JP2019189196A - Universal head mounted on unmanned aircraft for fixing positional relations between antenna and sensor, and stabilizing posture - Google Patents

Abstract

To solve a problem that although an unmanned aircraft is increasingly used, and a technology to acquire detailed geospatial information from the sky at an ultra-low altitude is developing, a place for mounting an antenna for satellite positioning, and a sensor for investigation and posture observation is limited in an unmanned aircraft, and they are exposed to the vibration of a high speed rotation rotor so that it is difficult to mechanically impart a position on earth to geospatial information acquired from the unmanned aircraft, which inhibits the development of the measurement and investigation from the sky using an unmanned aircraft.SOLUTION: There is provided a universal head for fixing positional relations between an antenna for satellite positioning and various kinds of sensors for investigation and posture observation required for grasping a position on earth of geospatial information and carrying out observation from the sky using an unmanned aircraft, which is equipped with a posture stabilizer for suppressing the vibration from the unmanned aircraft and cushioning the collision of the antenna and the various kinds of sensors with the unmanned aircraft.SELECTED DRAWING: Figure 1

Description

  The positional relationship between the antenna for satellite positioning and various sensors for surveying and attitude observation necessary for observation so that geospatial information can be given a position on the earth from above using an unmanned aerial vehicle Provided is a pan head to be mounted on an unmanned aerial vehicle, which is fixed and includes at least one mechanism that suppresses vibrations from the unmanned aerial vehicle and stabilizes the attitude of a survey sensor.

  Observations in areas with large geospatial information that can be given a position on the earth have been carried out by mounting sensors such as aerial cameras and aerial lasers on aircraft and helicopters.

  The aerial photogrammetry conducted by installing an aerial camera on an aircraft, at the beginning, the position on the earth, known as an anti-aircraft sign, was found on the ground, a sign that was shown in the aerial photograph was installed, the position where the aerial photograph was taken, The attitude of the photographed aerial photograph has been given by aerial triangulation.

  From around 2000, a satellite positioning antenna such as GPS was installed on the roof of the aircraft, an inertial measurement device was installed on the aerial camera, and the positional relationship between the aerial camera and the satellite positioning antenna, and the aerial camera and inertia By calculating the difference in orientation with the measuring device, the position of the aerial photograph taken from the position of the antenna obtained by satellite positioning and the attitude of the inertial measuring device obtained by the inertial measurement device, and the aerial imaged A technique called direct localization, which requires a photo orientation, has been put into practical use (see Non-Patent Document 1).

  Practical use of direct localization technology that gives geospatial information acquired by survey sensors to the position on the earth by a combination of satellite positioning and inertial measurement equipment. Development of technology for observing geospatial information from the sky, such as obtaining altitudes for many types of geospatial information, including altitude acquisition by aerial laser surveying, which requires complete observation on the side It was.

“-Public Surveying-Rules of Work Regulations (revised March 31, 2011) Explanation and Operation” October 29, 2012 Japan Surveying Association

Detailed geospatial information is generally created by field surveys, aerial photogrammetry, aerial laser surveys, or the like.
Each survey has the following characteristics.

  In field surveys, it is difficult to enter private areas, so surveys are mainly from roads. For this reason, geospatial information that cannot be seen from the road cannot be created, and is not suitable as a method for comprehensively creating geospatial information.

  In aerial photogrammetry, you can create detailed and comprehensive geospatial information by taking an aerial photograph from a low altitude, but because of the use of large aircraft and other equipment, the cost of creating geospatial information is low. It becomes expensive.

  In aerial laser surveying, if the measurement altitude is lowered, the altitude intervals that can be measured can be shortened, but the measurement positions are discrete, so there are many artificial objects that tend to exist where detailed and comprehensive measurements are required. It is difficult to capture the change in shape. Moreover, since large-scale equipment such as an aircraft is used, the cost of creating geospatial information becomes high.

  With the spread of unmanned aerial vehicles, also called drones or UAVs (Unmanned Aero Vehicles), consumer cameras ranging from tens of thousands to hundreds of thousands of yen and laser scanners for short-range observations of about millions of yen have been added to unmanned aircraft. By installing it, the possibility that detailed geospatial information can be created comprehensively and inexpensively has increased.

  However, unmanned aerial vehicles, which are becoming popular, fly in the air, so that the fuselage 1 may be greatly tilted and intense vibrations are generated by the high-speed rotation of the rotor.

Therefore, when carrying out photogrammetry with a camera mounted, the camera is mounted on a gimbal equipped with a vibration isolation mechanism 11 so that the camera is directed in the vertical direction and the influence of vibration of the airframe 1 is suppressed. To realize.
However, when this method is adopted, the positional relationship with the satellite positioning antenna and the attitude difference with the attitude measurement sensor and other attitude observation sensors always change, and the position where the photograph was taken and The orientation of the photograph cannot be observed directly, and efficiency cannot be achieved.

When laser surveying is performed with a laser scanner, it is necessary to mechanically grasp the position and direction of each emitted laser beam, so a satellite positioning antenna or attitude observation sensor And the laser scanner are mounted on the body 1 of the unmanned aerial vehicle, and the localization device functions directly.
However, the irradiation position and irradiation direction of the laser beam irradiated at a number of 300,000 shots per second are constantly exposed to vibrations generated by the airfoil 1 of the rotary wing unmanned aircraft, making it difficult to ensure quality.

The unmanned aerial vehicle body 1 can be equipped with a pedestal 5 at the top and a sensor rod 7 at the bottom, and the upper pedestal 5 and the lower sensor rod 7 can be connected without touching the unmanned aircraft. Prepare a highly rigid structure.
The shape of the structure is a square shape surrounding the body 1, a U shape surrounding only one side of the body 1, and a sufficient space in the center of the body 1 that allows the structure to swing in the direction of travel. The letter I that passes through this space or the letter B that fits in the space may be used.
The sensor rod 7 may be clamped to fix various sensors to the structure.

The structure of the shape such as B or U has a posture stabilizer equipped with a sensor rod 7 on the lower chord 4 and a vibration isolation mechanism 11 at the base and a bearing mechanism 12 at the tip. While fixing with the hanging tool 10 under the floor of the unmanned aircraft body 1 and passing the lower chord 4 of the structure through the bearing mechanism 12, vibration from the unmanned aircraft body 1 to the structure is suppressed and the bearing The structure around the mechanism 12 is integrated with the sensor rod 7 so that it can freely rotate.
A structure that passes through the center of the unmanned aerial vehicle body 1 by the letter I or a structure that fits in the space in the unmanned aircraft body 1 by the letter B is provided with a bearing mechanism 12 in the middle of the pillar 2 of the structure, The attitude stabilizer having the vibration isolating mechanism 11 is attached to the base of both ends of the beam, and the anti-vibration mechanism 11 is fixed to the airframe 1 of the unmanned aerial vehicle with the lifting tool 10 to construct the structure from the airframe 1 of the unmanned aerial vehicle. Vibrations to the body are suppressed, and the structure is integrated with the sensor rod 7 around the bearing mechanism 12 so as to be freely rotatable.
The number of locations and arrangement of the structures are set according to the size and shape of the unmanned aerial vehicle body 1 and the stability of the structure.

A pedestal 5 for a satellite positioning antenna is provided on the upper chord member 3 of the structure.
If there is an influence on the satellite positioning antenna from the unmanned aerial vehicle body 1 or an influence on the unmanned aircraft body 1 by the satellite positioning antenna, the frame 6 is set up on the upper chord 3 of the structure, A satellite positioning antenna may be installed in the.
In addition to the satellite positioning antenna, various sensors may be installed on the upper chord member 3 as necessary.

A sensor rod 7 for installing various sensors for investigation and attitude observation is provided at an appropriate location of the structure.
The sensor rod 7 may have a hierarchical structure corresponding to the number of sensors to be used, and may allow various survey sensors to be mounted in the survey direction.

The pedestal 5 attached to the upper chord material 3 of the structure and the sensor rod 7 attached to the structure have a center of gravity when a satellite positioning antenna, various survey sensors, and attitude observation sensors are installed. Adjust the installation position so that it is in the center of the body.
Further, a weight may be attached to a part of the sensor rod 7, and the center of gravity may be adjusted to be at the center of the structure by the amount of weight and the arrangement of the weight.

In order to prevent the structural body from colliding with the airframe 1 due to severe shaking of the airframe 1 during the flight of the unmanned aircraft, a collision buffer 13 is mounted between the airframe 1 and the structural body.
As the collision shock absorber 13, the upper chord material 3 of the structure may collide with the roof of the airframe 1 of the unmanned aircraft, and may be mounted on the front and rear of the airframe 1.
Alternatively, the sensor rod 7 hung on the lower chord material 4 and the floor of the unmanned aircraft body 1 are fixed with a spring, and the sensor rod 7 attached to the lower chord material 4 of the structure is unmanned by the expansion and contraction of the spring. You may make it not collide with the airframe 1 of an aircraft.

BEST MODE FOR CARRYING OUT THE INVENTION

  The pedestal 5 can be mounted on the upper part of the unmanned aircraft body 1 and the sensor cage 7 can be mounted on the lower part of the aircraft 1 so that the upper pedestal 5 and the lower sensor cage 7 do not contact the aircraft 1 of the unmanned aircraft. There is prepared a light-weight, high-rigidity structure composed of a pillar 2, an upper chord member 3 and a lower chord member 4 that surrounds the body 1 of an unmanned aerial vehicle that can be connected.

  The structure surrounding the fuselage 1 of the unmanned aircraft is provided with a posture stabilizer having a vibration isolation mechanism 11 at the base and a bearing mechanism 12 at the tip, and the vibration isolation mechanism 11 is placed under the floor of the aircraft 1 of the unmanned aircraft. While fixing with the lifting tool 10 and passing the lower chord member 4 of the structure through the bearing mechanism 12, vibration from the airframe 1 of the unmanned aerial vehicle to the structure is suppressed, and the structure around the bearing mechanism 12 is Integrate with sensor rod 7 so that it can rotate freely.

  A gantry 6 is set up on the upper chord material 3 of the structure so that a satellite positioning antenna can be mounted on the gantry 6.

  A sensor rod 7 for suspending various sensors for investigation and posture observation is attached to the lower part of the structure. The sensor rod 7 has a two-layer structure, and a storage shelf 9 is provided in the upper layer and a posture observation sensor is provided, and a fixing mechanism 8 is provided in the lower layer so that the investigation sensor can be fixed.

The base 5 attached to the upper chord member 3 of the structure and the sensor rod 7 attached to the lower chord member 4 of the structure have their center of gravity at the center of the structure when a satellite positioning antenna and various sensors are installed. Adjust the installation position to come.
Further, a weight may be attached to a part of the sensor rod 7 so that the center of gravity can be adjusted to the center of the structure by the amount of the weight and the arrangement of the weight.

  In order to prevent the structure from colliding with the airframe 1 due to severe shaking of the airframe 1 during the flight of the unmanned aerial vehicle, a collision buffer 13 is mounted between the roof of the airframe 1 and the structure.

The invention's effect

  An unmanned aerial vehicle body 1 itself is provided by providing a structure equipped with a satellite positioning antenna necessary for obtaining geospatial information from the sky and a sensor rod 7 for installing various sensors for survey and attitude observation. In addition, it is not necessary to prepare a place for installing a positioning antenna and various sensors individually.

  The lower chord material 4 of the structure is provided at the tip of the sensor rod 7 and supported by the bearing mechanism 12, and the direction required for observation of the direction of the various sensors is determined by the weight of the various sensors, the amount of weight, and the arrangement of the weights. It can be.

  By fixing the posture stabilizer to the lower chord member 4 of the structure and suspending it from the fuselage 1 of the unmanned aerial vehicle with the hanger 10, vibration generated by the unmanned aircraft fuselage 1 can be suppressed.

  The satellite positioning antenna can be mounted on the roof of the unmanned aerial vehicle body 1 and various sensors for surveying and attitude observation can be mounted on the unmanned aircraft body 1 at predetermined positions and directions. Is fixed, the vibration from the fuselage 1 is suppressed, and the fertilizer application of the pan head is stabilized, so that the geospatial information acquired by the survey sensor by satellite positioning and attitude observation can be Can be given with high accuracy.

  Front view   Side view   Perspective view of sensor rod 7

1 Unmanned aerial vehicle body 2 Pillar (structure)
3 Upper chord material (structure)
4 Lower chord material (structure)
5 pedestal (for positioning antenna)
6 Base 7 Sensor 駕 籠 7
8 Fixing mechanism (for sensor 駕 籠 7 sensor)
9 Storage shelf (for sensor of sensor 駕 籠 7)
10 Hanger (for sensor 駕 籠 7)
11 Anti-vibration mechanism (for sensor 駕 籠 7)
12 Bearing mechanism 13 Impact buffer

Claims (3)

An appliance to be installed on an unmanned aircraft,
A satellite positioning antenna is placed on the upper part of the structure that connects the upper and lower parts of the unmanned aircraft.
Sensor す る 7 equipped with various sensors for investigation and attitude observation in appropriate places,
Can be installed,
Positioning fixtures for satellite positioning antennas and sensors. An attitude stabilizer comprising any one or more of the following features for mounting the positional relationship fixture of claim 1 on an unmanned aerial vehicle.
(1) A mechanism for stabilizing the attitude of the survey sensor,
The weight of the positional fixture, the weight of the sensor for investigation and posture observation installed in an appropriate place,
The amount of weight attached to the positional fixture,
The positional relationship fixture is directed in a predetermined direction.
(2) A mechanism for suppressing vibration from an unmanned aerial vehicle,
The vibration of unmanned aircraft
Suppressed by anti-vibration springs or anti-vibration rubber.   The posture stabilizer of claim 2 is fixed to the positional relationship fixture of claim 1 to fix the positional relationship of the satellite positioning antenna and various sensors and to stabilize the posture of the satellite positioning antenna and various sensors. A pan head for satellite positioning antennas and various sensors to be installed on aircraft.