JP2017193252A - Unmanned air vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable positioning work to be easily conducted when a measuring unit is attached to a flight unit.SOLUTION: An unmanned air vehicle 10 includes: a flight unit 20 provided with multiple rotor units 25; and a measuring unit 30 which is detachably attached to the flight unit 20. The measuring unit 30 includes: a laser scanner 31 for measurement; a pair of support frames 32 supporting the laser scanner 31; and a pair of connection frames 33 which connects the pair of support frames 32 with each other. A flight side bracket 45 and a measuring side bracket 46 are connected with each other with contact surfaces, which are inclined relative to a vertical direction, contacting with each other.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned air vehicle.

  2. Description of the Related Art Conventionally, for surveying civil engineering topography, understanding the danger of sediment-related disasters, etc., a surveying device is mounted on a helicopter and laser surveying the topography is performed (for example, Patent Document 1). reference).

  In Patent Document 1, an insulator that absorbs and attenuates vibration in the vertical direction is installed on a fuselage connecting frame in which a laser scanner is detachably attached to a radio controlled unmanned helicopter fuselage, and the insulator is compressed from above. Discloses a configuration in which a load support frame is attached. As a result, vibration during the flight with respect to the measurement instrument for surveying is reduced, and the accuracy of the measurement data is improved.

JP 2009-248853 A

  By the way, in the unmanned radio control helicopter equipped with such a laser scanner, it is necessary to remove the laser scanner from the unmanned radio control helicopter when performing maintenance work of the laser scanner. After the maintenance work is completed, it is attached to the unmanned radio control helicopter again.

  Specifically, in the invention of Patent Document 1, an anti-vibration suspension device is inserted by inserting a substantially tapered insertion portion of the fuselage connecting frame into a locking hole formed in a mounting frame on the fuselage side of the unmanned radio control helicopter. The whole is positioned with respect to the mounting frame. Then, while maintaining this state, the screw of the thumbscrew is screwed into the screw hole of the mounting frame and is then screwed into the screw hole on the side of the machine body connection frame.

  However, in the configuration of the invention of Patent Document 1, after inserting the insertion part of the machine body connection frame into the locking hole of the mounting frame, the thumbscrew is screwed in a state where the operator holds the whole vibration isolating suspension in a horizontal posture. Need to do work. In particular, when the weight of the vibration isolating suspension is heavy, one worker cannot support the vibration isolating suspension alone, so it is necessary to perform installation and removal work by a plurality of workers, which increases the work man-hours. There's a problem.

  Similarly, when a measuring device such as a laser device is attached to or detached from the mounting plate of the vibration proof suspension device, it is necessary for the operator to perform screwing work in a state where the operator holds the device in a horizontal posture, and the work man-hour is reduced. There is a problem that it takes.

  This invention is made | formed in view of this point, The objective makes it easy to perform the positioning operation | work at the time of attaching a surveying unit to a flight unit.

  The present invention is directed to an unmanned aerial vehicle including a flight unit provided with a plurality of rotor units and a surveying unit detachably attached to the flight unit, and has taken the following solutions.

That is, in the first invention, the surveying unit has a measuring device for surveying and a support mechanism for supporting the measuring device,
The support mechanism is provided with a surveying side bracket having a contact surface inclined at a predetermined angle with respect to the vertical direction,
The flight unit is provided with a flight side bracket having a contact surface corresponding to the contact surface of the survey side bracket,
The surveying side bracket and the flight side bracket are detachably connected in a state in which their contact surfaces are in contact with each other.

  In the first invention, the flight side bracket and the survey side bracket are connected to each other with the contact surfaces inclined with respect to the vertical direction being in contact with each other.

  With such a configuration, when connecting the flight unit and the surveying unit, after lifting the flight unit, the contact surface of the flight side bracket is moved along the inclination of the contact surface of the survey side bracket. Thus, the lateral positioning of the flight unit and the surveying unit can be easily performed simply by placing them on the surveying side bracket.

  Further, the vibration from the flying unit toward the surveying unit can be dispersed in the inclination direction of the contact surface, and the vibration can be suppressed.

  Specifically, when the flight side bracket and the survey side bracket extend in the vertical direction, if the abutment surfaces are brought into contact with each other, they vibrate vigorously in the thickness direction of the bracket, i.e., in the lateral direction, and rolls. growing. On the other hand, when the flight side bracket and the survey side bracket extend in the horizontal direction, if the abutment surfaces are brought into contact with each other, the vertical vibration is increased by vigorously vibrating in the thickness direction of the bracket, that is, in the vertical direction. End up. On the other hand, in the present invention, such a problem can be solved.

According to a second invention, in the first invention,
The support mechanism includes a pair of support frames that are spaced apart from each other and support the measuring device, and a pair of connection frames that are disposed on both ends of the pair of support frames and connect the support frames to each other. And
The surveying side bracket is provided on the pair of connecting frames.

  In the second invention, since the support mechanism is composed of a pair of support frames and a pair of connection frames, vibrations transmitted from the flight unit to the measuring device are transmitted through the pair of connection frames and the pair of support frames. As a result, vibration transmission to the measuring device is suppressed.

According to a third invention, in the first or second invention,
The flight unit is provided with a flight support leg that supports the flight unit body at a predetermined height position.
The surveying unit is provided with surveying-side support legs that support the measuring device of the surveying unit detached from the flight unit at a predetermined height position.

  In the third invention, the flight unit is provided with a flight-side support leg, and the surveying unit is provided with a survey-side support leg. Thus, even when the flying unit and the surveying unit are separated and placed on the ground, the aircraft of the flying unit and the measuring device of the surveying unit do not touch the ground directly.

According to a fourth invention, in the third invention,
The lower end portion of the flight side support leg and the lower end portion of the survey side support leg are located on the same plane with the survey unit attached to the flight unit.

  In the fourth invention, when the surveying unit is attached to the flight unit and placed on the ground, for example, the lower end of the flight side support leg and the lower end of the survey side support leg are respectively installed on the ground. As a result, while the unmanned aerial vehicle is waiting on the ground, the load of the unmanned aerial vehicle is distributed and supported by the flight side support legs and the surveying side support legs, and the attitude of the unmanned aerial vehicle can be stabilized. .

According to a fifth invention, in any one of the first to fourth inventions,
The flight unit is provided with a first GPS receiver for obtaining position information of the flight unit,
The surveying unit is provided with a second GPS receiver for obtaining position information of the surveying unit,
The measuring device is composed of a laser scanner,
The second GPS receiver is more accurate than the first GPS receiver.

  In the fifth invention, the position information measured by the laser measuring device is obtained by the second GPS receiver and is left as measurement information data of the laser measuring device at the position. In the first GPS receiver, the position of the flight unit is obtained. Obtain information to correct the position of the flight unit. Therefore, when the second GPS receiver detects position information with higher accuracy than the first GPS receiver, the position information of the measurement information of the laser measuring device can be obtained with higher accuracy.

A sixth invention is any one of the first to fifth inventions,
A control box for controlling the operation of the surveying unit is attached to the top of the surveying unit,
A pair of lower frames provided with the flight side brackets arranged at a distance from each other are attached to the lower part of the aircraft of the flight unit,
The flying unit and the surveying unit are positioned above and below the control box, and the pair of lower frames are positioned on the sides of the control box. The unit is attached.

  In the sixth aspect of the invention, the control box that controls the measuring device such as the laser scanner is protected by being surrounded by the flying unit body, the surveying unit, and the pair of lower frames, so that the control box is hardly damaged. .

  According to the present invention, when connecting the flight unit and the surveying unit, after the flight unit is lifted, the contact surface of the flight side bracket is moved along the inclination of the contact surface of the survey side bracket. The lateral positioning of the flight unit and the surveying unit can be easily performed only by placing the unit on the side bracket.

It is a front view which shows the structure of the unmanned air vehicle which concerns on this embodiment. It is A arrow directional view of FIG. It is a front view which shows the state which isolate | separated the flight unit and the surveying unit. It is a perspective view which shows the state before making a flight side bracket and a survey side bracket contact | abut. It is a perspective view which shows the state which contact | abutted the flight side bracket and the surveying side bracket.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the following description of the preferred embodiment is merely illustrative in nature and is not intended to limit the present invention, its application, or its use.

  As shown in FIG. 1, the unmanned air vehicle 10 includes a flight unit 20 and a surveying unit 30 that is detachably attached to the flight unit 20. The flying unit 20 includes a body 21 and a plurality of rotor units 25 that cause the body 21 to generate lift and thrust.

  The airframe 21 is provided with four pipe-like rotor arms 22 that extend radially outward in the radial direction (only two are shown in FIG. 1). A rotor unit 25 is attached to the tip of the rotor arm 22. The rotor unit 25 includes a propeller 26 and a rotor motor 27 that rotates the propeller 26. A total of eight rotor units 25 are provided, two at a distance from each other in the vertical direction at the tip end portions of the four rotor arms 22 (only four are shown in FIG. 1).

  The eight rotor units 25 can generate lift that raises the unmanned air vehicle 10 by keeping the rotational speed of the rotor motor 27 substantially the same, and can maintain the aircraft body 21 in a horizontal posture. Further, by tilting the airframe 21 by changing the number of rotations of the front and rear or left and right rotor motors 27 of the eight rotor units 25, it is possible to generate thrust to move the airframe 21 back and forth or left and right.

  In the present embodiment, the configuration in which the eight rotor units 25 are attached to the tip portions of the four rotor arms 22 has been described. However, the number of rotor arms 22 and the number of rotor units 25 are not particularly limited. Absent. For example, a configuration in which six rotor units 25 are attached to the tip portions of the six rotor arms 22 may be employed. A first GPS receiver 29 is attached to the rotor arm 22. The first GPS receiver 29 receives position information from a GPS satellite and transmits it to a control unit (not shown).

  A battery 11 for the flight unit 20 is mounted on the upper part of the airframe 21. A pair of lower frames 23 are provided at a lower portion of the body 21 with a space in the left-right direction in FIG. The lower frame 23 is configured by a pipe-like member extending in the depth direction of the drawing in FIG.

  A first GPS receiver 29 is attached to one rotor arm 22. The airframe 21 is provided with an electronic compass, a gyro sensor, a control unit, and the like (not shown) for the flying unit 20, and the control unit controls the operation of the rotor unit 25 based on outputs from various sensors. The flight position of the unmanned air vehicle 10 is corrected based on the position information obtained by the first GPS receiver 29.

  Four flying side support legs 28 extending downward are respectively attached to both ends of the pair of lower frames 23. The flight side support legs 28 support the airframe 21 at a predetermined height position, and prevent the airframe 21 from touching the ground when the unmanned aerial vehicle 10 stands by on the ground.

  Further, four flight side brackets 45 are provided at both ends of the pair of lower frames 23 and inside the flight side support legs 28. The flight side bracket 45 is detachably connected to a survey side bracket 46 described later of the survey unit 30. Details of the flight side bracket 45 will be described later.

  As shown in FIG. 2, the surveying unit 30 includes a laser scanner 31 (measuring device) for surveying, which is a laser measuring device, a pair of support frames 32, and a pair of connections that connect the pair of support frames 32 to each other. Frame 33. The pair of support frames 32 and the pair of connection frames 33 constitute a support mechanism that supports the laser scanner 31.

  The laser scanner 31 irradiates a laser beam toward the ground to measure the three-dimensional data of the terrain by laser. An inertial measurement device 34 (IMU) having an acceleration sensor and an electronic compass is attached to the laser scanner 31.

  The surveying unit 30 is provided with a second GPS receiver 35 for the surveying unit 30. The second GPS receiver 35 is supported at a position higher than the flying unit 20 by a support column 35 b erected from a mounting plate 35 a attached over the upper portions of the pair of support frames 32. The mounting plate 35a is made of carbon fiber reinforced plastic (CFRP) having the same rigidity as the first plate 41 described later.

  As described above, by mounting the laser scanner 31, the inertial measurement device 34, and the second GPS receiver 35 on the surveying unit 30, even when the flight unit 20 and the surveying unit 30 are separated, the positional relationship changes. There is nothing. That is, it is not necessary to adjust the positions of the laser scanner 31, the inertial measurement device 34, and the second GPS receiver 35 each time the flight unit 20 and the surveying unit 30 are attached and detached.

  In particular, the measurement information measured by the laser scanner 31 is left as data associated with the position information obtained by the second GPS receiver 35, and the first GPS receiver 29 obtains the position information of the unmanned air vehicle 10 and performs unmanned flight. The position of the body 10 is corrected. Thus, the positional information of the first GPS receiver 29 and the second GPS receiver 35 is properly used. The reason for proper use is as follows.

  In the 2nd GPS receiver 35, since the position of the measurement information measured with the laser scanner 31 can be shown with high precision, so that precision is high, it is preferable to make it highly accurate. Then, if a slight difference in position is corrected based on the high-accuracy position information of the second GPS receiver 35, the position of the unmanned air vehicle 10 is not stabilized, and fine movement is repeated. Increased chance of triggering. Therefore, based on the position information of the second GPS receiver 35, the position of the unmanned air vehicle 10 is not corrected, and the position is corrected based on the position information of the first GPS receiver 29. In this case, the position information of the first GPS receiver 29 of the unmanned air vehicle 10 is less than the position information of the second GPS receiver 35 so that the measurement accuracy is relaxed and fine correction is not necessary. As a result, the second GPS receiver 35 detects position information with higher accuracy than the first GPS receiver 29.

  Two cameras 36 are attached to the side of the laser scanner 31. The camera 36 is attached to the laser scanner 31 in a posture capable of photographing an obliquely lower part.

  The pair of support frames 32 is configured by a pipe-like member, and is disposed with a space in the left-right direction in FIG. A first plate 41 made of a fiber reinforced resin material (FRP) is disposed below the pair of support frames 32. Specifically, the first plate 41 is made of FRP containing carbon fibers, that is, carbon fiber reinforced plastic (CFRP). In particular, CFRP is a suitable composite material for the first plate 41 because it is light and highly rigid and has high vibration damping.

  The first plate 41 is attached to the support frame 32 via a clamp member 43 that sandwiches the support frame 32. A laser scanner 31 is attached to the lower surface of the first plate 41. As a result, the first plate 41 as a vibration isolating member is interposed between the laser scanner 31 and the support frame 32.

  Four surveying side support legs 38 extending downward are respectively attached to the pair of support frames 32. The surveying side support legs 38 support the laser scanner 31 at a predetermined height position so that the laser scanner 31 does not touch the ground even when the surveying unit 30 is removed from the flight unit 20 and placed on the ground. I have to.

  Here, the lower end portion of the flight side support leg 28 and the lower end portion of the survey side support leg 38 are located on the same plane with the survey unit 30 attached to the flight unit 20. That is, when the unmanned aerial vehicle 10 is placed on the ground, the four flight side support legs 28 and the four survey side support legs 38 are all installed on the ground.

  Thereby, while the unmanned aerial vehicle 10 is waiting on the ground, the load of the unmanned aerial vehicle 10 is distributed and supported by the flying side support legs 28 and the surveying side support legs 38, and the attitude of the unmanned aerial vehicle 10 is changed. It can be stabilized.

  Further, as will be described later, since the laser scanner 31 and the personal computer 14 are surrounded by the flight-side support legs 28 and the survey-side support legs 38, even when they collide with a relatively large obstacle due to an unexpected accident or the like, The flight side support leg 28 and the survey side support leg 38 are bent, so that the impact at the time of the collision with the laser scanner 31 and the personal computer 14 can be reduced.

  A control box 12 for the surveying unit 30 and a battery 13 are mounted on the upper part of the pair of support frames 32. Below the pair of support frames 32, the personal computer 14 is arranged alongside the laser scanner 31. The control box 12 controls the operation of the laser scanner 31 and the camera 36.

  The control box 12 has the airframe 21 of the flight unit 20 on the upper side, the laser scanner 31 of the surveying unit 30 on the lower side, and the support frame 32, the connecting frame 33 of the surveying unit 30 and the flight unit on the side. Since the 20 lower frames 23 are arranged, the lower frame 23 is arranged at a position to be protected from being damaged from the outside.

  The personal computer 14 records and processes data acquired by the laser scanner 31 and the camera 36. Since the amount of information obtained by the laser scanner 31 is large, it is temporarily stored in a memory (not shown) of the personal computer 14 and later retrieved, but even a large amount of information can be transmitted wirelessly. If it becomes, it may be sent directly without being stored in the personal computer 14.

  The pair of connection frames 33 are disposed on both ends of the pair of support frames 32 and extend in the left-right direction in FIG. 2 so as to straddle the pair of support frames 32. A second plate 42 made of a fiber reinforced resin material (FRP) is disposed between the connection frame 33 and the support frame 32. Specifically, the second plate 42 is made of FRP containing carbon fibers, that is, carbon fiber reinforced plastic (CFRP). In particular, CFRP is a suitable composite material for the second plate 42 because it is light and highly rigid and has high vibration damping.

  The second plate 42 is attached to the support frame 32 via a clamp member 43 that sandwiches the support frame 32, and is attached to the connection frame 33 via a clamp member 43 that sandwiches the connection frame 33. As a result, the second plate 42 as a vibration isolating member is interposed between the support frame 32 and the connection frame 33.

  Here, the first plate 41 and the second plate 42 are made of fiber reinforced resin materials having different rigidity and different natural frequencies. Specifically, the first plate 41 and the second plate 42 can have different rigidity so as to have different vibration characteristics by changing the amount of fibers to be encapsulated and the weaving pattern of the fibers.

  Since the rigidity of the first plate 41 and the second plate is changed so that the vibration characteristics are different, the vibration from the flight unit 20 toward the laser scanner 31 is attenuated by the first plate 41 and the second plate 42. The vibration of the laser scanner 31 can be suppressed by suppressing the resonance of each other and the vibration being amplified, and the accuracy of the measurement data can be improved.

  In the present embodiment, the second plate 42 is set to have higher rigidity than the first plate 41. That is, the second plate 42 has a higher natural frequency than the first plate 41. The bending strength of the first plate 41 and the second plate 42 is approximately equal to each other, so that the thickness of the first plate 41 is greater than the thickness of the second plate 42.

  Further, since the frequency region of vibration characteristics can be arbitrarily set by changing the amount of fibers to be encapsulated and the weaving pattern of the fibers, the first plate 41 can be set according to the vibration characteristics of the laser scanner 31 and the vibration characteristics of the entire apparatus. The vibration characteristics of the second plate 42 can be selected, and the vibration of the laser scanner 31 can be suppressed.

  Four surveying side brackets 46 are provided at both ends of the pair of connecting frames 33. The flight unit 20 and the survey unit 30 are connected to each other by detachably connecting the flight side bracket 45 and the survey side bracket 46. Hereinafter, the structure of the flight side bracket 45 and the survey side bracket 46 will be described.

  As shown in FIGS. 3 and 4, the unmanned aerial vehicle 10 has a configuration capable of separating the flight unit 20 and the surveying unit 30. Thereby, when the unmanned air vehicle 10 is transported to the surveying site, it can be easily separated and carried, and even when the laser scanner 31 breaks down, only the surveying unit 30 can be maintained.

  The connecting frame 33 of the surveying unit 30 is provided with a surveying side bracket 46 having a contact surface inclined at a predetermined angle with respect to the vertical direction. On the lower frame 23 of the flight unit 20, a flight side bracket 45 having a contact surface corresponding to the contact surface of the survey side bracket 46 is provided.

  The surveying side bracket 46 includes an inclined plate 46a attached to the connecting frame 33 in a posture inclined at a predetermined angle with respect to the vertical direction, and an abutting plate 46b stacked on the upper surface of the inclined plate 46a to form an abutting surface. Have. The surveying side bracket 46 is formed with a through hole 46c penetrating in the thickness direction.

  The inclined plate 46 a and the contact plate 46 b are inclined obliquely downward toward the inner side of the surveying unit 30. The inclined plate 46 a is attached to the connection frame 33 via a clamp member 43 that sandwiches the connection frame 33.

  The inclined plate 46a and the contact plate 46b are made of fiber reinforced resin materials having different rigidity and different natural frequencies. The inclined plate 46a and the contact plate 46b are fixed in a stacked state by being fastened together with fastening bolts and fastening nuts (not shown) or by bonding with an adhesive.

  Similarly, the flight side bracket 45 corresponds to the contact surface of the survey side bracket 46 by being laminated on the lower surface of the inclined plate 45a attached to the lower frame 23 in a posture inclined at a predetermined angle with respect to the vertical direction. And a contact plate 45b that forms a contact surface. The inclined plate 45 a and the contact plate 45 b are inclined obliquely downward toward the inner side of the flight unit 20.

  The flight side bracket 45 is formed with a through hole 45c penetrating in the thickness direction. The inclined plate 45 a is attached to the lower frame 23 via a clamp member 43 that sandwiches the lower frame 23.

  The inclined plate 45a and the contact plate 45b are made of fiber reinforced resin materials having different rigidity and different natural frequencies. The inclined plate 45a and the contact plate 45b are fixed in a stacked state by being fastened together with a fastening bolt and a fastening nut (not shown) or by being bonded with an adhesive.

  As shown in FIG. 5, the surveying side bracket 46 and the flight side bracket 45 are in a state where the contact surfaces of the surveying side bracket 46 and the flight side bracket 45 are in contact with each other. Further, they are detachably connected to each other by being inserted into the through-hole 45 c of the flight side bracket 45 and being fastened together with the fastening bolt 47 and the fastening nut 48.

  Note that only one of the survey side bracket 46 and the flight side bracket 45 may be configured by laminating inclined plates and contact plates having different rigidity.

  As described above, according to the unmanned air vehicle 10 according to the present embodiment, when the flying unit 20 and the surveying unit 30 are connected, after the flying unit 20 is lifted, the contact surface of the surveying side bracket 46 is inclined. , The lateral positioning of the flying unit 20 and the surveying unit 30 can be easily performed only by moving the contact surface of the flight-side bracket 45 and placing it on the surveying-side bracket 46.

  Further, when the flying unit 20 and the surveying unit 30 are separated, the fastening bolt 47 and the fastening nut 48 are unscrewed and the fastening bolt 47 and the fastening nut 48 are removed, whereby the flying unit 20 and the surveying unit 48 are removed. 30 can be separated. At this time, even if the fastening bolt 47 and the fastening nut 48 are removed, the contact surface of the survey side bracket 46 and the contact surface of the flight side bracket 45 are in contact with each other, and the flight unit 20 is in the flight side. Since the surveying unit 30 is supported by the surveying side support leg 38 by the support leg 28, it is not necessary to separately support the flight unit 20 and the surveying unit 30, and the separation work can be easily performed. That is, in this state, if the flying unit 20 is lifted, they can be separated from each other, and the work is easy. At this time, since it is not necessary to hold the surveying unit 30 and move it, damage to the laser scanner 31 and errors in position information are unlikely to occur.

  Further, when the vibration generated on the flying unit 20 side by driving the plurality of rotor units 25 is directed to the laser scanner 31 of the surveying unit 30, the vibration is first attenuated by the second plate 42 and then the first plate having different rigidity. 41 is also attenuated. Thereby, it is possible to suppress the resonance of the laser scanner 31 and improve the accuracy of the measurement data.

  That is, since the rigidity is changed so that the vibration characteristics are different between the first plate 41 and the second plate 42, the vibration from the flying unit 20 toward the laser scanner 31 is caused between the first plate 41 and the second plate 42. It is attenuated with a high damping capacity, and vibration amplification due to resonance is suppressed, so that vibration transmission to the laser scanner 31 can be suppressed, and the accuracy of measurement data can be improved.

  In this embodiment, the inclined plate 46a and the contact plate 46b of the surveying side bracket 46 are inclined obliquely downward toward the inner side of the surveying unit 30, and the inclined plate 45a and the contact plate 45b of the flight side bracket 45 are inclined. Is inclined obliquely downward toward the inward side of the flight unit 20, but is not limited to this form. For example, the inclined plate 46 a and the contact plate 46 b of the survey side bracket 46 are inclined obliquely downward toward the outer side of the survey unit 30, and the inclined plate 45 a and the contact plate 45 b of the flight side bracket 45 are The structure may be inclined obliquely downward toward the outer side.

  Moreover, the vibration which goes to the surveying unit 30 from the flight unit 20 can be disperse | distributed to the inclination direction of the contact surface of the flight side bracket 45 and the survey side bracket 46, and a vibration can be suppressed. Then, when connecting the flight unit 20 and the surveying unit 30, the flight unit 20 and the surveying unit are simply moved by moving the contact surface of the flight side bracket 45 along the inclination of the contact surface of the survey side bracket 46. Positioning in the lateral direction with respect to 30 can be easily performed.

  Further, the flight side bracket 45 has a configuration in which inclined plates 45a and contact plates 45b having different rigidity are stacked, and the survey side bracket 46 has a configuration in which inclined plates 46a and contact plates 46b having different rigidity are stacked. As a result, the vibration from the flying unit 20 toward the surveying unit 30 can be attenuated also in the inclined plates 45a and 46a and the contact plates 45b and 46b made of fiber reinforced resin.

  As described above, the present invention provides a highly practical effect that the positioning operation when attaching the surveying unit to the flight unit can be easily performed. high.

DESCRIPTION OF SYMBOLS 10 Unmanned air vehicle 12 Control box 20 Flight unit 25 Rotor unit 29 1st GPS receiver 28 Flight side support leg 30 Surveying unit 31 Laser scanner (measuring device)
32 Support frame (support mechanism)
33 Connecting frame (support mechanism)
35 Second GPS receiver 38 Survey side support leg 45 Flight side bracket 46 Survey side bracket

Claims (6)

An unmanned aerial vehicle including a flight unit provided with a plurality of rotor units and a surveying unit detachably attached to the flight unit,
The surveying unit has a measuring device for surveying and a support mechanism for supporting the measuring device,
The support mechanism is provided with a surveying side bracket having a contact surface inclined at a predetermined angle with respect to the vertical direction,
The flight unit is provided with a flight side bracket having a contact surface corresponding to the contact surface of the survey side bracket,
The surveying-side bracket and the flight-side bracket are detachably connected in a state where their contact surfaces are in contact with each other. In claim 1,
The support mechanism includes a pair of support frames that are spaced apart from each other and support the measuring device, and a pair of connection frames that are disposed on both ends of the pair of support frames and connect the support frames to each other. And
The unmanned aerial vehicle, wherein the surveying bracket is provided on the pair of connecting frames. In claim 1 or 2,
The flight unit is provided with a flight support leg that supports the flight unit body at a predetermined height position.
An unmanned aerial vehicle, wherein the surveying unit is provided with a surveying-side support leg that supports the measurement device of the surveying unit detached from the flight unit at a predetermined height position. In claim 3,
The unmanned air vehicle, wherein the lower end portion of the flight side support leg and the lower end portion of the survey side support leg are located on the same plane with the survey unit attached to the flight unit. In any one of claims 1 to 4,
The flight unit is provided with a first GPS receiver for obtaining position information of the flight unit,
The surveying unit is provided with a second GPS receiver for obtaining position information of the surveying unit,
The measuring device is composed of a laser scanner,
The unmanned air vehicle, wherein the second GPS receiver is more accurate than the first GPS receiver. In any one of claims 1 to 5,
A control box for controlling the operation of the surveying unit is attached to the top of the surveying unit,
A pair of lower frames provided with the flight side brackets arranged at a distance from each other are attached to the lower part of the aircraft of the flight unit,
The flying unit and the surveying unit are positioned above and below the control box, and the pair of lower frames are positioned on the sides of the control box. An unmanned air vehicle, characterized in that the unit is attached.

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