Unmanned aerial vehicle-mounted laser radar point cloud data automatic return device

Abstract

The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to an unmanned aerial vehicle-mounted laser radar point cloud data automatic return device which comprises an unmanned aerial vehicle body, a heat dissipation opening, an undercarriage and an extension arm, the heat dissipation opening is formed in the top end of the unmanned aerial vehicle body, the undercarriage is arranged on the surface side of the bottom end of the unmanned aerial vehicle body, and the extension arm is arranged at the side end of the unmanned aerial vehicle body. According to the unmanned aerial vehicle, the motor driving assembly, the signal relay assembly, the connecting line and the line self-winding mechanism are arranged, and the collected data are uploaded to the cloud end in real time through the signal relay assembly, so that compared with an existing unmanned aerial vehicle which needs to take out an sd memory card from a radar or a camera to obtain the collected data, the unmanned aerial vehicle has the advantages that the data are collected; the mode of uploading the data to the cloud in real time is faster and more convenient, the problem of data loss caused by the fact that the unmanned aerial vehicle terminal is damaged and crashes in the flight process can be prevented, and the line self-winding mechanism can also keep the line connected with the radar not to be wound due to rotation of the radar.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle equipment, and in particular to an automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle. Background Art

[0002] Unmanned aerial vehicle, abbreviated as "UAV" in English, is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or operated completely or intermittently autonomously by an on-board computer.

[0003] Compared with manned aircraft, drones are often more suitable for tasks that are too "dull, dirty or dangerous". Drones can be divided into military and civilian applications according to their application areas. In the military, drones are divided into reconnaissance aircraft and target aircraft. In the civilian field, drones + industry applications are the real rigid demand for drones; their applications in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television shooting, creating romance, etc. have greatly expanded the use of drones themselves.

[0004] The existing technology has the following deficiencies: the “UAV radar obstacle avoidance device” in the prior art with publication number CN219370006U “includes a UAV, a radar obstacle avoider, and a mounting device”;

[0005] By sliding the bottom plate into the top plate, and then fixing the connecting plate and the radar obstacle avoider thereon to the bottom of the UAV, the sliding of the bottom plate and the top plate fits the outer shape, so that the radar obstacle avoider can be quickly fixed to the bottom of the UAV to achieve quick installation. However, although this structure can improve the installation efficiency, it does not make any improvements in the data transmission of radar scanning. Current UAV radar data is still saved in the form of traditional built-in memory cards. After the radar collects the data, it is stored in an SD card. After the UAV lands, the operator manually removes the SD card in the camera or radar and obtains the data. This method is not only cumbersome and complicated, but also has a long time difference in the steps of data collection and extraction. Once the UAV is damaged or crashes, there is a risk that the data cannot be extracted. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides an automatic feedback device for drone-mounted laser radar point cloud data, which solves the current problem that SD card storage of data results in a long time difference between data collection and extraction, and the data extraction steps are cumbersome, complicated and not intuitive enough.

[0007] To achieve the above object, the present invention provides the following technical solution: An automatic backhaul device for airborne lidar point cloud data of an unmanned aerial vehicle, comprising a UAV main body, a heat dissipation port, landing gears and extension arms. The heat dissipation port is arranged at the top end of the UAV main body. The landing gears are arranged on the bottom surface side of the UAV main body. The extension arms are arranged at the side ends of the UAV main body;

[0008] An electric motor drive assembly is further arranged at the outer end of the extension arm. A signal relay assembly is connected to the bottom end of the UAV main body. A connecting wire is arranged on the outer peripheral end face of the signal relay assembly. A connecting frame is further arranged at the bottom end of the UAV main body. A radar is connected to the bottom end of the connecting frame. A mapping camera is arranged at the lower end of the radar. An auxiliary positioning camera is arranged on one side of the mapping camera. A wire automatic retracting mechanism is further arranged on the side end of the connecting frame;

[0009] The electric motor drive assembly further comprises a coupling piece, blades and a sensor terminal. The coupling piece is movably connected to the top end of the electric motor drive assembly. The blades are inserted into the coupling piece from the symmetric positions on both sides of the coupling piece and a fixed connection relationship is established.

[0010] In some embodiments, the signal relay assembly needs to maintain a continuous signal connection with the cloud during use and is internally provided with a network transmission component.

[0011] In some embodiments, the UAV main body further comprises a power button, a power interface and an upper magnetic attracting block. The power button is movably connected to the inner part of the rear end of the UAV main body. The power interface is fixedly installed at the rear end of the UAV main body. The upper magnetic attracting block is fixedly connected to the inner bottom end face of the UAV main body and keeps one end of the disc-shaped structure perpendicular downward.

[0012] In some embodiments, the connecting frame is an overall longitudinal strip structure, and a transverse "C"-shaped structure is connected to the bottom end. The bottom end of the longitudinal strip structure is located in the middle of the transverse "C"-shaped structure, and both ends of the transverse "C"-shaped structure extend towards the radar.

[0013] In some embodiments, the connecting frame further comprises a lower magnetic attracting block and a transverse shaft column. The lower magnetic attracting block is fixedly connected to the upper end of the connecting frame. The transverse shaft column is movably connected to the inner end face of the connecting frame extending towards the radar and is inserted into the interior from both sides of the radar.

[0014] In some embodiments, the wire automatic retracting mechanism further comprises a winding column and a tension spring. The winding column is fixedly connected to the middle position of the wire automatic retracting mechanism and extends towards the side end. The tension spring is wound inside the wire automatic retracting mechanism, and the inner end is fixedly connected to the winding column.

[0015] In some of the embodiments, the connecting line is also arranged between the drone body and the signal relay component, and between the signal relay component and the connecting frame.

[0016] In some of the embodiments, the outer end of the tension spring is fixedly connected to a connecting wire, and the connecting wire is also connected between the radar and the tension spring.

[0017] In some of the embodiments, the signal relay component is powered by the drone body through a connecting line, and the maximum angle that the radar can rotate through the lateral axis is 45°.

[0018] In some of the embodiments, the signal relay component needs to set up a cloud server system and a user terminal system in advance before the drone body is used.

[0019] Compared with the prior art, the present invention provides a device for automatically transmitting point cloud data of a drone-mounted laser radar, which has the following beneficial effects:

[0020] The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle is provided with a motor drive component, a signal relay component, a connecting line and a line self-winding mechanism. When the device is in operation, the operator controls the start and stop of the drone body through the power button. When the drone body is in the starting state, the operator sends a signal to the motor drive component through the external control terminal. The motor drive component drives the coupling to rotate, and the coupling drives the bidirectionally connected blades to rotate. After a total of four sets of blades on both sides of the drone body rotate, the drone body is lifted off vertically. After the drone body is lifted off, the operator controls the radar and the mapping camera and auxiliary positioning camera it carries through the control terminal. The radar uses laser to detect the direction it is facing. The radar collects data within a certain range and completes the rotation and adjustment of the direction through the connecting frame. When the radar rotates, the line connected to the internal tension spring of the line self-winding mechanism at the rear end will stretch outward. When the radar rotates and resets, the line is straightened after the tension spring contracts. The mapping camera and the auxiliary positioning camera work at the same time to collect specific data such as the terrain, height, and shape of the location they are facing. After the radar, the mapping camera, and the auxiliary positioning camera complete the data collection, the data is transmitted to the signal relay component through the back-end connection line. The signal relay component is continuously connected to the cloud network to upload the data received from the radar to the cloud in real time for storage. The data uploaded to the cloud can be viewed through the operator's user terminal;

[0021] Through the above process, the drone equipment can upload the collected data to the cloud in real time through the signal relay component during the radar mapping process after launch. Compared with the current drones that need to take out the SD memory card from the radar or camera to obtain the collected data, the real-time uploading to the cloud is not only faster and more convenient, but also can prevent the drone terminal from being damaged and crashing during flight, resulting in data loss. The line self-rewinding mechanism can also keep the line connected to the radar from being entangled due to the rotation of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the back-end structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the location of the power interface of the present invention;

[0025] Figure 4 This is a schematic diagram of the bottom structure of the main body of the drone of the present invention;

[0026] Figure 5 It is a schematic diagram of the radar front end structure of the present invention;

[0027] Figure 6 This is a schematic diagram of the rear-end connection structure of the radar of the present invention;

[0028] Figure 7 It is a detailed structural diagram of the motor drive assembly of the present invention;

[0029] Figure 8 This is a schematic diagram of the splitting of the line self-winding mechanism of the present invention;

[0030] Fig. 9 It is a schematic diagram of the complete system flow of the present invention.

[0031] In the figure: 1. UAV body; 101. power button; 102. power interface; 103. upper magnetic block; 2. heat dissipation port; 3. landing gear; 4. extension arm; 5. motor drive assembly; 501. coupling; 502. blade; 503. sensor terminal; 6. signal relay assembly; 7. connecting line; 8. connecting frame; 801. lower magnetic block; 802. horizontal axis column; 9. radar; 10. mapping camera; 11. auxiliary positioning camera; 12. line self-winding mechanism; 1201. winding column; 1202. tension spring. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] See also Figure 1-9 In this embodiment: an automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a heat dissipation port 2, a landing gear 3 and an extension arm 4, wherein the heat dissipation port 2 is arranged at the top of the unmanned aerial vehicle body 1, and the heat dissipation port 2 serves as a heat dissipation channel of the unmanned aerial vehicle body 1, the landing gear 3 is arranged on the surface side of the bottom end of the unmanned aerial vehicle body 1, and the landing gear 3 supports the unmanned aerial vehicle body 1 on the ground, and the extension arm 4 is arranged at the side end of the unmanned aerial vehicle body 1, and the extension arm 4 carries the installation of the motor drive component 5;

[0036] A motor drive assembly 5 is also provided at the outer end of the extension arm 4. The motor drive assembly 5 serves as a power assembly of the drone body 1 to drive the drone body 1 to take off. A signal relay assembly 6 is also connected to the bottom of the drone body 1. The signal relay assembly 6 transmits the data collected by the radar 9 to the cloud. A connecting line 7 is provided on the outer end face of the signal relay assembly 6. The connecting line 7 transmits the data collected by the radar 9, the mapping camera 10, and the auxiliary positioning camera 11. A connecting frame 8 is also provided at the bottom of the drone body 1. The connecting frame 8 carries the installation of the radar 9. The radar 9, the mapping camera 10, and the auxiliary positioning camera 11 collect data such as terrain, height, and landform. A mapping camera 10 is provided at the lower end of the radar 9, and an auxiliary positioning camera 11 is provided on one side of the mapping camera 10. A line self-winding mechanism 12 is also provided at the side end of the connecting frame 8. The line self-winding mechanism 12 maintains the stability of the connecting line 7 connected to the radar 9.

[0037] The motor drive assembly 5 also includes a coupling 501, blades 502, and a sensor terminal 503. The coupling 501 is movably connected to the top of the motor drive assembly 5. The coupling 501 can combine the blades 502. The blades 502 are inserted into the coupling 501 from symmetrical positions on both sides of the coupling 501 and establish a fixed connection relationship. The blades 502 help the drone body 1 to take off.

[0038] In this embodiment, the signal relay component 6 needs to maintain a continuous signal connection with the cloud when in use, and has a built-in network transmission component; the drone body 1 also includes a power button 101, a power interface 102, and an upper magnetic block 103, the power button 101 is movably connected to the rear end of the drone body 1, the power interface 102 is fixedly installed at the rear end of the drone body 1, and the upper magnetic block 103 is fixedly connected to the bottom inner end surface of the drone body 1, and keeps one end of the disc-shaped structure vertically downward;

[0039] Specifically, after the upper magnetic block 103 and the lower magnetic block 801 establish a magnetic connection with each other, the radar 9 and the connecting frame 8 are suspended at the bottom of the drone body 1, as shown in FIG. Fig. 9 As shown, the signal relay component 6 needs to transmit the data collected by the radar 9 to the cloud server, and then save it through the cloud backup storage system of the cloud server;

[0040] In this embodiment, the UAV body 1 further includes a power button 101, a power interface 102, and an upper magnetic attraction block 103. The power button 101 is movably connected to the inside of the rear end of the UAV body 1. The power interface 102 is fixedly installed at the rear end of the UAV body 1. The upper magnetic attraction block 103 is fixedly connected to the inner end face of the bottom of the UAV body 1 and keeps one end of the disc-shaped structure perpendicular downward. The connecting frame 8 is an overall longitudinal strip structure, and the bottom end is connected with a transverse "C" - shaped structure. The bottom end of the longitudinal strip structure is located in the middle of the transverse "C" - shaped structure, and both ends of the transverse "C" - shaped structure extend towards the radar 9.

[0041] It should be noted that: when the radar 9 rotates and adjusts, it rotates up and down with the transverse axis column 802 as the axis. When the lower magnetic attraction block 801 establishes a connection with the upper magnetic attraction block 103, the orientation of the radar 9, the mapping camera 10, and the auxiliary positioning camera 11 can be adjusted by rotating the lower magnetic attraction block 801.

[0042] In this embodiment, the connecting frame 8 further includes a lower magnetic attraction block 801 and a transverse axis column 802. The lower magnetic attraction block 801 is fixedly connected to the upper end of the connecting frame 8. The transverse axis column 802 is movably connected to the inner end face of the connecting frame 8 extending towards the radar 9 and is inserted into the interior from both sides of the radar 9. The wire self - winding mechanism 12 further includes a winding column 1201 and a tension spring 1202. The winding column 1201 is fixedly connected to the middle position of the wire self - winding mechanism 12 and extends towards the side end. The tension spring 1202 is wound inside the wire self - winding mechanism 12, and the inner end is fixedly connected to the winding column 1201.

[0043] Specifically, by connecting the end of the tension spring 1202 to the winding column 1201, the tension spring 1202 can maintain its own stability when stretched and continuously keep the connecting wire 7 in a taut state to prevent the connecting wire 7 from being wound.

[0044] In this embodiment, the connecting wire 7 is also arranged between the UAV body 1 and the signal relay component 6, and between the signal relay component 6 and the connecting frame 8. The outer end of the tension spring 1202 is fixedly connected to the connecting wire 7, and the connecting wire 7 is also connected between the radar 9 and the tension spring 1202. The signal relay component 6 is powered by the UAV body 1 through the connecting wire 7, and the maximum angle that the radar 9 can rotate through the transverse axis column 802 is 45°. The signal relay component 6 needs to pre - set up a cloud server system and a user terminal system before the UAV body 1 is used.

[0045] Further, refer to Fig. 9As shown, after the radar 9, the surveying camera 10 and the auxiliary positioning camera 11 collect data in the specified direction, the data is transmitted to the signal relay component 6 through the connecting line 7. The signal relay component 6 transmits the data to the cloud server through the network. After the cloud server saves the data, the operator can also view the data at any time through the user terminal system.

[0046] The working principle and use process of the present invention are as follows: when the device is in operation, the operator controls the start and stop of the drone body 1 through the power button 101. When the drone body 1 is in the start state, the operator sends a signal to the motor drive component 5 through the external control terminal. The motor drive component 5 drives the coupling 501 to rotate, and the coupling 501 drives the two-way connected blades 502 to rotate. After the four sets of blades 502 on both sides of the drone body 1 rotate, the drone body 1 is lifted off vertically. After the drone body 1 is lifted off, the operator controls the radar 9 and the mapping camera 10 and the auxiliary positioning camera 11 carried by it through the control terminal. The radar 9 collects data on the range it is facing through laser, and completes it through the connecting frame 8. Rotate to adjust the direction. When the radar 9 rotates, the line connected to the tension spring 1202 inside the line self-winding mechanism 12 at the rear end will stretch outward. When the radar 9 rotates and resets, the line is straightened after the tension spring 1202 contracts. The surveying camera 10 and the auxiliary positioning camera 11 work at the same time to collect specific data such as the terrain, height, and shape of the location they are facing. After the radar 9, the surveying camera 10, and the auxiliary positioning camera 11 complete data collection, the data is transmitted to the signal relay component 6 through the rear-end connecting line 7. The signal relay component 6 is continuously connected to the cloud network to upload the data received from the radar 9 to the cloud in real time for storage. The data uploaded to the cloud can be viewed through the operator's user terminal.

[0047] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic backhaul device for lidar point cloud data on an unmanned aerial vehicle, comprising a UAV main body (1), a heat dissipation port (2), landing gears (3) and an extension arm (4). The heat dissipation port (2) is arranged at the top of the UAV main body (1), the landing gears (3) are arranged on the bottom surface side of the UAV main body (1), and the extension arm (4) is arranged at the side end of the UAV main body (1). It is characterized in that: A motor drive assembly (5) is further arranged at the outer end of the extension arm (4). A signal relay assembly (6) is also connected to the bottom end of the UAV main body (1). A connecting wire (7) is arranged on the outer peripheral end face of the signal relay assembly (6). A connecting frame (8) is further arranged at the bottom end of the UAV main body (1). A radar (9) is connected to the bottom end of the connecting frame (8). A mapping camera (10) is arranged at the lower end of the radar (9). An auxiliary positioning camera (11) is arranged on one side of the mapping camera (10). A wire self-winding mechanism (12) is also arranged at the side end of the connecting frame (8); The motor drive assembly (5) further includes a coupling piece (501), a propeller blade (502), and a sensor terminal (503). The coupling piece (501) is movably connected to the top end of the motor drive assembly (5). The propeller blades (502) are inserted into the coupling piece (501) from the symmetric positions on both sides of the coupling piece (501) and have a fixed connection relationship.

2. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 1, characterized in that: When in use, the signal relay assembly (6) needs to maintain a continuous signal connection with the cloud and has a built-in network transmission component.

3. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 1, characterized in that: The UAV main body (1) further includes a power button (101), a power interface (102), and an upper magnetic attraction block (103). The power button (101) is movably connected to the inner part of the rear end of the UAV main body (1). The power interface (102) is fixedly installed at the rear end of the UAV main body (1). The upper magnetic attraction block (103) is fixedly connected to the inner bottom end face of the UAV main body (1) and keeps one end of the disc-shaped structure perpendicular downward.

4. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 1, characterized in that: The connecting frame (8) is an overall longitudinal strip-shaped structure, and the bottom end is connected with a transverse "C"-shaped structure. The bottom end of the longitudinal strip-shaped structure is in the middle of the transverse "C"-shaped structure, and both ends of the transverse "C"-shaped structure extend towards the radar (9).

5. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 1, characterized in that: The connecting frame (8) further includes a lower magnetic attraction block (801) and a transverse shaft column (802). The lower magnetic attraction block (801) is fixedly connected to the upper end of the connecting frame (8). The transverse shaft column (802) is movably connected to the inner end face of the connecting frame (8) extending towards the radar (9) and is inserted into the inside from both sides of the radar (9).

6. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 1, characterized in that: The wire self-winding mechanism (12) further includes a winding column (1201) and a tension spring (1202). The winding column (1201) is fixedly connected to the middle position of the wire self-winding mechanism (12) and extends towards the side end. The tension spring (1202) is wound inside the wire self-winding mechanism (12), and the inner end is fixedly connected to the winding column (1201).

7. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 1, characterized in that: The connecting line (7) is also arranged between the drone body (1) and the signal relay component (6), and between the signal relay component (6) and the connecting frame (8).

8. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 6, characterized in that: The outer end of the tension spring (1202) is fixedly connected to the connecting line (7), and the connecting line (7) is also connected between the radar (9) and the tension spring (1202).

9. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 1, characterized in that: The signal relay component (6) is powered by the drone body (1) through a connecting line (7), and the maximum angle at which the radar (9) can rotate through the transverse shaft column (802) is 45°.

10. The automatic return device for laser radar point cloud data carried by an unmanned aerial vehicle according to claim 2, characterized in that: The signal relay component (6) needs to be pre-installed with a cloud server system and a user terminal system before the drone body (1) is used.

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