Camera positioning and adjusting device of aerial surveying and mapping unmanned aerial vehicle

Abstract

The invention discloses an aerial surveying and mapping unmanned aerial vehicle camera positioning adjusting device, and particularly relates to the technical field of unmanned aerial vehicle camera positioning arrangement, which comprises a concave frame, a rotating shaft, a positioning angle sensor and a vertical angle positioning arrangement mechanism, wherein the vertical angle positioning arrangement mechanism comprises a limiting servo motor, a turntable and a concave block; the device further comprises a transverse angle positioning arrangement mechanism and an adjusting and limiting arrangement assembly. Through the vertical angle positioning arrangement mechanism, even if the main angle sensor is damaged, the surveying and mapping camera can be vertically arranged to a specified positioning adjustment position, so that the arrangement and use accuracy of the surveying and mapping camera is greatly improved; therefore, the problem that the camera of the surveying and mapping unmanned aerial vehicle is difficult to arrange at the specified positioning and adjusting position due to the fact that the overrun driving fault of a driving motor or inaccurate angle sensing of an angle sensor occurs, and the arrangement and use accuracy of the camera of the surveying and mapping unmanned aerial vehicle is poor is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle camera positioning arrangement, and more specifically, to an aerial photography and mapping unmanned aerial vehicle camera positioning adjustment device. Background Art

[0002] In the aviation equipment industry, aerial photography and mapping drone cameras are an important part of drones. The main purpose of the aerial photography and mapping drone camera layout, positioning and adjustment device is to ensure that the camera can capture ground images stably and accurately, thereby improving the accuracy and efficiency of mapping. The device allows the operator to accurately adjust the camera angle and position according to the mapping requirements, thereby realizing the layout adjustment operation of the drone camera.

[0003] Among the existing published technical documents, the Chinese patent announcement number CN218703959U discloses an adjustable positioning device for a camera of a surveying and mapping drone. The adjustable positioning device is provided with fixing components on both sides of the shell. The fixing components include a fixing screw and a fixing block. The fixing screw is threadedly mounted on the side wall of the shell. A knob is provided at one end of the fixing screw. A fixing block is provided at one end of the fixing screw located inside the shell. The device has a simple structure and is easy to use. It can flexibly adjust the pitch angle of the camera when the drone is surveying and mapping, thereby improving the efficiency of surveying and mapping and having high practical value. However, the following problems still exist in the use of this technology.

[0004] Although the positioning adjustment device can arrange the camera of the surveying and mapping UAV for aerial photography and mapping at a specified angle, when the camera of the surveying and mapping UAV is arranged to the specified positioning adjustment position, due to an over-limit driving failure of the driving motor or an inaccurate angle sensing of the angle sensor, it will make it difficult to arrange the camera of the surveying and mapping UAV to the specified positioning adjustment position. This results in poor accuracy in the arrangement and use of the camera of the surveying and mapping UAV. For this purpose, a positioning adjustment device for the camera of an aerial photography and mapping UAV is provided. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides the following technical solutions: an aerial photography and mapping drone camera positioning and adjustment device, comprising a concave frame, a rotating shaft and a positioning angle sensor, wherein the rotating shaft is rotatably connected to the inner wall of the concave frame, the positioning angle sensor is fixed to one end of the rotating shaft, and the sensing end of the positioning angle sensor is connected to a vertical angle positioning arrangement mechanism; the vertical angle positioning arrangement mechanism comprises a limit servo motor fixedly arranged at the sensing end of the positioning angle sensor, and the other end of the rotating shaft is fixedly connected to a turntable, and one side of the turntable is fixedly connected to a concave block; rubber pads are bonded to both sides of the inner wall of the concave block, one side of each of the rubber pads is fixedly connected to a pressure sensor, a positioning stop bar is fixedly installed between the two pressure sensors, and a vertical rotating block is provided on one side of the positioning stop bar; a rotating rod is fixedly connected to the bottom end of the vertical rotating block, and a mapping camera is fixedly installed on one end of the rotating rod; a lateral angle positioning arrangement mechanism is provided at the top of the concave frame; and an adjustment limit arrangement component is provided on the upper surface of the positioning stop bar.

[0006] Preferably, the center point of the rotating shaft is on the same horizontal line as the center point of the rotating rod, and the vertical cross-section shapes of the rotating rod and the rotating shaft are both circular; a gap is provided between the positioning block and the vertical rotating block. A driving shaft is fixedly connected to one side of the surveying and mapping camera, and the center point of the driving shaft is on the same horizontal line as the center point of the rotating rod; a main angle sensor is fixedly installed on one end of the driving shaft, a support block is fixedly connected to the lower surface of the main angle sensor, and a vertical motor is fixedly installed on the sensing end of the main angle sensor, and the main angle sensor and the concave frame are both fixedly connected to the support block; the vertical motor is fixedly connected to the concave frame. A reinforcement block is fixedly connected to the upper surface of the limit servo motor, and a connecting block is fixedly connected to the lower surface of the positioning angle sensor; the reinforcement block and the connecting block are both fixedly connected to the concave frame. A guide column is slidably connected to the inner wall of the positioning block, and the guide column is fixedly connected to the concave block; the vertical cross-section shape of the guide column is circular.

[0007] When the present technical solution is in use, the vertical positioning arrangement angle is set on the controller, the limit servo motor drives the sensing end of the positioning angle sensor to rotate counterclockwise, the rotating shaft rotates counterclockwise inside the concave frame, the turntable drives the concave block to rotate counterclockwise, the rubber pad drives the pressure sensor to rotate counterclockwise, and the positioning block moves away from the vertical rotating block. When the angle value sensed by the positioning angle sensor is the same as the vertical positioning arrangement angle set on the controller, the limit servo motor is turned off by the controller. The vertical motor drives the sensing end of the main angle sensor to rotate counterclockwise. The sensing end of the main angle sensor drives the driving shaft to rotate counterclockwise, the mapping camera drives the rotating rod to rotate counterclockwise, and the vertical rotating block rotates toward the positioning block. When the main angle sensor fails, the vertical motor will drive beyond the limit, and the positioning block will slide along the outer wall of the guide column after being subjected to force. At the same time, the positioning block squeezes a pressure sensor. The pressure sensor senses the pressure value, and the vertical motor is immediately turned off by the controller.

[0008] Preferably, the transverse angle positioning arrangement mechanism comprises a transverse angle sensor fixedly arranged at the top of the concave frame; a fixed block is fixedly connected to one side of the transverse angle sensor, and a sleeve is fixedly connected to the top of the fixed block; a transverse transmission shaft is fixedly installed at the sensing end of the transverse angle sensor, and an outer wall of the transverse transmission shaft is rotatably connected to the sleeve;

[0009] A transverse motor is fixedly installed on the top of the transverse transmission shaft, a transverse rotating block is fixedly connected to one side of the outer wall of the transverse transmission shaft, and a positioning sleeve is provided on one side of the transverse rotating block, a rotating bar is fixedly connected to the top of the positioning sleeve, and a linkage shaft is fixedly installed on the top of the rotating bar; a limit angle sensor is fixedly installed on the top of the linkage shaft, a sensing end of the limit angle sensor is fixedly connected to the positioning motor, a support bar is fixedly installed on one side of the positioning motor, and the limit angle sensor and the transverse motor are both fixedly connected to the support bar;

[0010] Two distance sensors are fixedly installed inside the positioning sleeve, and the sensing directions of the two distance sensors are set in opposite directions. A gap is provided between the lateral rotation block and the positioning sleeve, and the center point of the lateral transmission shaft and the center point of the linkage shaft are on the same vertical line. The top of the support bar is fixedly connected to a shell, and the shell is fixedly connected to the sleeve; the upper surface of the shell is fixedly connected to a drone mounting seat, and a controller is fixedly installed on one side of the drone mounting seat.

[0011] When the present technical solution is used, by setting the angle value of the lateral positioning arrangement on the controller, the output end of the limit angle sensor is driven to rotate clockwise by the positioning motor, the linkage shaft drives the rotating bar to rotate clockwise, and the positioning sleeve can synchronously drive the two distance sensors to rotate clockwise. When the angle value sensed by the limit angle sensor is the same as the angle value of the lateral positioning arrangement, the positioning motor is turned off by the controller. The lateral motor drives the lateral transmission shaft to rotate clockwise, the lateral transmission shaft drives the sensing end of the lateral angle sensor to rotate clockwise, the concave frame drives the sensing end of the main angle sensor to rotate clockwise, and the driving shaft drives the mapping camera to rotate clockwise horizontally. When the lateral angle sensor has a sensor failure problem, the lateral transmission shaft will drive the lateral rotating block to rotate clockwise beyond the limit, and the lateral rotating block is positioned and supported by the positioning sleeve. At the same time, one of the distance sensors senses the distance of the lateral rotating block. When the distance sensed by the distance sensor is zero, the lateral motor is turned off by the controller.

[0012] Preferably, the adjustment limit arrangement component includes a sleeve frame fixedly arranged on the upper surface of the positioning baffle; a micro-electric cylinder is fixedly installed on the top of the sleeve frame, and the output end of the micro-electric cylinder is fixedly connected to a support frame, the outer wall of the output end of the micro-electric cylinder is slidably connected to the sleeve frame, and the inner wall of the support frame is rotatably connected to a bidirectional screw; an adjustment motor is fixedly installed on one end of the support frame, and the adjustment motor is used to drive the bidirectional screw to rotate, the outer wall of the bidirectional screw is threadedly connected to two positioning sleeve blocks, and the two threads of the outer wall of the bidirectional screw are opposite and symmetrical; the two positioning sleeve blocks are both slidably connected to the support frame, the outer walls of the two positioning sleeve blocks are smooth surfaces, and the inner wall of the support frame is a smooth surface.

[0013] When this technical solution is used, if the vertical arrangement position needs to be completely positioned, the support frame is pushed down by the micro electric cylinder, and the support frame drives the bidirectional screw to move down. The bidirectional screw causes the two positioning sleeves to move down synchronously, and the two positioning sleeves are located on both sides of the positioning stop bar and the vertical rotating block. The adjustment motor drives the bidirectional screw to rotate, and the bidirectional screw drives the two positioning sleeves to approach each other under the action of the thread transmission force. The position of the vertical rotating block and the positioning stop bar can be positioned and adjusted, so that the vertical angle position of the surveying and mapping camera can be firmly positioned and arranged.

[0014] Technical effects and advantages of the present invention:

[0015] 1. The present invention sets the vertical positioning arrangement angle on the controller through the vertical angle positioning arrangement mechanism, the limit servo motor drives the sensing end of the positioning angle sensor to rotate counterclockwise, the turntable drives the concave block to rotate counterclockwise, the pressure sensor drives the positioning baffle to rotate counterclockwise, the positioning baffle moves away from the vertical rotating block, and the positioning baffle can move to the specified vertical positioning arrangement angle position. When the main angle sensor fails, the vertical motor will drive beyond the limit, the vertical rotating block will be squeezed on the positioning baffle, and the positioning baffle squeezes a pressure sensor. The pressure sensor senses the pressure value. Even if the main angle sensor is damaged, the surveying and mapping camera can be vertically arranged to the specified positioning adjustment position, which greatly improves the accuracy of the surveying and mapping camera arrangement and use.

[0016] 2. The present invention utilizes a transverse angle positioning arrangement mechanism. By setting the angle value of the transverse positioning arrangement on the controller, the positioning motor drives the output end of the limit angle sensor to rotate clockwise, the linkage shaft drives the rotating bar to rotate clockwise, and synchronously drives the two distance sensors to rotate clockwise. The positioning sleeve can be arranged to the specified positioning position, and the transverse motor drives the transverse transmission shaft to rotate clockwise. When the transverse angle sensor has a sensor failure problem, the transverse transmission shaft will drive the transverse rotating block to rotate clockwise beyond the limit, and the transverse rotating block is positioned and supported by the positioning sleeve. When the distance sensed by the distance sensor is zero, the transverse motor is turned off by the controller, and the surveying and mapping camera can also be accurately positioned and arranged according to the specified transverse angle. Even if the transverse angle sensor is damaged, the surveying and mapping camera can be arranged to the specified transverse positioning adjustment position, thereby greatly improving the accuracy of the surveying and mapping camera arrangement and use.

[0017] 3. The present invention adjusts the limit arrangement component to thoroughly position the vertical arrangement position. The micro electric cylinder pushes the support frame downward, and the support frame drives the bidirectional screw to move downward. The two positioning sleeves are located on both sides of the positioning baffle and the vertical rotating block. The adjusting motor drives the bidirectional screw to rotate. The two positioning sleeves approach each other under the action of the thread transmission force. The positioning sleeve is squeezed and limited at the right side of the vertical rotating block, and the other positioning sleeve is limited at the left side of the positioning baffle, so that the vertical angle position of the surveying and mapping camera can be firmly positioned and arranged, which greatly improves the accuracy of the arrangement and use of the surveying and mapping camera.

[0018] In summary, through the mutual influence of the above-mentioned multiple effects, firstly, even if the main angle sensor is damaged, the surveying and mapping camera can be arranged vertically to the specified positioning and adjustment position. Secondly, the vertical angle position of the surveying and mapping camera can be firmly positioned and arranged. Finally, even if the lateral angle sensor is damaged, the surveying and mapping camera can be arranged to the specified lateral positioning and adjustment position. In summary, even if the main angle sensor and the lateral angle sensor are damaged, the surveying and mapping camera can be arranged at the specified adjustment position according to the vertical arrangement angle and the lateral arrangement angle, which greatly improves the accuracy of the arrangement and use of the surveying and mapping camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of the aerial photography and mapping drone camera positioning and adjustment device of the present invention.

[0020] Figure 2 It is a schematic diagram of the partial structure of the connection between the concave frame and the rotating shaft of the present invention.

[0021] Figure 3 For the present invention Figure 2 Enlarged structural diagram at A in the middle.

[0022] Figure 4 It is a schematic diagram of the partial structure of the connection between the vertical rotating block and the rotating rod of the present invention.

[0023] Figure 5 It is a schematic diagram of the vertical cross-section structure of the aerial photography and mapping UAV camera positioning and adjustment device of the present invention.

[0024] Figure 6 It is a schematic diagram of the main structure of the positioning sleeve and the horizontal rotation block separated according to the present invention.

[0025] Figure 7 It is a schematic diagram of the rear view structure of the positioning sleeve plate and the lateral rotating block of the present invention after being separated.

[0026] Figure 8 It is a schematic diagram of the local structure of the vertical section of the connection between the shell and the support bar of the present invention.

[0027] Fig. 9 It is a schematic diagram of the partial structure of the adjustment and limit arrangement component of the present invention from a top view.

[0028] Fig.10 It is a schematic diagram of the partial structure of the connection between the sleeve frame and the positioning stop bar of the present invention.

[0029] The accompanying drawings are marked as follows: 1, concave frame; 2, rotating shaft; 3, positioning angle sensor; 4, limit servo motor; 5, turntable; 6, concave block; 7, rubber pad; 8, pressure sensor; 9, positioning stop bar; 10, vertical rotating block; 11, rotating rod; 12, mapping camera; 13, driving shaft; 14, main angle sensor; 15, supporting block; 16, vertical motor; 17, reinforcement block; 18, connecting block; 19, guide column; 20, lateral angle sensor; 21 , fixing block; 22, sleeve; 23, horizontal transmission shaft; 24, horizontal motor; 25, horizontal rotating block; 26, positioning sleeve; 27, rotating bar; 28, linkage shaft; 29, limit angle sensor; 30, positioning motor; 31, support bar; 32, distance sensor; 33, shell; 34, drone mounting base; 35, controller; 36, sleeve; 37, micro electric cylinder; 38, support frame; 39, bidirectional screw; 40, adjustment motor; 41, positioning sleeve. DETAILED DESCRIPTION

[0030] 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.

[0031] As attached Figure 1-10 The aerial photography and mapping UAV camera positioning and adjustment device shown in the figure is provided with a vertical angle positioning arrangement mechanism, a lateral angle positioning arrangement mechanism, and an adjustment limit arrangement component. The arrangement of each mechanism and component can make the surveying and mapping camera 12 be arranged at a specified adjustment position according to the vertical arrangement angle and the lateral arrangement angle even if the main angle sensor 14 and the lateral angle sensor 20 are damaged, thereby greatly improving the accuracy of the arrangement and use of the surveying and mapping camera 12. The specific structural arrangement of each mechanism and component is as follows.

[0032] In this technical solution, as shown in the attached Figure 1-4As shown, the vertical angle positioning arrangement mechanism includes a limit servo motor 4 fixedly arranged at the sensing end of the positioning angle sensor 3, and the other end of the rotating shaft 2 is fixedly connected to a turntable 5, and one side of the turntable 5 is fixedly connected to a concave block 6; rubber pads 7 are bonded to both sides of the inner wall of the concave block 6, and one side of each rubber pad 7 is fixedly connected to a pressure sensor 8, and a positioning baffle 9 is fixedly installed between the two pressure sensors 8, and a vertical rotating block 10 is provided on one side of the positioning baffle 9; the bottom end of the vertical rotating block 10 is fixedly connected to a rotating rod 11, and a surveying and mapping camera 12 is fixedly installed at one end of the rotating rod 11; a horizontal angle positioning arrangement mechanism is provided at the top of the concave frame 1; and an adjustment limit arrangement component is provided on the upper surface of the positioning baffle 9.

[0033] In this technical solution, as shown in the attached Figure 4 As shown, a driving shaft 13 is fixedly connected to one side of the surveying and mapping camera 12, and the center point of the driving shaft 13 is on the same horizontal line as the center point of the rotating rod 11; a main angle sensor 14 is fixedly installed on one end of the driving shaft 13, and a support block 15 is fixedly connected to the lower surface of the main angle sensor 14, and a vertical motor 16 is fixedly installed on the sensing end of the main angle sensor 14, and the main angle sensor 14 and the concave frame 1 are both fixedly connected to the support block 15; the vertical motor 16 is fixedly connected to the concave frame 1, so that the vertical motor 16 drives the sensing end of the main angle sensor 14 to rotate counterclockwise, and the support block 15 provides a stable supporting force for the main angle sensor 14, and the sensing end of the main angle sensor 14 drives the driving shaft 13 to rotate counterclockwise, and the driving shaft 13 drives the surveying and mapping camera 12 to rotate counterclockwise, and the surveying and mapping camera 12 can be arranged for angle driving.

[0034] In this technical solution, as shown in the attached Figure 2-3 As shown, the upper surface of the limit servo motor 4 is fixedly connected with a reinforcement block 17, and the lower surface of the positioning angle sensor 3 is fixedly connected with a connection block 18; the reinforcement block 17 and the connection block 18 are both fixedly connected to the concave frame 1, so that the concave frame 1 supports the reinforcement block 17, and the reinforcement block 17 supports the limit servo motor 4, increasing the stability of the limit servo motor 4, and the connection block 18 can provide a stable support force for the positioning angle sensor 3. The inner wall of the positioning block 9 is slidably connected with a guide column 19, and the guide column 19 is fixedly connected to the concave block 6; the vertical cross-section of the guide column 19 is circular, so that the positioning block 9 slides along the outer wall of the guide column 19 after being stressed, so that the positioning block 9 can slide according to the specified position.

[0035] In this technical solution, as shown in the attached Figure 5-8As shown, the lateral angle positioning arrangement mechanism includes a lateral angle sensor 20 fixedly arranged at the top of the concave frame 1; a fixed block 21 is fixedly connected to one side of the lateral angle sensor 20, and a sleeve 22 is fixedly connected to the top of the fixed block 21, a lateral transmission shaft 23 is fixedly installed at the sensing end of the lateral angle sensor 20, and the outer wall of the lateral transmission shaft 23 is rotatably connected to the sleeve 22; a lateral motor 24 is fixedly installed at the top of the lateral transmission shaft 23, a lateral rotating block 25 is fixedly connected to one side of the outer wall of the lateral transmission shaft 23, and a positioning sleeve 26 is provided on one side of the lateral rotating block 25, a rotating bar 27 is fixedly connected to the top of the positioning sleeve 26, and a linkage shaft 28 is fixedly installed at the top of the rotating bar 27. A limit angle sensor 29 is fixedly installed at the top of the linkage shaft 28, and a positioning motor 30 is fixedly connected to the sensing end of the limit angle sensor 29, and a support bar 31 is fixedly installed on one side of the positioning motor 30. The limit angle sensor 29 and the transverse motor 24 are both fixedly connected to the support bar 31; two distance sensors 32 are fixedly installed inside the positioning sleeve 26, and the sensing directions of the two distance sensors 32 are set in opposite directions. A gap is provided between the transverse rotating block 25 and the positioning sleeve 26, and the center point of the transverse transmission shaft 23 is on the same vertical line as the center point of the linkage shaft 28. A housing 33 is fixedly connected to the top of the support bar 31, and the housing 33 is fixedly connected to the sleeve 22; a drone mounting seat 34 is fixedly connected to the upper surface of the housing 33, and a controller 35 is fixedly installed on one side of the drone mounting seat 34.

[0036] In this technical solution, as shown in the attached Figure 9-10 As shown, the adjustment limit arrangement assembly includes a sleeve frame 36 fixedly arranged on the upper surface of the positioning stop bar 9; a micro-electric cylinder 37 is fixedly installed on the top of the sleeve frame 36, and the output end of the micro-electric cylinder 37 is fixedly connected to a support frame 38, the outer wall of the output end of the micro-electric cylinder 37 is slidably connected to the sleeve frame 36, and the inner wall of the support frame 38 is rotatably connected to a bidirectional screw 39; an adjustment motor 40 is fixedly installed at one end of the support frame 38, and the adjustment motor 40 is used to drive the bidirectional screw 39 to rotate, and the outer wall of the bidirectional screw 39 is threadedly connected to two positioning sleeve blocks 41, and the two threads of the outer wall of the bidirectional screw 39 are opposite and symmetrical; the two positioning sleeve blocks 41 are both slidably connected to the support frame 38. The outer walls of the two positioning sleeve blocks 41 are both smooth surfaces, and the inner wall of the support frame 38 is a smooth surface.

[0037] The method for using the camera positioning adjustment device for aerial photography and mapping unmanned aerial vehicle of the present invention is as follows:

[0038] Step 1: During installation and docking, the aerial photography and mapping drone mounting seat is drilled according to the mounting holes of the drone mounting seat 34, so that bolts are connected to the aerial photography and mapping drone mounting seat from the holes of multiple drone mounting seats 34 to complete the fixing operation of the drone mounting seat 34. When the drone carrying the drone mounting seat 34 is in a high-altitude aerial photography position, the aerial photography and mapping operation is performed by turning on the mapping camera 12.

[0039] Step 2: When arranging the vertical angle positioning, the vertical positioning arrangement angle is set on the controller 35, so that the limit servo motor 4 is started through the controller 35, and the concave frame 1 supports the reinforcement block 17, the reinforcement block 17 supports the limit servo motor 4, and the concave frame 1 supports the connection block 18, and the connection block 18 supports the positioning angle sensor 3. At the same time, the limit servo motor 4 drives the sensing end of the positioning angle sensor 3 to rotate counterclockwise, the sensing end of the positioning angle sensor 3 drives the rotating shaft 2 to rotate counterclockwise, the rotating shaft 2 rotates counterclockwise inside the concave frame 1, the rotating shaft 2 drives the turntable 5 to rotate counterclockwise, the turntable 5 drives the concave block 6 to rotate counterclockwise, the concave block 6 drives the two rubber pads 7 to rotate counterclockwise, the rubber pad 7 drives the pressure sensor 8 to rotate counterclockwise, the pressure sensor 8 drives the positioning stop bar 9 to rotate counterclockwise, and the positioning stop bar 9 is away from the vertical rotating block 10. When the angle value sensed by the positioning angle sensor 3 is the same as the vertical positioning arrangement angle set on the controller 35, the limit servo motor 4 is turned off through the controller 35.

[0040] At the same time, the controller 35 starts the vertical motor 16, and the vertical motor 16 drives the sensing end of the main angle sensor 14 to rotate counterclockwise. At the same time, the concave frame 1 supports the support block 15, and the support block 15 provides a stable support force for the main angle sensor 14. At the same time, the sensing end of the main angle sensor 14 drives the driving shaft 13 to rotate counterclockwise, the driving shaft 13 drives the surveying and mapping camera 12 to rotate counterclockwise, the surveying and mapping camera 12 drives the rotating rod 11 to rotate counterclockwise, the rotating rod 11 drives the vertical rotating block 10 to rotate counterclockwise, and the vertical rotating block 10 rotates close to the positioning block 9. When the main angle sensor 14 senses a malfunction, the vertical motor 16 will not be driven according to the angle specified by the main angle sensor 14, so the vertical motor 16 will be driven beyond the limit, and the vertical rotating block 10 will be pressed on the positioning block 9. After the positioning block 9 is stressed, it slides along the outer wall of the guide column 19. At the same time, the positioning block 9 squeezes a pressure sensor 8, and the concave block 6 supports the rubber pad 7, and the rubber pad 7 supports the pressure sensor 8. In this way, when the pressure sensor 8 senses the pressure value, the vertical motor 16 is immediately turned off through the controller 35. In this way, even if the main angle sensor 14 is damaged, it can ensure that the surveying and mapping camera 12 is precisely adjusted to the position of the specified aerial photography and mapping arrangement according to the angle of the vertical positioning arrangement.

[0041] Step 3: When adjusting the limit arrangement, when the vertical arrangement position needs to be completely positioned, the micro-electric cylinder 37 is used to push the support frame 38 downward, and the positioning bar 9 can provide support force for the sleeve frame 36. The sleeve frame 36 supports the micro-electric cylinder 37, and the support frame 38 drives the bidirectional screw 39 to move downward. The bidirectional screw 39 makes the two positioning sleeves 41 move downward synchronously. The two positioning sleeves 41 are located at the positions on both sides of the positioning bar 9 and the vertical rotating block 10. Then, by starting the adjustment motor 40, the adjustment motor 40 drives the bidirectional screw 39 to rotate, and the bidirectional screw 39 drives the two positioning sleeves 41 to approach each other under the action of the thread transmission force. The positioning sleeve 41 is squeezed and limited at the right position of the vertical rotating block 10, and the other positioning sleeve 41 is limited at the left position of the positioning bar 9. In this way, the positions of the vertical rotating block 10 and the positioning bar 9 can be positioned and adjusted, so that the vertical angle position of the surveying and mapping camera 12 can be firmly positioned and arranged.

[0042] Step 4: When arranging the horizontal angle positioning, the outer shell 33 is supported by the drone mounting seat 34, and the outer shell 33 provides support force for the support bar 31. The support bar 31 supports the positioning motor 30, the limit angle sensor 29 and the horizontal motor 24, and the outer shell 33 provides stable support force for the sleeve shell 22. Then, by setting the angle value of the horizontal positioning arrangement on the controller 35, the output end of the limit angle sensor 29 is driven by the positioning motor 30 to rotate clockwise, and the output end of the limit angle sensor 29 drives the linkage shaft 28 to rotate clockwise, the linkage shaft 28 drives the rotating bar 27 to rotate clockwise, and the rotating bar 27 drives the positioning sleeve plate 26 to rotate clockwise, and the positioning sleeve plate 26 can synchronously drive the two distance sensors 32 to rotate clockwise. When the angle value sensed by the limit angle sensor 29 is the same as the angle value of the horizontal positioning arrangement, the positioning motor 30 is turned off by the controller 35.

[0043] At the same time, the driving angle is set on the lateral angle sensor 20, and the lateral transmission shaft 23 is driven to rotate clockwise through the lateral motor 24. The lateral transmission shaft 23 drives the sensing end of the lateral angle sensor 20 to rotate clockwise, and the lateral angle sensor 20 drives the concave frame 1 to rotate clockwise. The concave frame 1 drives the sensing end of the main angle sensor 14 to rotate clockwise, and the main angle sensor 14 drives the driving shaft 13 to rotate clockwise. The driving shaft 13 drives the mapping camera 12 to rotate clockwise in the horizontal direction. When the lateral angle sensor 20 has a sensor failure problem, the lateral transmission shaft 23 will drive the lateral rotating block 25 to rotate clockwise beyond the limit. When the lateral rotating block 25 is attached to the positioning sleeve 26, the positioning sleeve 26 is used to position and support the lateral rotating block 25. At the same time, one of the distance sensors 32 performs distance sensing on the lateral rotating block 25. When the distance sensed by the distance sensor 32 is zero, the lateral motor 24 is turned off by the controller 35. Even if the lateral angle sensor 20 is damaged, the surveying and mapping camera 12 can still be accurately positioned and arranged according to the specified lateral angle, ensuring that the surveying and mapping camera 12 can achieve accurate aerial photography and mapping at the specified lateral angle position.

[0044] The contents not described in detail in the specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and will not be described here.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A camera positioning and adjustment device for an aerial photography and mapping unmanned aerial vehicle, comprising a concave frame (1), a rotating shaft (2) and a positioning angle sensor (3), wherein the rotating shaft (2) is rotatably connected to the inner wall of the concave frame (1), and the positioning angle sensor (3) is fixed to one end of the rotating shaft (2), characterized in that: The sensing end of the positioning angle sensor (3) is connected to a vertical angle positioning arrangement mechanism; The vertical angle positioning arrangement mechanism comprises a limit servo motor (4) fixedly arranged at the sensing end of the positioning angle sensor (3), and the other end of the rotating shaft (2) is fixedly connected to a rotating disk (5), and one side of the rotating disk (5) is fixedly connected to a concave block (6); Rubber pads (7) are bonded to both sides of the inner wall of the concave block (6), one side of each of the rubber pads (7) is fixedly connected to a pressure sensor (8), a positioning bar (9) is fixedly installed between the two pressure sensors (8), and a vertical rotating block (10) is provided on one side of the positioning bar (9); The bottom end of the vertical rotating block (10) is fixedly connected to a rotating rod (11), and one end of the rotating rod (11) is fixedly mounted with a surveying and mapping camera (12); The top end of the concave frame (1) is provided with a transverse angle positioning arrangement mechanism; An adjustment and limiting arrangement component is provided on the upper surface of the positioning stop bar (9).

2. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 1 is characterized in that: The center point of the rotating shaft (2) and the center point of the rotating rod (11) are on the same horizontal line, and the vertical cross-section shapes of the rotating rod (11) and the rotating shaft (2) are both circular; A gap is provided between the positioning stop bar (9) and the vertical rotating block (10).

3. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 1 is characterized in that: A driving shaft (13) is fixedly connected to one side of the surveying and mapping camera (12), and the center point of the driving shaft (13) and the center point of the rotating rod (11) are on the same horizontal line; A main angle sensor (14) is fixedly mounted on one end of the driving shaft (13); a support block (15) is fixedly connected to the lower surface of the main angle sensor (14); a vertical motor (16) is fixedly mounted on the sensing end of the main angle sensor (14); and the main angle sensor (14) and the concave frame (1) are both fixedly connected to the support block (15); The vertical motor (16) is fixedly connected to the concave frame (1).

4. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 1 is characterized in that: A reinforcing block (17) is fixedly connected to the upper surface of the limit servo motor (4), and a connecting block (18) is fixedly connected to the lower surface of the positioning angle sensor (3); The reinforcing block (17) and the connecting block (18) are both fixedly connected to the concave frame (1).

5. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 1, characterized in that: The inner wall of the positioning stop bar (9) is slidably connected with a guide column (19), and the guide column (19) is fixedly connected to the concave block (6); The vertical cross-section of the guide column (19) is circular.

6. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 1, characterized in that: The transverse angle positioning arrangement mechanism comprises a transverse angle sensor (20) fixedly arranged at the top end of the concave frame (1); A fixed block (21) is fixedly connected to one side of the lateral angle sensor (20), and a casing (22) is fixedly connected to the top of the fixed block (21); a lateral transmission shaft (23) is fixedly mounted on the sensing end of the lateral angle sensor (20), and an outer wall of the lateral transmission shaft (23) is rotatably connected to the casing (22); A transverse motor (24) is fixedly mounted on the top of the transverse transmission shaft (23); a transverse rotating block (25) is fixedly connected to one side of the outer wall of the transverse transmission shaft (23); a positioning sleeve (26) is provided on one side of the transverse rotating block (25); a rotating bar (27) is fixedly connected to the top of the positioning sleeve (26); and a linkage shaft (28) is fixedly mounted on the top of the rotating bar (27); A limit angle sensor (29) is fixedly installed on the top end of the linkage shaft (28); a sensing end of the limit angle sensor (29) is fixedly connected to a positioning motor (30); a support bar (31) is fixedly installed on one side of the positioning motor (30); and the limit angle sensor (29) and the transverse motor (24) are both fixedly connected to the support bar (31); Two distance sensors (32) are fixedly installed inside the positioning sleeve (26), and the sensing directions of the two distance sensors (32) are arranged in opposite directions.

7. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 6 is characterized in that: A gap is provided between the transverse rotating block (25) and the positioning sleeve (26), and the center point of the transverse transmission shaft (23) and the center point of the linkage shaft (28) are located on the same vertical line.

8. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 6, characterized in that: The top end of the support bar (31) is fixedly connected to a shell (33), and the shell (33) is fixedly connected to the casing (22); A drone mounting seat (34) is fixedly connected to the upper surface of the housing (33), and a controller (35) is fixedly mounted on one side of the drone mounting seat (34).

9. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 1, characterized in that: The adjustment and limiting arrangement assembly comprises a sleeve frame (36) fixedly arranged on the upper surface of the positioning stop bar (9); A micro-electric cylinder (37) is fixedly mounted on the top of the sleeve frame (36), and the output end of the micro-electric cylinder (37) is fixedly connected to a support frame (38), the outer wall of the output end of the micro-electric cylinder (37) is slidably connected to the sleeve frame (36), and the inner wall of the support frame (38) is rotatably connected to a bidirectional screw (39); An adjusting motor (40) is fixedly mounted on one end of the support frame (38), and the adjusting motor (40) is used to drive the bidirectional screw (39) to rotate. The outer wall of the bidirectional screw (39) is threadedly connected to two positioning sleeves (41), and the two threads on the outer wall of the bidirectional screw (39) are opposite and symmetrical. The two positioning sleeve blocks (41) are both slidably connected to the support frame (38).

10. The camera positioning and adjustment device for aerial photography and mapping unmanned aerial vehicle according to claim 9, characterized in that: The outer walls of the two positioning sleeves (41) are both smooth surfaces, and the inner wall of the support frame (38) is also a smooth surface.

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