WO2018016514A1 - Dispositif de stabilisation d'assiette et avion sans pilote équipé de celui-ci - Google Patents

Dispositif de stabilisation d'assiette et avion sans pilote équipé de celui-ci Download PDF

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Publication number
WO2018016514A1
WO2018016514A1 PCT/JP2017/026027 JP2017026027W WO2018016514A1 WO 2018016514 A1 WO2018016514 A1 WO 2018016514A1 JP 2017026027 W JP2017026027 W JP 2017026027W WO 2018016514 A1 WO2018016514 A1 WO 2018016514A1
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WO
WIPO (PCT)
Prior art keywords
laser scanner
posture
gps receiver
equipment
inertial measurement
Prior art date
Application number
PCT/JP2017/026027
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English (en)
Japanese (ja)
Inventor
紀代一 菅木
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株式会社プロドローン
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Filing date
Publication date
Application filed by 株式会社プロドローン filed Critical 株式会社プロドローン
Publication of WO2018016514A1 publication Critical patent/WO2018016514A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the present invention relates to attitude control technology.
  • Patent Document 1 discloses a gimbal device equipped with a camera.
  • Patent Document 2 discloses a laser scanner that scans the entire circumference in the circumferential direction and acquires three-dimensional measurement data.
  • a laser scanner L capable of measuring a predetermined angular range in the circumferential direction is mounted on a multicopter M which is an unmanned aircraft, and surveying is performed from the sky.
  • the position of the laser scanner is specified by the position information acquired by the GPS antenna A included in the multicopter M.
  • the laser scanner L is supported by the gimbal device G in order to suppress the tilt of the laser scanner L.
  • Multi-copter M will fly by tilting the aircraft when moving in the horizontal direction due to its structure. Therefore, in this example, the difference D between the scanning point S by the laser scanner L and the position information P indicated by the GPS antenna A changes between when the multicopter M is hovered and when it moves.
  • the position of the laser scanner L in consideration of the change of the difference D, complicated calculation is required, which may cause a decrease in surveying accuracy.
  • the fluctuation range of the difference D is widened, so that the influence on the surveying accuracy becomes significant.
  • the problem to be solved by the present invention is to provide an attitude stabilization device capable of specifying the position and attitude of supported equipment with high accuracy, and an unmanned aerial vehicle equipped with the attitude stabilization apparatus.
  • an attitude stabilization device of the present invention includes a mount portion to which other equipment is attached, a stabilization mechanism that maintains the attitude of the mount portion constant, and a GPS receiver.
  • the GPS receiver is attached to the mount unit or the other equipment.
  • the mount part that holds other equipment can be prevented from tilting and rotating by the stabilization mechanism.
  • the effects of posture changes such as hand-held handles and multicopters that support the posture stabilization device can be absorbed before reaching the GPS receiver,
  • the relative positional relationship between the GPS receiver and other equipment can be maintained. This makes it possible to specify the position on the longitude and latitude of the equipment supported by the posture stabilization device with higher accuracy.
  • the attitude stabilization device of the present invention further includes a pole that is a support column that supports the GPS receiver, and the base end of the pole is preferably fixed to the mount part or the other equipment. .
  • the GPS receiver When the GPS receiver is supported by the pole, if the base end of the pole is tilted, the GPS receiver is greatly shaken by the length of the pole.
  • the position of the GPS receiver on the pole is fixed by fixing the base end of the pole to the mount part that can be prevented from tilting and rotating by the stabilization mechanism, and other equipment attached to the mount part. Can be stabilized
  • the other equipment is a laser scanner, and the laser scanner can scan the entire circumference of a circle centered on the position of the laser scanner or a predetermined angle range of the circle.
  • the position on the longitude and latitude of the laser scanner at the time of measurement can be specified more accurately. This makes it possible to acquire highly accurate three-dimensional measurement data.
  • the mount unit or the laser scanner has an inertial measurement device, and the measured value by the inertial measurement device is not used for operation control of the stabilization mechanism, but is a point measured by the laser scanner. It is preferably used to correct the position information.
  • a posture stabilization device such as a so-called camera gimbal usually has an inertial measurement device including an acceleration sensor and an angular velocity sensor and a biaxial or triaxial arm mechanism. Such a posture stabilization device adjusts the joint angle of the arm mechanism based on the output value of the inertial measurement device so as to keep the posture of the supporting equipment constant.
  • the inertial measurement device of the present invention is not an inertial measurement device used for this application.
  • the inertial measurement device of the present invention is arranged at a position (mount part or laser scanner itself) that can detect a change in the attitude of the mount part, and the attitude of the laser scanner or GPS receiver that could not be absorbed by the stabilization mechanism. Detect disturbances. As a result, it is possible to correct the position information of the measurement values acquired by the laser scanner later, and it is possible to acquire more accurate three-dimensional measurement data.
  • the laser scanner has an inertial measurement device, and the inertial measurement device is arranged on a line passing through the center of the circle perpendicularly to the circle.
  • the inertial measurement device is attached to the inside or outside of the laser scanner, and is arranged on the center line of the distance measuring unit, which is the laser beam emitting unit. A similar posture change is shown in conjunction with the change. As a result, it is possible to more directly acquire the disturbance of the posture of the laser scanner and its degree.
  • the other equipment is a camera
  • the mount unit or the camera has an inertial measurement device, and a measurement value by the inertial measurement device is not used for operation control of the stabilization mechanism, It is preferably used for correcting position information of an image taken by a camera.
  • the inertial measurement device is arranged at a position where the posture change of the mount portion can be detected (mount portion or the camera itself), and detects a disturbance in the posture of the camera or GPS receiver that could not be absorbed by the stabilization mechanism. .
  • the posture change of the mount portion can be detected (mount portion or the camera itself), and detects a disturbance in the posture of the camera or GPS receiver that could not be absorbed by the stabilization mechanism. .
  • the unmanned aerial vehicle of the present invention includes a plurality of rotor blades, and further includes the attitude stabilization device of the present invention.
  • the unmanned aircraft since unmanned aerial vehicles fly in the air, there is a problem that it is more difficult to maintain a constant posture than a moving body that moves on the ground.
  • the unmanned aircraft includes the posture stabilization device of the present invention, the tilt and rotation of the airframe are absorbed by the stabilization mechanism, and the posture of other equipment in the air can be stabilized.
  • a GPS receiver is disposed along with other equipment on the mount portion of the posture stabilization device. Therefore, the GPS receiver is not directly affected by the attitude change of the unmanned aircraft, and the relative positional relationship between the GPS receiver and other equipment is maintained. This makes it possible to specify the position of other equipment on the longitude and latitude with high accuracy.
  • the posture stabilization device and the unmanned aircraft including the same As described above, according to the posture stabilization device and the unmanned aircraft including the same according to the present invention, it is possible to more accurately specify the position and posture of the equipment held by the posture stabilization device.
  • FIG. 1 is a perspective view showing a configuration of a gimbal device 10 according to the present embodiment.
  • the gimbal device 10 is a posture stabilization device that reduces unintentional tilt and rotation of the laser scanner 15, which is another supporting device.
  • the gimbal device 10 drives a mount unit 11 to which a laser scanner 15 is attached, an arm mechanism 12 that is a stabilization mechanism that suppresses tilt and rotation of the mount unit 11, and a brushless motor that constitutes each joint unit of the arm mechanism 12. It is comprised by the control part which does not.
  • a GPS receiver 32 is disposed on the mount 11 of the gimbal device 10.
  • the GPS receiver 32 is disposed at the tip of a pole 321 that is a support column that supports the GPS receiver 32.
  • a base end portion of the pole 321 is fixed to the mount portion 11.
  • the GPS receiver 32 is precisely a navigation satellite system (NSS) receiver.
  • the GPS receiver 32 acquires current longitude and latitude values and time information from a global navigation satellite system (GNSS: Global Navigation ⁇ ⁇ ⁇ ⁇ Satellite System) or a regional navigation satellite system (RNSS: Regional Navigational Satellite System).
  • GNSS Global Navigation ⁇ ⁇ ⁇ ⁇ Satellite System
  • RNSS Regional Navigational Satellite System
  • the arm mechanism 12 of this embodiment is a three-axis stabilizer.
  • the arm mechanism 12 is configured to suppress the tilt and rotation of the mount unit 11 in accordance with a change in the posture of the multicopter 90 detected by an IMU (Inertial Measurement Unit) provided in the multicopter 90 described later.
  • the joint angles of the axis AZ (yaw axis), the elevation axis EL (pitch axis), and the cross elevation axis x-El (roll axis) are controlled.
  • the number of axes of the arm mechanism 12 is not limited to three, but may be two (azimuth axis AZ, elevation axis EL).
  • the “posture” in the present invention refers to a predetermined arrangement specified by the angular positions of these three axes (or two axes), that is, the direction and inclination at a certain point in time.
  • the arm mechanism 12 has a connecting portion 121 that connects another device or instrument to the gimbal device 10.
  • devices and instruments connected to the gimbal device 10 include a hand-held handle for supporting the gimbal device 10 by hand, a multicopter that is an unmanned aircraft, and the like.
  • the laser scanner 15 includes a distance measuring unit 151 that emits a laser.
  • the distance measuring unit 151 scans the entire circumference of a circle on the yz plane centered on the position of the distance measuring unit 151 or a predetermined angle range thereof with a laser.
  • the inertial measurement device 16 (hereinafter referred to as “IMU 16”) is attached to the laser scanner 15 at the end opposite to the distance measuring unit 151 among the ends in the x-axis direction.
  • the IMU 16 is arranged on a line passing through the center of the circle on the yz plane perpendicularly to the circle. That is, it is arranged coaxially with the distance measuring unit 151.
  • the IMU 16 is mainly composed of a triaxial acceleration sensor and a triaxial angular velocity sensor, and detects a change in the attitude of the laser scanner 15.
  • the IMU 16 is an IMU different from the IMU provided in the multicopter 90.
  • the measurement value obtained by the IMU 16 is not used for operation control of the arm mechanism 12 but is used for correcting the position information of the point measured by the laser scanner 15.
  • the IMU 16 is attached to the laser scanner 15 itself, and is disposed coaxially with the distance measuring unit 151, so that the posture of the laser scanner 15 that could not be absorbed by the arm mechanism 12, It is possible to directly detect the degree thereof.
  • the tilt and rotation of the mount portion 11 of the gimbal device 10 are suppressed by the arm mechanism 12.
  • the GPS receiver 32 when the GPS receiver 32 is disposed together with the laser scanner 15 on the mount unit 11, for example, when the posture of a hand-held handle or a multicopter to which the gimbal device 10 is connected is changed.
  • the GPS receiver 32 is not directly affected, and the relative positional relationship between the GPS receiver 32 and the laser scanner 15 is maintained. Therefore, according to the gimbal device 10 of the present example, the position on the longitude and latitude of the laser scanner 15 at the time of measurement can be specified more accurately. That is, according to the gimbal apparatus 10 of this example, it is possible to acquire more accurate three-dimensional measurement data.
  • the GPS receiver 32 of the present embodiment is supported at the tip of the pole 321.
  • the inclination of the base end of the pole 321 changes the position of the GPS receiver 32 in the horizontal direction in proportion to the length of the pole 321.
  • the base end part of the pole 321 is fixed to the mount part 11, the inclination of the pole 321 is previously suppressed. Therefore, even when the GPS receiver 32 is supported on the pole 321 as in the present embodiment, the relative positional relationship between the GPS receiver 32 and the laser scanner 15 can be kept low. Even when the base end of the pole 321 is fixed to the laser scanner 15, the same effect can be obtained.
  • FIG. 2 is a block diagram showing a functional configuration of a multicopter 90 that is an unmanned aerial vehicle according to the present embodiment.
  • the multicopter 90 is connected to the gimbal device 10 at a lower portion thereof, and a laser scanner 15 is supported on the gimbal device 10.
  • the aircraft of the multicopter 90 mainly includes a flight controller 20 that is a control unit, a rotor R that is a plurality of rotor blades, an ESC 43 (Electric Speed Controller) that is a driving circuit of the rotor R, and an operator's control terminal 95.
  • a receiver 33 for receiving a control signal and a battery 51 for supplying power to these are mounted.
  • Each rotor R is composed of a motor 41 which is a brushless motor, and a fixed pitch propeller 42 attached to the output shaft thereof.
  • the ESC 43 is connected to the motor 41 of the rotor R, and rotates the motor 41 at a speed instructed from the flight controller FC.
  • the flight controller FC includes a control device 20 that is a microcontroller.
  • the control device 20 includes a central processing unit CPU 21, a memory 22 including a storage device such as a ROM, a RAM, and a flash memory, and a PWM (Pulse Width : Modulation: pulse width) that controls the rotation speed of each motor 41 via the ESC 43.
  • a modulation controller 23 is provided.
  • the flight controller FC further includes a flight control sensor group 31 and a GPS receiver 32 (hereinafter collectively referred to as “sensors”), which are connected to the control device 20.
  • the flight control sensor group 31 of the multicopter 90 in this embodiment includes an IMU, an atmospheric pressure sensor, an electronic compass, and the like.
  • the IMU of the flight control sensor group 31 is also mainly composed of a triaxial acceleration sensor and a triaxial angular velocity sensor.
  • a barometric sensor is an embodiment of an altitude sensor that measures flight altitude.
  • the atmospheric pressure sensor identifies the flight altitude of the multicopter 90 by converting the detected atmospheric pressure value into an altitude above sea level or a relative altitude from the takeoff point of the multicopter 90.
  • An electronic compass is an aspect of an azimuth sensor that measures the azimuth of the nose.
  • a triaxial geomagnetic sensor is used for the electronic compass of this example.
  • the control device 20 can acquire the position information of the own aircraft including the flight latitude and height, the altitude, and the azimuth angle of the nose in addition to the inclination and rotation of the aircraft by the flight control sensor group 31. ing.
  • the GPS receiver 32 included in the gimbal device 10 is also used to control the multicopter 90.
  • the multicopter 90 may include a unique GPS receiver.
  • the control device 20 has a flight control program FCP which is a program for controlling the attitude and basic flight operation of the multicopter 90 during flight.
  • the flight control program FCP adjusts the number of rotations of each rotor R based on information obtained from a sensor or the like according to an instruction from an operator (control terminal 95), and corrects the attitude and position disturbance of the fuselage. Fly 90.
  • the operation of the multicopter 90 can also be performed by the operator from the control terminal 95.
  • a flight plan that is parameter data such as a route, altitude, and speed for flying the multicopter 90 is created, and the flight plan is included in the flight plan. Based on this, it is possible to fly the multicopter 90 autonomously (hereinafter, such autonomous flight is referred to as “autopilot”).
  • the multicopter 90 in this embodiment has an advanced flight control function.
  • the unmanned aircraft in the present invention may be any aircraft that can fly with a plurality of rotor blades.
  • the gimbal device 10 of this example is mounted on an unmanned fixed wing aircraft, the effect can be obtained.
  • FIG. 3 is a schematic diagram showing an example in which topographic surveying is performed from the sky by the laser scanner 15.
  • a pole 321 longer than that of FIG. 1 is used in order to increase the reception sensitivity of the GPS receiver 32.
  • the casing of the multicopter 90 is provided with a through hole through which the pole 321 is inserted.
  • the multicopter 90 is flying in the air, it is more difficult to maintain a constant posture than a moving body that moves on the ground. Since the multicopter 90 includes the gimbal device 10, the tilt and rotation of the machine body of the multicopter 90 are absorbed by the arm mechanism 12, and the posture of the laser scanner 15 in the air can be stabilized.
  • a GPS receiver 32 is disposed on the mount unit 11 of the gimbal device 10 together with the laser scanner 15. Therefore, the GPS receiver 32 is not directly affected by the attitude change of the multicopter 90, and the relative positional relationship between the GPS receiver 32 and the laser scanner 15 is maintained (FIG. 3B). Thereby, the position on the longitude and latitude of the laser scanner 15 at the time of surveying can be specified with high accuracy.
  • a through-hole through which the pole 321 of the GPS receiver 32 is inserted is provided in the body of the multicopter 90.
  • the pole 321 may have a shape extending from the mount portion 11 to the upper side of the multicopter 90 by bypassing the airframe.
  • the length of the pole 321 may be set to be within the height of the gimbal device 10, and further, the GPS without using the pole 321.
  • the receiver 32 may be directly attached to the mount unit 11.
  • the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.
  • a camera for photographing a feature below the multicopter 90 is attached to the mount unit 11, so that the photographing position on the longitude and latitude of the camera can be specified more accurately.
  • the IMU 16 it is possible to grasp the disorder of the posture of the camera that could not be absorbed by the arm mechanism 12, and to correct the positional information of the image taken by the camera afterwards. It becomes. That is, by attaching the camera to the posture stabilization device of the present invention, it is possible to perform photogrammetry with higher accuracy.
  • the equipment to be attached to the mount unit 11 is not limited to the surveying instrument such as the laser scanner 15 or the camera, but may be other equipment that needs to specify the position and posture on the longitude and latitude at the time of use with high accuracy.
  • the gimbal device 10 is not dedicated to unmanned aircraft, but may be carried by a person with a hand-held handle attached thereto, or may be attached to another moving body such as a vehicle or a ship.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un dispositif de stabilisation d'assiette qui est capable de localiser avec une grande précision la position d'un instrument supporté ; et un avion sans pilote équipé de ce dispositif. Le dispositif de stabilisation d'assiette est caractérisé en ce qu'il comporte une pièce de montage, sur laquelle un instrument externe est monté, un mécanisme de stabilisation qui maintient la pièce de montage à une assiette constante et un récepteur GPS, le récepteur GPS étant monté soit sur la pièce de montage, soit sur l'instrument externe. Cet avion sans pilote est équipé du dispositif de stabilisation d'assiette et d'une pluralité de pales de rotor.
PCT/JP2017/026027 2016-07-22 2017-07-19 Dispositif de stabilisation d'assiette et avion sans pilote équipé de celui-ci WO2018016514A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016144954 2016-07-22
JP2016-144954 2016-07-22

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WO2018016514A1 true WO2018016514A1 (fr) 2018-01-25

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007240506A (ja) * 2006-03-06 2007-09-20 Giyourin Cho ３次元形状と３次元地形計測法
JP2014044067A (ja) * 2012-08-24 2014-03-13 Topcon Corp 写真測量用カメラ及び航空写真装置
US20140210663A1 (en) * 2011-04-14 2014-07-31 Hexagon Technology Center Gmbh Measuring system and method for determining new points
JP2016085100A (ja) * 2014-10-24 2016-05-19 株式会社ａｍｕｓｅ ｏｎｅｓｅｌｆ 測量システム、設定装置、設定プログラム及び記録媒体
JP2016107843A (ja) * 2014-12-08 2016-06-20 Ｊｆｅスチール株式会社 マルチコプタを用いた３次元形状計測方法および装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007240506A (ja) * 2006-03-06 2007-09-20 Giyourin Cho ３次元形状と３次元地形計測法
US20140210663A1 (en) * 2011-04-14 2014-07-31 Hexagon Technology Center Gmbh Measuring system and method for determining new points
JP2014044067A (ja) * 2012-08-24 2014-03-13 Topcon Corp 写真測量用カメラ及び航空写真装置
JP2016085100A (ja) * 2014-10-24 2016-05-19 株式会社ａｍｕｓｅ ｏｎｅｓｅｌｆ 測量システム、設定装置、設定プログラム及び記録媒体
JP2016107843A (ja) * 2014-12-08 2016-06-20 Ｊｆｅスチール株式会社 マルチコプタを用いた３次元形状計測方法および装置

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