; an automatic sensor calibration device for an unmanned aerial vehicle comprises three X-axis rotating rings 8, Y-axis rotating rings 4 and Z-axis rotating rings 7 which are mutually perpendicular, wherein rotatable X-axis ring connecting shafts 2, Y-axis ring connecting shafts 5 and Z-axis ring connecting shafts 6 are respectively arranged at the vertical positions where the X-axis rotating rings 8, the Y-axis rotating rings 4 and the Z-axis rotating rings 7 are connected;
the X-axis rotating ring 8, the Y-axis rotating ring 4 and the Z-axis rotating ring 7 are mutually vertical, and rotatable connecting shafts are respectively arranged at the vertical positions for connection;
the ring diameter of the X-axis rotating ring 8 is larger than that of the Y-axis rotating ring 4, the ring diameter of the Y-axis rotating ring 4 is larger than that of the Z-axis rotating ring 7,
the upper end and the lower end of the Z-axis rotating ring 7 are connected to the Y-axis rotating ring 4 through connecting shafts, and the left end and the right end of the Z-axis rotating ring are connected to the X-axis rotating ring 8 through connecting shafts;
the left end and the right end of the Y-axis rotating ring 4 are connected to the X-axis rotating ring 8 through connecting shafts; the Y-axis rotating ring 4 is vertical to the X-axis rotating ring 8; the X-axis rotating ring 8, the Y-axis rotating ring 4, and the Z-axis rotating ring 7 are connected to each other by connecting shafts.
Further, stepping motors are respectively connected to the X-axis rotating ring 8, the Y-axis rotating ring 4 and the Z-axis rotating ring 7;
the X-axis rotating ring 8 can rotate around the X-axis connecting shaft 2, so that the unmanned aerial vehicle sensor is guaranteed to be calibrated on the plane of the X-axis rotating ring 8, the X-axis rotating ring 8 is connected with the stepping motor, the effect of a fixing ring can be achieved, and meanwhile, the X-axis rotating ring 8 can rotate around the X-axis connecting shaft 2;
the Y-axis rotating ring 4 can rotate along the Y-axis rotating ring connecting shaft 5, so that the unmanned aerial vehicle sensor can be calibrated on the plane of the Y-axis rotating ring 4, the Y-axis rotating ring connecting shaft 5 is connected with the stepping motor to play a role of a fixing ring, and meanwhile, the Y-axis rotating ring 4 is rotated around the Y-axis rotating ring 5;
the Z-axis rotating ring 7 can rotate around the Z-axis rotating ring connecting shaft 6, so that the unmanned aerial vehicle sensor is guaranteed to be calibrated on the plane of the Z-axis rotating ring 7, the Z-axis rotating ring connecting shaft 6 is connected with the stepping motor to play a role of a fixing ring, and meanwhile, the Z-axis rotating ring connecting shaft 6 rotates around the Z-axis rotating ring;
the stepping motors drive the X-axis rotating ring 8 (circular), the Y-axis rotating ring 4 (circular) and the Z-axis rotating ring 7 (circular) which are connected with the X-ring connecting shaft 2, the Y-ring connecting shaft 5 and the Z-ring connecting shaft 6 to rotate; simultaneously, only one ring can rotate in the three rings at every time, and other rotating rings are perpendicular to the rotating connecting shaft and are locked, so that the condition that only one dimension of sensor parameters are calibrated at the same time is ensured, and the calibration accuracy is ensured.
Furthermore, two fixing columns are arranged on the Z-axis rotating ring 7, and fixing platforms are arranged on the two fixing columns;
four buckles for fixing the unmanned aerial vehicle body 3 are arranged at four corners of the fixed platform;
wherein, the fixed platform that is equipped with in the middle of two fixed columns on the rotatory ring 7 of Z axle can place unmanned aerial vehicle organism 3, only needs to place unmanned aerial vehicle organism 3 on the fixed platform when the calibration to fix through four buckles on the fixed platform and can fix unmanned aerial vehicle organism 3, thereby carry out the calibration.
Furthermore, two fixed brackets 1 are arranged on the X-axis rotating ring 8, and a battery and a stepping motor controller are arranged in the fixed brackets 1; the stepping motor controller is connected to the stepping motor through a wire line;
the two fixing supports 1 are respectively arranged at two symmetrical ends of the outer wall of the X-axis rotating ring 8 and used for supporting and fixing the whole device and the unmanned aerial vehicle body 3; the battery is used for providing power for the whole device;
the stepping motor controller is usually a 51-chip microcomputer, and can control the stepping motors connected with the connecting shafts in three dimensions, so that the set time of each stepping motor only rotates by a specified angle, the high-precision calibration state can be achieved, and the manufacturing cost of the device is also reduced.
Furthermore, degree scales are arranged on the X-axis rotating ring 8, the Y-axis rotating ring 4 and the Z-axis rotating ring 7, and each ring is divided into 360 degrees;
wherein, the number of degrees scale has on three rings, divides into 360 degrees with every ring, when actual conditions does not support circular telegram automatic calibration, the user can carry out manual calibration with unmanned aerial vehicle organism 3 according to the scale on the ring after the fixed column through the rotatory ring 7 of Z axle is fixed, can effectively avoid empty handheld unmanned aerial vehicle organism 3 calibration and the equilibrium problem that causes and hold the inconvenience that the robot rotation led to the fact.
The utility model discloses a theory of operation: place unmanned aerial vehicle organism 3 back on the fixed platform in the middle of the rotatory ring 7 of Z axle, thereby fix unmanned aerial vehicle organism 3 with four buckles on the fixed platform on, later with three calibration ring playback, can begin to calibrate after making it mutually perpendicular, press behind the calibration button, control system in the fixed bolster just can rotate in proper order according to the rotatory order of setting for in advance, when the rotatory rotation of an axle, the connecting axle of other two axles carries out the auto-lock, thereby stability when the calibration has been guaranteed.
When external conditions do not allow for automatic calibration, the user can fix unmanned aerial vehicle organism 3 according to above-mentioned mode and carry out manual supplementary calibration behind the fixed platform. After the unmanned aerial vehicle body 3 is fixed by a user, the rotating ring is sequentially rotated according to the indication of the ground station of the unmanned aerial vehicle, and meanwhile, the rotating ring can be timely adjusted according to the scale on the rotating ring, so that the dimension of the unmanned aerial vehicle body 3 which is not calibrated at present is kept horizontal, and the accuracy of sensor calibration is ensured; meanwhile, two rings which are not rotated can be locked during calibration, and rotation errors in the manual calibration process are prevented.
The utility model provides an utilize card dan to encircle and carry out three-dimensional free rotation's calibrating device puts into calibrating device with unmanned aerial vehicle and the sensor above that and fixes the back, starts calibrating device, and the step motor of the connecting axle department of three ring will be in proper order slowly rotates, drives the ring and rotates to reach sensors such as each direction calibration unmanned aerial vehicle gyroscope, accelerometer. The very big improvement of this device the precision of calibration, liberated the manual work, put into the device with unmanned aerial vehicle and can realize the full automatization calibration, the effectual calibration efficiency that has improved reduces calibration error.
It is reliable, full-automatic and unmanned aerial vehicle sensor calibrating device that calibration accuracy is high can reduce the manual work volume very much and improve sensor calibration accuracy simultaneously, also very necessary, the utility model discloses just in order to compensate the not enough of current unmanned aerial vehicle sensor calibrating device calibration scheme, adopt the card dan ring of three degrees of freedom to carry out automatic calibration, improved the precision of calibration greatly, also reduced artificial calibration work volume simultaneously, reach the air crash risk that the reduction error leads to.
Claims (5)
1. The utility model provides a sensor automatic calibration device for unmanned aerial vehicle, its characterized in that includes three mutually perpendicular's rotatory ring of X axle, rotatory ring of Y axle and the rotatory ring of Z axle the perpendicular department that rotatory ring of X axle, the rotatory ring of Y axle and the rotatory ring three of Z axle are connected is equipped with rotatable X ring connecting axle, Y ring connecting axle and Z ring connecting axle respectively.
2. The automatic calibration device for the sensor of the unmanned aerial vehicle of claim 1, wherein the X-ring connecting shaft, the Y-ring connecting shaft and the Z-ring connecting shaft are respectively connected with a stepping motor.
3. The automatic sensor calibration device for the unmanned aerial vehicle as claimed in claim 1, wherein two fixing columns are arranged on the Z-axis rotating ring, and a fixing platform is arranged on the two fixing columns;
four buckles used for fixing the unmanned aerial vehicle body are arranged at four corners of the fixed platform.
4. The automatic sensor calibration device for the unmanned aerial vehicle as claimed in claim 1, wherein two fixed brackets are installed on the X-axis rotating ring, and a battery and a stepping motor controller are arranged inside the fixed brackets; the stepping motor controller is connected to the stepping motor through a wire line.
5. The automatic sensor calibration device for unmanned aerial vehicle of claim 1, wherein degree scales are provided on the X-axis rotating ring, the Y-axis rotating ring and the Z-axis rotating ring, and each ring is divided into 360 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021178084.5U CN212228093U (en) | 2020-06-23 | 2020-06-23 | A sensor automatic calibration device for unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021178084.5U CN212228093U (en) | 2020-06-23 | 2020-06-23 | A sensor automatic calibration device for unmanned aerial vehicle |
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| CN212228093U true CN212228093U (en) | 2020-12-25 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112834292A (en) * | 2021-03-03 | 2021-05-25 | 河南可人科技有限公司 | Sampling device for high-altitude air detection |
| CN113300513A (en) * | 2021-04-23 | 2021-08-24 | 华中科技大学 | Multi freedom motor |
-
2020
- 2020-06-23 CN CN202021178084.5U patent/CN212228093U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112834292A (en) * | 2021-03-03 | 2021-05-25 | 河南可人科技有限公司 | Sampling device for high-altitude air detection |
| CN113300513A (en) * | 2021-04-23 | 2021-08-24 | 华中科技大学 | Multi freedom motor |
| CN113300513B (en) * | 2021-04-23 | 2022-05-13 | 华中科技大学 | Multi freedom motor |
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