CN220671798U - Unmanned helicopter aviation emergency mapping complete equipment - Google Patents

Abstract

The utility model provides unmanned helicopter aviation emergency mapping complete equipment, which comprises a side-painting complete equipment photoelectric pod, wherein a pod bottom plate is embedded on the bottom surface of the side-painting complete equipment photoelectric pod, and the side-painting complete equipment photoelectric pod is used for measuring the attitude angle of the equipment through an angle sensor so as to accurately map and position the equipment; and detecting the heat distribution of the target object by utilizing the infrared radiation, converting the infrared radiation into a visible image, and providing heat map and hot spot information. Filtering out unnecessary wave bands in the image, extracting required information, and optimizing the image quality. And transmitting the acquired data to a ground control center through a wireless signal to realize real-time monitoring and data transmission. The distance between the object and the device is measured by the laser beam, and the distance information is transmitted to the ground control center for mapping and positioning. High definition images and videos are photographed, providing clearer visual information. And detecting the front obstacle, and judging the distance and the direction by receiving and analyzing the echo signals to provide an obstacle avoidance function.

Description

Unmanned helicopter aviation emergency mapping complete equipment

Technical Field

The utility model relates to the field of emergency surveying and mapping complete equipment, in particular to unmanned helicopter aviation emergency surveying and mapping complete equipment.

Background

The unmanned helicopter aviation emergency mapping complete equipment is equipment specially designed for coping with aviation mapping tasks in emergency situations. The unmanned helicopter aviation emergency mapping complete equipment combines an unmanned helicopter technology, a mapping technology and an emergency response technology, can rapidly and efficiently acquire, process and analyze geographic information data, provides important support for emergency rescue and disaster assessment, and further comprises a data transmission system and a data processing system. The data transmission system can transmit the collected geographic information data to the ground command center or the emergency command part in real time for real-time monitoring and decision making. The data processing system can process and analyze the acquired data to generate high-quality maps, models and reports, and provides reliable basis for emergency rescue and disaster assessment.

However, the existing emergency surveying and mapping complete equipment still needs to be improved in the using process, firstly, when the existing emergency surveying and mapping complete equipment acquires geographic data, the mode is single, secondly, the existing emergency surveying and mapping complete equipment is easy to shake in the using process and cannot be adjusted according to different angle requirements, so that the unmanned helicopter aviation emergency surveying and mapping complete equipment is improved.

Disclosure of Invention

The utility model aims at: aiming at the problems of the prior art. In order to achieve the above object, the present utility model provides the following technical solutions: the unmanned helicopter aviation emergency mapping complete equipment comprises a side-painting complete equipment photoelectric pod, wherein a pod bottom plate is inlaid on the bottom surface of the side-painting complete equipment photoelectric pod, a mounting lock catch is fixed on the pod bottom plate, an infrared thermal imager is mounted on the front surface of a side-painting complete equipment photoelectric pod shell, and meanwhile, a layer of protective film is covered on the lens surface of the infrared thermal imager for protection.

As a preferable technical scheme of the utility model, a graphic wave band filter is arranged below the thermal infrared imager, and a main device is arranged below the graphic wave band filter.

As a preferable technical scheme of the utility model, the main equipment can be divided into a wireless communication module, a laser range finder, an ultra-clear camera and a remote sensing radar.

As the preferable technical scheme of the utility model, the wireless communication module is electrically arranged on the left half side of the front end of the photoelectric pod of the side painting complete equipment, the laser range finder is arranged on the right half side, and the ultra-clear camera is arranged in the middle.

As a preferable technical scheme of the utility model, the ultra-clear camera can shoot three hundred and sixty degrees, and the left lower corner and the right lower corner of the ultra-clear camera are connected with a remote sensing radar.

As the preferable technical scheme of the utility model, an automatic tracking rotary round stick is embedded in the photoelectric pod of the side painting complete equipment, and a gyro balancer is arranged in the automatic tracking rotary round stick.

As the preferable technical scheme of the utility model, the side painting complete equipment photoelectric pod shell is provided with an angle sensor and a regional scanning data connection port, wherein an insulating copper wire is arranged inside the regional scanning data connection port.

As the preferable technical scheme of the utility model, a driving motor is fixed on the right side of the photoelectric pod of the side painting complete equipment, the surface of the driving motor is rotationally connected with a motor housing, and an angle tracking rotating disc is rotationally arranged on the left side of the photoelectric pod of the side painting complete equipment.

As the preferable technical scheme of the utility model, a signal transmitting rod is fixed at the upper left of the photoelectric pod of the side painting complete equipment, and a signal transmitter is arranged on the end of the signal transmitting rod.

Compared with the prior art, the utility model has the beneficial effects that:

in the scheme of the utility model: the gyro balancer is used for keeping balance of equipment, reducing vibration and shake of a machine body and improving imaging quality. The angle sensor is used for measuring the attitude angle of the equipment so as to accurately map and position; and detecting the heat distribution of the target object by utilizing the infrared radiation, converting the infrared radiation into a visible image, and providing heat map and hot spot information. Filtering out unnecessary wave bands in the image, extracting required information, and optimizing the image quality. And transmitting the acquired data to a ground control center through a wireless signal to realize real-time monitoring and data transmission. The distance between the object and the device is measured by the laser beam, and the distance information is transmitted to the ground control center for mapping and positioning. High definition images and videos are photographed, providing clearer visual information. And detecting the front obstacle, and judging the distance and the direction by receiving and analyzing the echo signals to provide an obstacle avoidance function.

Drawings

FIG. 1 is a schematic circuit diagram of the present utility model;

FIG. 2 is a schematic diagram of the structure provided by the present utility model;

FIG. 3 is a schematic view of an angle tracking rotary disk according to the present utility model;

FIG. 4 is a schematic view of an automatic tracking rotary round stick structure according to the present utility model;

FIG. 5 is a schematic view of an installation latch according to the present utility model;

fig. 6 is a schematic diagram of a gyro balancer according to the present utility model.

The figures indicate:

1. side painting complete equipment photoelectric pod; 2. a nacelle bedplate; 3. installing a lock catch; 4. an infrared thermal imager; 5. a graphics band filter; 6. a wireless communication module; 7. a laser range finder; 8. ultra-clear camera; 9. a remote sensing radar; 10. automatically tracking and rotating the round stick; 11. a gyro balancer; 12. an angle sensor; 13. a region scan data connection port; 14. a driving motor; 15. a motor housing; 16. an angle tracking rotating disc; 17. a signal transmitting rod; 18. a signal transmitter.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model.

Thus, the following detailed description of the embodiments of the utility model is not intended to limit the scope of the utility model, as claimed, but is merely representative of some embodiments of the utility model. All other embodiments obtained by those skilled in the art without making any creative effort based on the embodiments of the present utility model are within the protection scope of the present utility model, and it should be noted that the embodiments of the present utility model and features and technical solutions of the embodiments of the present utility model may be combined with each other without collision: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

Example 1: referring to fig. 1-6, an unmanned helicopter aviation emergency mapping complete equipment comprises a side-painting complete equipment photoelectric pod 1, wherein a pod bottom plate 2 is inlaid on the bottom surface of the side-painting complete equipment photoelectric pod 1, a mounting lock catch 3 is fixed on the pod bottom plate 2, an infrared thermal imager 4 is mounted on the front surface of a shell of the side-painting complete equipment photoelectric pod 1, and a layer of protective film is covered on the lens surface of the infrared thermal imager 4 for protection. A graphic wave band filter 5 is arranged below the thermal infrared imager 4, and a main device is arranged below the graphic wave band filter 5. The main equipment can be divided into a wireless communication module 6, a laser range finder 7, an ultra-clear camera 8 and a remote sensing radar 9. The left half of the front end of the photoelectric pod 1 of the side painting complete equipment is electrically provided with a wireless communication module 6, the right half is provided with a laser range finder 7, and the middle is provided with an ultra-clear camera 8.

The ultra-clear camera 8 can shoot three hundred and sixty degrees, and the left lower corner and the right lower corner of the ultra-clear camera 8 are connected with the remote sensing radar 9. An automatic tracking rotary round stick 10 is embedded in the photoelectric pod 1 of the side painting complete equipment, and a gyro balancer 11 is arranged in the automatic tracking rotary round stick 10. The side-drawing complete equipment photoelectric pod 1 is provided with an angle sensor 12 and an area scanning data connection port 13, wherein an insulating copper wire is arranged inside the area scanning data connection port 13. The right side of the side painting complete equipment photoelectric pod 1 is fixedly provided with a driving motor 14, the surface of the driving motor 14 is rotationally connected with a motor housing 15, and the left side of the side painting complete equipment photoelectric pod 1 is rotationally provided with an angle tracking rotating disc 16. A signal transmitting rod 17 is fixed at the upper left of the photoelectric pod 1 of the side painting complete equipment, and a signal transmitter 18 is arranged on the end of the signal transmitting rod 17.

The working process comprises the following steps: preparation: the side painting complete equipment photoelectric pod 1 is installed on an unmanned helicopter, and the pod baseplate 2 is fixed on the helicopter. And (3) mounting a lock catch: the photoelectric nacelle is fixed on the nacelle bottom plate 2 by using the mounting lock catch 3, so as to ensure the stability of the nacelle. Thermal infrared imager 4: the thermal infrared imager 4 is used for detecting infrared radiation of the surrounding environment, and converting the infrared radiation into a visible image through the image sensor. Graphics band filter 5: the graphics band filter 5 is used to filter out unwanted bands in the image and extract the required information. Wireless communication module 6: the wireless communication module 6 is used for transmitting the acquired data to a ground control center through wireless signals, so that real-time monitoring and data transmission are realized. Laser rangefinder 7: the laser rangefinder 7 measures the distance between the object and the device using a laser beam and transmits the distance information to a ground control center. Ultra-clear camera 8: the ultra-clear camera 8 is used to capture high definition images and video to provide clearer visual information. Remote sensing radar 9: the remote sensing radar 9 is used for detecting a front obstacle, and determines the distance and the azimuth by receiving and analyzing the echo signals. Automatic tracking and rotating round stick 10: the automatic tracking rotary round stick 10 automatically adjusts the angle and the direction according to the received signal instruction, and realizes automatic tracking of the target. Gyro balancer 11: the gyro balancer 11 serves to maintain balance of the apparatus, reduce body vibration and shake, and improve imaging quality. Angle sensor 12: the angle sensor 12 is used to measure the attitude angle of the device for accurate mapping and positioning. Region scan data connection port 13: the regional scanning data connection port 13 is used for connecting the equipment with the data transmission of the ground control center. Driving motor 14: the driving motor 14 is used for driving a rotating part of the device to complete the functions of rotation and angle adjustment. Motor housing 15: the motor housing 15 serves to protect the driving motor 14 from the external environment. Angle tracking rotor 16: the angle tracking rotary disk 16 automatically adjusts the angle and the direction according to the received signal instruction, and realizes tracking and mapping of the target. Signal transmission rod 17: the signal transmitting rod 17 is used for transmitting signal instructions and controlling the rotation and adjustment of the equipment. Signal transmitter 18: the signal transmitter 18 is used for transmitting signal instructions, and transmitting the instructions to a rotating part of the device, so that the functions of rotating and adjusting angles are realized. Working principle: the unmanned helicopter aviation emergency mapping complete equipment utilizes a nacelle, various sensors, cameras and a communication module to perform aerial mapping and monitoring work through the unmanned helicopter. Each equipment is mutually matched, and the following working principle is realized: side-painting complete equipment optoelectronic pod 1: each device is arranged on the photoelectric pod, so that the device is convenient to carry and install. Thermal infrared imager 4: and detecting the heat distribution of the target object by utilizing the infrared radiation, converting the infrared radiation into a visible image, and providing heat map and hot spot information. Graphics band filter 5: filtering out unnecessary wave bands in the image, extracting required information, and optimizing the image quality. Wireless communication module 6: and transmitting the acquired data to a ground control center through a wireless signal to realize real-time monitoring and data transmission. Laser rangefinder 7: the distance between the object and the device is measured by the laser beam, and the distance information is transmitted to the ground control center for mapping and positioning. Ultra-clear camera 8: high definition images and videos are photographed, providing clearer visual information. Remote sensing radar 9: and detecting the front obstacle, and judging the distance and the direction by receiving and analyzing the echo signals to provide an obstacle avoidance function. Automatic tracking and rotating round stick 10: according to the received signal instruction, the angle and the direction are automatically adjusted, and the automatic tracking of the target is realized. Gyro balancer 11: through the attitude angle of perception equipment, the balance of real-time adjustment equipment reduces fuselage vibrations and shake. Angle sensor 12: the attitude angle of the device is measured for accurate mapping and positioning. Region scan data connection port 13: and the data transmission is connected with the equipment and the ground control center, and the collected data is transmitted to the ground in real time. Driving motor 14: and the rotating part of the driving device is used for completing the functions of rotation and angle adjustment. Motor housing 15: the driving motor 14 is protected from the external environment. Angle tracking rotor 16: according to the received signal instruction, the angle and the direction are automatically adjusted, and tracking and mapping of the target are realized. Signal transmission rod 17: and transmitting signal instructions to control the rotation and adjustment of the equipment. Signal transmitter 18: and transmitting a signal instruction, and transmitting the instruction to a rotating part of the equipment to realize the functions of rotating and adjusting the angle.

Example 2: referring to fig. 1-6, an unmanned helicopter aviation emergency mapping complete equipment, a working process, a working range and a working principle:

azimuth axis: 360 DEG x n;

pitch axis: -110 ° -20 ° (0 ° before horizontal of the optical axis, positive upwards and negative downwards);

decomposition and analysis description:

azimuth shafting

The azimuth shafting adopts a high-performance direct-current torque motor high-precision bearing, and the transmission signal adopts a photoelectric slip ring capable of transmitting high-definition video signals, so that the azimuth can continuously and stably rotate at 360 degrees.

Pitch shafting

The sensor platform of the photoelectric nacelle is borne by the pitching shaft system, a high-performance direct-current torque motor high-precision bearing is adopted to drive the platform, and an electronic limit switch and a mechanical limit switch are added in the rotation direction, so that cable torsion damage caused by excessive rotation in the pitching direction is prevented.

b) Maximum angular velocity: not less than 60 DEG/s;

decomposition and analysis description:

the maximum angular velocity of the nacelle is 60 DEG/s, and assuming that the velocity of 60 DEG/s is to be reached within 1 second, the acceleration of the nacelle is 60 DEG/s 2, according to the control system moment calculation formula:

direction of pitch

In the above formula, J is moment of inertia, a is acceleration, mf is friction torque, mb is unbalanced torque, and Md is traction torque.

From the above formula, the motor torque is larger than 396mNm to reach 60 DEG/s within 1 second, and the maximum torque of the motor in the pitching direction of the electro-optical nacelle is 550mNm, so that the system design requirement is met.

Azimuth direction

The maximum moment of the motor in the pitching direction of the photoelectric pod is 800mNm, and the system design requirement is met.

c) Stability precision: 100 mu rad.

Decomposition and analysis description:

the servo control system adopts a two-axis two-frame design, and the system stability and precision simulation analysis is as follows;

the transfer function of the pitching motor and the load of the control system is as follows:

wherein:

electromechanical time constant

Electromagnetic time constant

The transfer function of the azimuth motor and the load obtained by the same method is as follows:

the mathematical model of the PWM power amplifying section is:

T _Z representing the on-off working period, T _Z Are generally relatively small.

The pitching direction correction device designed by adopting the lead-lag correction method is as follows:

wherein: k (K) _mn -steady state gain;

T _mn -is an inertial link time constant, s;

T _mn1 、T _mn2 -the lead compensation time constant, s;

adding 2Hz and 1 degree sine excitation to the load to obtain a pitching steady-state error simulation curve:

the stability accuracy of the system is therefore:

thus, the stability accuracy meets the 100urad requirement.

2) Thermal infrared video sensor:

a) Number of pixels: not less than 640 x 512;

decomposition and analysis description:

the thermal imager adopts a domestic long-wave uncooled VOx detector, the resolution is 640 multiplied by 512, and the size of a bin is 17um.

b) Working wavelength: medium or long wave;

decomposition and analysis description:

the gray value difference between a target with higher temperature and a background with lower temperature in the middle-band image is larger, and the target is more obvious; the high temperature target radiation in the long wave band is relatively small, the gray value difference between the target and the background with lower temperature is relatively small, and the target is not necessarily obvious.

In imaging, if the quantization bit numbers adopted by the two band images are the same, the quantization error is larger in the middle band due to the large target contrast quantization range. Because the quantization error is larger, scene details of the middle-band image are relatively smaller; in the long-band image, the quantization error is smaller, and the details of some low-temperature scenes are relatively rich.

According to the observation of a plurality of actually shot infrared images, the brightness of the whole long-wave-band image is higher than that of the middle-wave-band image, and the detail information in the long-wave-band image is richer than that of the middle-wave-band image.

The working temperature of the engine of the vehicle is higher, so that the image in the middle wave band is obvious, and the contrast ratio of the target and the background is higher; the brightness of the vehicle is also relatively high in the long-band image, but the contrast is not very high in view of the background. In addition, some non-vehicle targets have relatively close radiance to the vehicle in a long wavelength band, but have weaker radiation in a middle wavelength band, and the brighter non-vehicle targets can increase the false positive rate of the vehicle targets in the long wavelength band.

The target background contrast of the middle wave band is higher than that of the long wave band, so that the recognition of the target is facilitated. Comprehensively considering that for ground small target infrared detection with complex background, in a middle-band image, the contrast of a target background with high temperature is high, so that the target is convenient to identify, and in a long-band image, the contrast of the target background is low, and some scenes with low temperature are close to other scenes, so that the identification is not facilitated.

In the long-band image, the background detail information of the image is rich, so that the positioning of the target is facilitated, and in the corresponding middle-band image, the detail information is less, so that the position of the target in the environment represented by the background is not facilitated to be determined. The long wave infrared detector is selected in terms of detection to ground.

Decomposition and analysis description:

the resolution of the infrared detector is 640 x 512, the detector bin size is 17um, so the azimuth view angle is:

2Arctan(320×17/1000/50)＝12.4°。

the angle of view in the pitch direction is:

2Arctan(256×17/1000/50)＝9.9°

the thermal infrared imager 4 thus has a field of view of 12.4 x 9.9 degrees

e) NTED (thermal sensitivity): not greater than 50mk.

Decomposition and analysis description:

the imaging circuit of the thermal imager adopts two circuit boards, namely an analog signal processing board and a digital signal processing board, the digital part and the analog part are physically isolated, and the isolation areas are connected by magnetic beads, so that noise of the digital part is prevented from interfering analog signals; the analog signal processing board adopts a high-precision low-noise linear power supply, amplifies and samples signals input by the detector after multi-stage filtering, and then converts the signals into digital signals for processing by the digital signal processing board. The test is carried out by a NETD tester of the CI system, and the average NETD value of the thermal imager is 48mk.

The main processor of the image storage unit selects the i.MX6Q series processor of Feishan. Based on ARM Cortex-A9 architecture, the highest operating frequency can reach 1.2GHz in 28nm process. The processor is internally provided with a 64/32 bit bus structure, a 32/32KB first-level cache and a 1M second-level cache, can realize high-performance operation capability of 12000MIPS (12 hundred million instructions per second operation), is provided with a 3D graphic acceleration engine, and can support 2D graphic acceleration, the maximum of which supports 4096X 4096pixels resolution, the video coding supports MPEG-4/H.263/H.264 to reach 1080p@30fps, and the decoding MPEG2/VC1/Xvid video to reach 1080p@30fps, and supports high-definition HDMI TV output.

The DDR memory is 2G DDR3 memory MT41K128M16JT of MICRON company, and the highest working frequency is 1600MHz. The EMMC chip selects a CF card with the capacity of 128G from SANDISK company, the video coding adopts a standard H264 format, and the video file can be downloaded online

The above embodiments are only for illustrating the present utility model and not for limiting the technical solutions described in the present utility model, and although the present utility model has been described in detail in the present specification with reference to the above embodiments, the present utility model is not limited to the above specific embodiments, and thus any modifications or equivalent substitutions are made to the present utility model; all technical solutions and modifications thereof that do not depart from the spirit and scope of the utility model are intended to be included in the scope of the appended claims.

Claims (9)

1. The utility model provides an emergent survey and drawing complete sets of unmanned helicopter aviation, includes side drawing complete sets photoelectric pod (1), its characterized in that, side drawing complete sets photoelectric pod (1) bottom surface is inlayed and is had nacelle bottom plate (2), be fixed with installation hasp (3) on nacelle bottom plate (2), side drawing complete sets photoelectric pod (1) casing front surface mounting has thermal infrared imager (4), is in thermal infrared imager (4) camera lens surface cover one deck protection film simultaneously for the protection.

2. The unmanned helicopter aviation emergency mapping complete equipment according to claim 1, wherein a graphic wave band filter (5) is arranged below the thermal infrared imager (4), and the graphic wave band filter (5) is arranged below the graphic wave band filter as main equipment.

3. An unmanned helicopter aviation emergency mapping complete equipment according to claim 2, wherein the main equipment can be divided into a wireless communication module (6), a laser range finder (7) and an ultra-clear camera (8), and a remote sensing radar (9).

4. An unmanned helicopter aviation emergency mapping complete equipment according to claim 3, wherein the wireless communication module (6) is electrically arranged on the left half side of the front end of the photoelectric pod (1) of the side painting complete equipment, the laser range finder (7) is arranged on the right half side, and an ultra-clear camera (8) is arranged in the middle.

5. An unmanned helicopter aeronautical emergency mapping complete equipment according to claim 4, wherein the ultra-clear camera (8) can shoot three hundred sixty degrees, and the left lower corner and the right lower corner of the ultra-clear camera (8) are connected with a remote sensing radar (9).

6. The unmanned helicopter aviation emergency surveying and mapping complete equipment is characterized in that an automatic tracking rotary round stick (10) is embedded in the side-painting complete equipment photoelectric pod (1), and a gyro balancer (11) is mounted in the automatic tracking rotary round stick (10).

7. The unmanned helicopter aviation emergency mapping complete equipment according to claim 6, wherein an angle sensor (12) and a regional scanning data connection port (13) are installed on the shell of the side-painting complete equipment photoelectric pod (1), and an insulating copper wire is arranged inside the regional scanning data connection port (13).

8. The unmanned helicopter aviation emergency mapping complete equipment according to claim 7 is characterized in that a driving motor (14) is fixed on the right side of the side painting complete equipment photoelectric pod (1), a motor housing (15) is rotatably connected to the surface of the driving motor (14), and an angle tracking rotating disc (16) is rotatably arranged on the left side of the side painting complete equipment photoelectric pod (1).

9. The unmanned helicopter aviation emergency mapping complete equipment is characterized in that a signal transmitting rod (17) is fixed on the upper left side of the photoelectric pod (1) of the side mapping complete equipment, and a signal transmitter (18) is arranged on the end head of the signal transmitting rod (17).