High-precision terrain modeling unmanned aerial vehicle based on laser radar

Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to a high-precision terrain modeling unmanned aerial vehicle based on laser radar, which comprises a vehicle body, a holder is fixedly mounted at the bottom of the vehicle body, the laser radar is mounted on the holder through a shaft buckle assembly, and a rear bin is fixedly arranged at the bottom of the vehicle body and behind the holder. According to the invention, the controlled shaft of the laser radar is matched with the holder through the shaft buckle assembly, and the transfer assembly is matched with the shaft buckle assembly, so that the laser radar and the additionally arranged rear bin can move, and the laser radar can move to the holder through the shaft buckle assembly. The transferring assembly is utilized to move to the controlled shaft of the laser radar to be in linkage unlocking with the shaft buckle assembly, so that the controlled shaft of the laser radar is transferred to the buckle arm, and the laser radar is clamped through the buckle arm and the movable arm to move into the rear bin to be subjected to damping wrapping protection. The laser radar can provide an active physical protection scheme when encountering a severe working environment, and unnecessary damage is avoided.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), specifically a high-precision terrain modeling UAV based on lidar. Background Technology

[0002] In modern surveying and mapping technology, the combination of UAVs and lidar has become an important technical means. LiDAR is an active airborne sensor that achieves high-precision modeling and mapping of the ground or buildings by emitting laser beams and detecting their reflection from target objects.

[0003] When drones equipped with lidar are conducting surveying operations, especially during severe convective weather or low-altitude terrain-following flights, they may need to make an emergency landing due to sudden airflow disturbances, bird strikes, or other situations. Since the lidar is exposed on the outside of the drone, and the physical protection of drone lidar in complex environments is still relatively weak in the current technology, the lidar is more likely to be damaged during emergency landings in mountainous or forested areas, causing considerable losses to the operation. Summary of the Invention

[0004] To address the above problems, this invention provides a high-precision terrain modeling UAV based on lidar.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-precision terrain modeling UAV based on lidar, comprising a fuselage, arms distributed around the fuselage, and wing assemblies fixed to the ends of the arms. A gimbal is fixedly mounted on the bottom of the fuselage, and a lidar is mounted on the gimbal. A rear compartment is fixedly located behind the gimbal at the bottom of the fuselage. A transfer assembly is provided between the gimbal and the rear compartment to move the lidar into the rear compartment. The lidar has control axes on both sides, and the gimbal includes a forked central frame mounted on both sides of the control axes. The central frame is nested with the control axes via axle fastener assemblies. The shaft fastening assembly includes a shaft sleeve seat rotatably mounted on the central frame and a radial clamping shaft shifting ring axially slidably nested on the shaft sleeve seat. The shaft sleeve seat and the radial clamping shaft shifting ring cooperate to nest and engage the controlled shaft. The transfer assembly includes a horizontal shaft rotatably mounted on the bottom of the machine body and a clamping arm fixedly mounted on both sides of the horizontal shaft. There is a gap between the laser radar and the shaft fastening assembly. Movable arms are movably nested on the clamping arms for cooperating with the clamping arms to clamp the controlled shaft. The rear compartment includes a base compartment and a cover compartment. The base compartment and the cover compartment are provided with shock-absorbing layers on their inner sides. The cover compartment is oscillatingly mounted on the base compartment. There is a clearance groove between the base compartment and the cover compartment for the clamping arms to avoid obstruction.

[0006] Furthermore, the bushing seat has a cavity in the middle, and a semi-circular base ring is provided at the front end of the bushing seat. The radial clamp shaft shifting ring is semi-circular and is spliced ​​with the semi-circular base ring below to nest the controlled shaft. The bushing seat has a movable ring groove on the outside of the semi-circular base ring and the radial clamp shaft shifting ring. The radial clamp shaft shifting ring has space on the bushing seat to move in the direction of the movable ring groove. A shaft clamp rotating ring is slidably engaged on the movable ring groove. The shaft clamp rotating ring retains the degree of freedom of rotation around the axis of the bushing seat between the bushing seat and the radial clamp shaft shifting ring. The shaft clamp rotating ring is used to restrict the degree of freedom of the radial clamp shaft shifting ring in the direction of the movable ring groove.

[0007] Furthermore, the length of the portion of the controlled shaft nested with the semi-fastened base ring and the radial clamp shaft shift ring is less than the axial thickness of the radial clamp shaft shift ring; Furthermore, the buckle arm is provided with a pusher claw for pushing the shaft locking rotating ring to rotate within the movable ring groove.

[0008] Furthermore, a side rail is provided on the outer side of the bushing seat, and the caliper shaft shifting ring is slidably nested on the side rail. A pulling member is provided between the bushing seat and the caliper shaft shifting ring, and the pulling member provides elastic force to drive the caliper shaft shifting ring to move towards the movable ring groove. A reversing elastic member is provided inside the bushing seat. One end of the reversing elastic member is fixed inside the bushing seat, and the other end is connected to one end of the shaft shifting ring. A limiting wall is provided on one side of the movable ring groove. The reversing elastic member drives one end of the shaft shifting ring to abut against the limiting wall. The shaft shifting ring abutting against the limiting wall and the caliper shaft shifting ring abut against each other on the axis.

[0009] Furthermore, the distance between the end of the reversing elastic element fixed to the bushing seat and the shaft retainer rotating ring is less than the radius of the bushing seat, and the distance between the end of the reversing elastic element fixed to the bushing seat and the limiting wall is less than the radius of the bushing seat.

[0010] Furthermore, the straight line formed by connecting the three points—a point on the axis of the bushing seat, a point where the directional elastic element is fixed to the bushing seat, and one end where the directional elastic element is fixed to the shaft clamping ring—is defined as the force direction dividing line. The angle between the directional elastic element on the shaft clamping ring that abuts against the limiting wall and the force direction dividing line is less than or equal to sixty degrees. The force direction dividing line intersects with the half-locking base ring above the bushing seat. The length of the shaft clamping ring is less than the length of the radial shaft clamping ring.

[0011] Furthermore, the buckle arm has a slide rail, and the movable arm is slidably nested on the slide rail. A snap-fit ​​elastic element is provided between the buckle arm and the movable arm to provide elastic force for the movable arm to move towards the end of the buckle arm. The end of the buckle arm has a semi-circular main buckle hook, and the end of the movable arm has a ring-shaped movable buckle hook. The movable buckle hook and the main buckle hook are combined to form an approximately circular ring to clamp the controlled shaft. The movable arm is located on the side closer to the gimbal during the buckle arm's movement towards the gimbal. A limiting head is movably provided inside the main buckle hook. The limiting head includes a ring-shaped contact part. One end of the contact part is oscillatingly connected to one end of the main buckle hook. The other end of the contact part extends to provide a top pin. An external top elastic element is provided between the top pin and the main buckle hook. The external top elastic element drives the contact part and the top pin to move outward of the main buckle hook. The top pin moving outward abuts against the movable buckle hook.

[0012] Furthermore, the transfer assembly also includes a shift actuator and a gearbox for driving the horizontal shaft to rotate. The shift actuator and gearbox are fixedly installed at the bottom of the machine body via rubber bases. The latch arm is fixedly connected to the horizontal shaft and forms an integral part with the gearbox and shift actuator.

[0013] Furthermore, the gimbal also includes a base, which is installed at the bottom of the body. The mid-frame is movably mounted on the base. A position actuator is fixed on the base to drive the mid-frame to swing back and forth. A pitch actuator is fixed on the mid-frame to drive the lidar to swing in pitch.

[0014] Furthermore, the rear compartment also includes an opening and closing actuator, with its two ends connected to the base compartment and the cover compartment respectively. The opening and closing actuator drives the cover compartment to perform translational opening and closing and swing opening and closing on the base compartment. The base compartment is provided with a locking groove on the translational path of the cover compartment, and the cover compartment is provided with a latch on the translational path for engaging with the locking groove. The latch arm contacts the shock-absorbing layer between the base compartment and the cover compartment, and the rubber seat serves as a shock-absorbing structure for the latch arm on the machine body.

[0015] Furthermore, the rear end of the cover compartment is provided with a functional plate, the functional plate is provided with a sliding pin, the base compartment is provided with a guide groove structure, and the sliding pin moves and swings on the guide groove structure; the guide groove structure includes a horizontal groove and a downwardly extending lower relief arc groove located at the end of the horizontal groove, a locking protrusion is provided between the horizontal groove and the lower relief arc groove, the bottom of the sliding pin has at least two contact points with the horizontal groove and the top of the sliding pin has at least one contact point with the horizontal groove, and the bottom of the sliding pin is provided with an inwardly recessed locking recess for engaging with the locking protrusion.

[0016] Furthermore, the pushing claw extends forward from the main hook, and the distance from the front end of the pushing claw to the center axis of the main hook is less than the distance from the main hook's structural body to the center axis of gravity. The outer side of the shaft locking ring has several groove structures for the pushing claw to contact. The pushing claw has elasticity that deforms in the radial direction.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention allows the controlled axis of the lidar to engage with the gimbal via a hinge assembly. A transfer assembly, also working in conjunction with the hinge assembly, enables movement between the lidar and the added rear compartment. The transfer assembly's latch arm moves to the lidar's controlled axis, allowing the latch arm and hinge assembly to unlock and transfer the lidar's controlled axis onto the latch arm. The latch arm and movable arm work together to clamp the lidar and move it into the rear compartment for shock absorption and protection. This provides an active physical protection solution for the lidar, protecting it from harsh operating environments and preventing unnecessary damage. Attached Figure Description

[0018] Figure 1 This is a 3D schematic diagram of a high-precision terrain modeling UAV based on lidar according to the present invention.

[0019] Figure 2 This is a three-dimensional schematic diagram showing the distribution and coordination of the lidar, rear compartment, and transfer components of the present invention.

[0020] Figure 3 The diagram shows the side view of the lidar, rear compartment, and transfer assembly of the present invention, as well as the side view of the shaft buckle assembly and the controlled shaft in cooperation.

[0021] Figure 4 This is a three-dimensional schematic diagram of the gimbal and shaft fastener assembly of the present invention.

[0022] Figure 5 This is a schematic diagram showing the working state changes of the shaft buckle assembly and the controlled shaft of the present invention.

[0023] Figure 6 This is a three-dimensional schematic diagram of the cooperation between the transfer component and the controlled shaft and the shaft buckle component of the present invention, as well as a side view of the cooperation between the transfer component and the controlled shaft.

[0024] Figure 7 This is a three-dimensional schematic diagram of the transfer component, lidar, and rear compartment of the present invention, as well as a side view of the sliding pin and guide groove structure.

[0025] In the image: 1. Airframe; 2. Arm; 3. Wing assembly; 4. Gimbal; 5. LiDAR; 6. Shaft buckle assembly; 7. Rear compartment; 8. Transfer assembly; 41. Base; 42. Positioning actuator; 43. Midframe; 44. Pitch actuator; 51. Controlled shaft; 61. Shaft sleeve seat; 62. Radial clamp shaft shifting ring; 63. Shaft clamp rotating shifting ring; 64. Pulling component; 65. Directional elastic component; 71. Base compartment; 72. Cover compartment; 73. Opening / closing actuator; 74. Lock; 81. Rubber seat; 82. Positioning actuator; 83. Gearbox; 84. Horizontal shaft; 85. Locking arm; 86. Movable arm; 87. Limit head; 88. Closing elastic component; 89. Push claw; 611. Semi-fastened base ring; 612. Side rail; 613. Movable ring groove; 711. Horizontal groove; 712. Lower relief arc groove; 713. Locking protrusion; 714. Locking groove; 721. Functional plate; 722. Sliding pin; 723. Locking recess; 851. Main hook; 852. Slide rail; 861. Live hook; 871. Contact part; 872. Top pin; 873. Outer top elastic element. Detailed Implementation

[0026] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Examples, such as Figures 1-7 As shown: This invention provides a high-precision terrain modeling drone based on lidar, including a body 1, arms 2 distributed around the body 1, wing groups 3 fixed to the ends of the arms 2, and lidar 5. The wing groups 3 include motors and propellers, distributed around the body 1 to drive the drone to fly. The body 1 is equipped with main control related components and cameras. The body 1 includes an internal frame and an outer shell. In this embodiment, the inner side of the body 1 is a multi-layered plate-like frame to divide the distribution of the main control board, camera, battery and other modules, and the bottom has a plate-like structure for fixed connection of other devices. A gimbal 4 is fixedly installed at the bottom of the body 1, and the lidar 5 is installed on the gimbal 4. A shaft fastening assembly 6 is provided between the lidar 5 and the gimbal 4. The gimbal 4 drives the lidar 5 to swing through the shaft fastening assembly 6. A rear compartment 7 is fixedly provided at the bottom of the body 1 behind the gimbal 4. A transfer assembly 8 is provided between the gimbal 4 and the rear compartment 7 to move the lidar 5 into the rear compartment 7. For the lidar 5, the UAV can use lidar 5 to establish and acquire the spatial three-dimensional model information of the terrain in real time based on laser ranging technology and high-precision point cloud data, so that the UAV can collect three-dimensional spatial data of the terrain. The lidar 5 is cuboid in shape, with outward-extending control axes 51 on both sides, which are connected to the gimbal 4 and are controlled by the gimbal 4 to swing.

[0028] The gimbal 4 includes a base 41 and a fork-shaped mid-frame 43. The base 41 is installed at the bottom of the body 1, and the mid-frame 43 is movably mounted on the base 41. The mid-frame 43 is mounted on both sides of the controlled axis 51. The mid-frame 43 is nested with the controlled axis 51 through the shaft buckle assembly 6. A motor-driven pitch actuator 44 is fixed on the mid-frame 43 to drive the lidar 5 to pitch and swing. In this embodiment, a motor-driven positioning actuator 42 is fixed on the base 41 to drive the mid-frame 43 to swing back and forth, thereby sending the lidar 5 to a position closer to the rear compartment 7. The gimbal 4 itself does not restrict the degree of freedom of rotation around the Z-axis. Those skilled in the art can add a motor for Z-axis rotation and make matching rotational settings according to actual needs.

[0029] For the shaft fastening assembly 6, the shaft fastening assembly 6 includes a shaft sleeve seat 61 rotatably mounted on the middle frame 43 and a radial clamping shaft shifting ring 62 axially slidingly nested on the shaft sleeve seat 61. The shaft sleeve seat 61 is connected to the pitch actuator 44 through a transmission connection, specifically to the motor shaft of the pitch actuator 44 so that it is driven to rotate. The shaft sleeve seat 61 and the radial clamping shaft shifting ring 62 cooperate to nest and engage the controlled shaft 51. Specifically, the bushing seat 61 has a cavity in the middle, and a semi-circular base ring 611 is provided above the front end of the bushing seat 61. The radial clamp shaft shift ring 62 is semi-circular and is spliced ​​with the semi-circular base ring 611 below to nest the controlled shaft 51. The bushing seat 61 has a movable ring groove 613 on the outside of the semi-circular base ring 611 and the radial clamp shaft shift ring 62. The movable ring groove 613 is located on the side close to the middle frame 43. Because it is far away from the lidar 5, it is the outside. The radial clamp shaft shift ring 62 has space on the bushing seat 61 to move in the direction of the movable ring groove 613. Furthermore, a side rail 612 is provided on the outside of the bushing seat 61. The radial clamp shaft shift ring 62 is slidably nested on the side rail 612. A tension spring-type pull member 64 is provided between the bushing seat 61 and the radial clamp shaft shift ring 62. The pull member 64 provides the radial clamp shaft shift ring 62 with elastic force to drive it to move towards the movable ring groove 613. Meanwhile, a shaft retaining rotating ring 63 is slidably engaged on the movable annular groove 613. Annular grooves are provided on the movable annular groove 613 and the radial retaining rotating ring 62 as sliding grooves. A protrusion is provided on the shaft retaining rotating ring 63 as a slide rail 852 structure, allowing it to slide within the groove. This restricts the degree of freedom of the shaft retaining rotating ring 63 away from the axis of the bushing seat 61, allowing the shaft retaining rotating ring 63 to retain the degree of freedom to rotate around the axis of the bushing seat 61 between the bushing seat 61 and the radial retaining rotating ring 62. The shaft retaining rotating ring 63... Behind the diaphragm shift ring 62, there is a structure to restrict the degree of freedom of the diaphragm shift ring 62 in the direction of the movable ring groove 613. When the transfer assembly 8 approaches the shaft buckle assembly 6, the shaft shift ring 63 is rotated by the corresponding structure on the transfer assembly 8 during the movement. After the shaft shift ring 63 rotates and disengages from the diaphragm shift ring 62, the puller 64 can drive the diaphragm shift ring 62 to move towards the movable ring groove 613, so that the controlled shaft 51 can disengage downward from the diaphragm shift ring 62. It should be noted that the length of the portion of the controlled shaft 51 nested with the semi-fastened base ring 611 and the radial clamp shaft shift ring 62 is less than the axial thickness of the radial clamp shaft shift ring 62.

[0030] Meanwhile, the bushing seat 61 is provided with a spring-type reversing elastic element 65. One end of the reversing elastic element 65 is fixed inside the bushing seat 61, and the other end is connected to one end of the shaft clamping rotating ring 63. A limiting wall is provided on one side of the movable ring groove 613. The reversing elastic element 65 drives one end of the shaft clamping rotating ring 63 to abut against the limiting wall to reach the working position. When in the working position, that is, when the shaft clamping rotating ring 63 abuts against the limiting wall, the shaft clamping rotating ring 63 also abuts against the radial clamping shaft moving ring 62 on the axis, restricting the degree of freedom of the radial clamping shaft moving ring 62 in the direction of the movable ring groove 613. It should be noted that the limiting wall is located on the side closer to the transfer component 8, so the other side is the movable direction of the shaft locking rotating ring 63. After the transfer component 8 approaches, it can be driven by the transfer component 8 to rotate to the other side. Furthermore, the length of the shaft locking rotating ring 63 is less than the length of the radial locking shaft locking ring 62, so as to avoid the space above the movable ring groove 613 being insufficient to accommodate the shaft locking rotating ring 63.

[0031] Specifically, the distance from the end of the directional elastic element 65 fixed to the bushing seat 61 to the shaft retaining ring 63 is less than the radius of the bushing seat 61, and the distance from the end of the directional elastic element 65 fixed to the bushing seat 61 to the limiting wall is less than the radius of the bushing seat 61; for a planar representation, please refer to the appendix. Figure 5Using the circular cross-section of the bushing seat 61 as a plane, and with the side where the limiting wall is located on the left, a plane rectangular coordinate system is established with the horizontal and vertical directions of the center of the circle. Based on this, the end of the directional elastic member 65 that is fixed to the bushing seat 61 is located in the third quadrant, which is also a region close to the limiting wall. This allows the directional elastic member 65 to apply a large elastic force when it drives the shaft locking ring 63 to press against the limiting wall, and to switch the direction of the elastic force application quickly. It should be noted that the straight line formed by connecting the three points—a point on the axis of the bushing seat 61, a point where the reversing elastic element 65 is fixed to the bushing seat 61, and the end of the reversing elastic element 65 fixed to the shaft retainer rotating ring 63—is the force direction dividing line. The angle between the reversing elastic element 65 on the shaft retainer rotating ring 63, which abuts against the limiting wall, and the force direction dividing line is less than or equal to sixty degrees. This determines the dividing position of the elastic force direction of the reversing elastic element 65. After the angle is less than sixty degrees, the shaft retainer rotating ring 63 can change the direction of the reversing elastic element 65 with a small movement distance. At the same time, the force direction dividing line intersects with the half-locking base ring 611 above the bushing seat 61, which also limits the end of the reversing elastic element 65 fixed to the bushing seat 61 to be located in the third quadrant.

[0032] Furthermore, in this embodiment, the side of the controlled shaft 51 has a flattened platform as a clamping and force-applying area. The semi-fastened base ring 611 of the bushing seat 61 is provided with a corresponding planar protrusion for abutting against the controlled shaft 51. When the controlled shaft 51 is provided with two symmetrical platforms, the radial clamping shaft shifting ring 62 is also provided with a corresponding planar protrusion. Since the radial clamping shaft shifting ring 62 moves axially, the protrusion can be directly disengaged from the controlled shaft 51. When the semi-fastened base ring 611 and the radial clamping shaft shifting ring 62 rotate, they can drive the controlled shaft 51 to rotate.

[0033] For the transfer assembly 8, the transfer assembly 8 includes a horizontal shaft 84 rotatably mounted on the bottom of the machine body 1 and latch arms 85 fixedly mounted on both sides of the horizontal shaft 84. The transfer assembly 8 also includes a shift actuator 82 and a reduction gearbox 83 for driving the horizontal shaft 84 to rotate. The shift actuator 82 and the reduction gearbox 83 are fixedly mounted on the bottom of the machine body 1 through a rubber seat 81. The latch arms 85 are fixedly connected to the horizontal shaft 84 and form an integral part with the reduction gearbox 83 and the shift actuator 82. Meanwhile, there is a gap between the lidar 5 and the shaft clamp assembly 6, meaning that the controlled shaft 51 has an exposed portion. A movable arm 86 is movably nested on the clamp arm 85 to cooperate with the clamp arm 85 in clamping the exposed portion of the controlled shaft 51. The end of the clamp arm 85 has a semi-circular main hook 851, and the recessed open portion of the main hook 851 points towards the lidar 5. The clamp arm 85 is equipped with a pushing claw 89 to push the shaft clamping rotating ring 63 to rotate within the movable ring groove 613. The pushing claw 89 is made of metal and is strip-shaped or... The push claw 89 is plate-shaped and extends forward from the main hook 851. The distance between the front end of the push claw 89 and the center axis of gravity of the main hook 851 is smaller than the distance between the main body of the main hook 851 and the center axis of gravity. The outer side of the shaft locking rotating ring 63 has several groove structures for the push claw 89 to contact. The push claw 89 has elasticity that deforms in the radial direction. That is, when it contacts or approaches the shaft locking rotating ring 63, the push claw 89 can slowly unfold while maintaining the push, so as to avoid affecting the contact between the latch arm 85 and the controlled shaft 51. Specifically, the latch arm 85 has a slide rail 852 and the movable arm 86 is slidably nested on the slide rail 852. A spring-type snap-fit ​​elastic element 88 is provided between the latch arm 85 and the movable arm 86 to provide elastic force for the movable arm 86 to move towards the end of the latch arm 85. The end of the movable arm 86 has a quarter-ring arc-shaped movable hook 861. The movable hook 861 and the main hook 851 are combined to form an approximately circular ring to clamp the controlled shaft 51. The movable arm 86 is located on the side closer to the gimbal 4 during the movement of the latch arm 85 towards the gimbal 4. It is the first to contact the controlled shaft 51 during the movement towards the controlled shaft 51. In the basic embodiment, a slope structure can be provided on the movable hook 861 so that it is pushed open after contacting the controlled shaft 51. When the controlled shaft 51 enters the main hook 851, the movable hook 861 is driven by the snap-fit ​​elastic element 88 to snap with the main hook 851. In this embodiment, a limiting head 87 is movably provided inside the main hook 851. The limiting head 87 includes an annular contact portion 871, which is arranged inside the main hook 851 along the arc direction of the main hook 851. One end of the contact portion 871 is oscillatingly connected to one end of the main hook 851, and the other end of the contact portion 871 extends toward the movable arm 86 and is provided with a top pin 872. A spring-type external elastic member 873 is provided between the top pin 872 and the main hook 851. The external elastic member 873 carries... The movable contact part 871 and the top pin 872 move outward from the main hook 851, and the top pin 872 moving outward abuts against the movable hook 861, that is, it abuts against the movable hook 861, and the movable hook 861 is abutted against the relatively far controlled shaft 51. After the controlled shaft 51 enters the main hook 851 and abuts against the contact part 871, the contact part 871 swings, causing the top pin 872 to disengage from the movable hook 861. At this time, the movable hook 861 is driven by the engaging elastic element 88 to engage with the main hook 851. It should be noted that the latch arm 85 supports the lidar 5. When the latch arm 85 and the movable arm 86 swing towards the rear compartment 7, the direction of the force applied by the lidar 5 and the controlled shaft 51 is the direction of gravity, that is, the downward direction, and will not cause the movable arm 86 to slide.

[0034] The rear compartment 7 includes a base compartment 71 and a cover compartment 72. Both the base compartment 71 and the cover compartment 72 have shock-absorbing layers on their inner sides to cover the lidar 5. These layers are elastic; when the lidar 5 enters the base compartment 71 in a swinging motion, the shock-absorbing layers can be tangentially compressed and then reset. The cover compartment 72 is oscillatingly mounted on the base compartment 71. A clearance groove exists between the base compartment 71 and the cover compartment 72 to allow the latch arm 85 to pass. The rear compartment 7 also includes an opening / closing actuator 73, with its two ends connected to the base compartment 71 and the cover compartment 72 respectively. The actuator 73 drives the cover compartment 72 to perform translational opening and closing and swing opening and closing on the base compartment 71. The base compartment 71 moves along the cover compartment 72 during translational opening and closing. The path is provided with a locking groove 714, and the cover chamber 72 is provided with a locking buckle 74 on the translation path for engaging with the locking groove 714. The locking buckle 74 is made of metal and is interference-fitted with the locking groove 714. The locking buckle 74 can be spindle-shaped or elliptical in cross-section, and the hollow part in the middle allows it to be flattened. The opening and closing actuator 73 adopts the form of an electric push rod. The motor drives the screw to rotate, causing the push rod structure to extend or retract, thereby obtaining a large torque and having a self-locking function. The electric push rod applies force to make the locking buckle 74 engage with the locking groove 714. The buckle arm 85 is in contact with the shock-absorbing layer between the base chamber 71 and the cover chamber 72. The rubber seat 81 serves as the shock-absorbing structure of the buckle arm 85 on the body 1. Specifically, the rear end of the cover compartment 72 is provided with a functional plate 721, and a sliding pin 722 is provided on the functional plate 721. The base compartment 71 is provided with a guide groove structure, and the sliding pin 722 moves and swings on the guide groove structure. The guide groove structure includes a horizontal groove 711 and a downwardly extending lower arc groove 712 located at the end of the horizontal groove 711. A locking protrusion 713 is provided between the horizontal groove 711 and the lower arc groove 712. The bottom of the sliding pin 722 has at least two contact portions 871 with the horizontal groove 711, and the top of the sliding pin 722 has at least one contact portion 871 with the horizontal groove 711. The bottom of the sliding pin 722 is provided with an inwardly recessed locking recess 723 for engaging with the locking protrusion 713, thereby... During translation, the sliding pin 722 is restricted by three contact parts 871 in the transverse groove 711. After entering the lower relief groove 712, one contact part 871 disengages, allowing the sliding pin 722 to rotate within the lower relief groove 712, thus allowing the cover 72 to unfold. During return, the cover 72 rotates first because the locking recess 723 at the bottom of the sliding pin 722 engages with the locking protrusion 713. When it rotates to a position close to the original horizontal position, the two contact parts 871 at the bottom of the sliding pin 722 enter the transverse groove 711, thus returning to its original position. In the translation direction, the latch 74 locks with the locking groove 714.

[0035] In summary, during implementation, the UAV takes off and arrives at the area where terrain needs to be surveyed, such as a mountain. It then uses LiDAR 5 to emit high-frequency laser pulses towards the mountain. The main controller of the UAV 1 records the time from laser emission to reflection back to the sensor. The UAV 1 then flies along the mountain, extracting exposed surface points to generate a high-precision digital elevation model and contour map. In the event of strong air convection or an emergency landing due to bird activity during low-altitude terrain-following flight, the opening / closing actuator 73 opens the cover 72. The shifting actuator 82 rotates the horizontal axis 84, causing the latch arm 85 to swing from the rear compartment 7 towards the LiDAR 5. The delivery actuator 42 activates, causing the center frame 43 to swing towards the rear compartment 7 to a predetermined position to await the arrival of the latch arm 85. The pushing claw 89 on the latch arm 85 first contacts the shaft locking ring 63. As the latch arm 85 gradually swings closer, the pushing claw 89 drives the shaft locking ring to rotate. Ring 63 rotates on the movable ring groove 613. During the rotation, it compresses the reversing elastic element 65 until it crosses the force direction dividing line. Then, the reversing elastic element 65 drives the shaft retainer rotating ring 63 to swing along the movable ring groove 613. It swings to the top of the shaft sleeve seat 61, causing the lower radial retainer shaft shift ring 62 to break free from the restriction of the shaft retainer rotating ring 63. It is then driven by the pulling element 64 to move towards the movable ring groove 613, allowing the lower half-fastening base ring 611 to open. This allows the controlled shaft 51 of the laser radar 5 to break free from the shaft fastening assembly 6 and be taken over by the main fastening hook 851 of the fastening arm 85. After the controlled shaft 51 enters the main fastening hook 851, it presses the contact part 871, causing the top pin 872 to swing away from the engagement with the movable hook 861. The engaging elastic element 88 drives the movable arm 86 to move the movable hook 861 onto the controlled shaft 51, thereby allowing the main fastening hook 851 and the movable hook 861 to clamp the controlled shaft 51 of the laser radar 5. Then, the shifting actuator 82 drives the horizontal shaft 84 to rotate, causing the latch arm 85 to swing towards the rear compartment 7, entering the base compartment 71 and contacting the shock-absorbing layer inside the base compartment 71. Then, the opening and closing actuator 73 initiates retraction. The locking recess 723 at the bottom of the sliding pin 722 on the cover compartment 72 engages with the locking protrusion 713, causing the cover compartment 72 to rotate. When it rotates to a position close to its original horizontal position, the two contact parts 871 at the bottom of the sliding pin 722 enter the horizontal groove 711, thereby performing translational return to position, and the latch 74 engages in the translational direction. The lidar 5 is locked into the locking groove 714, thus allowing it to be housed within the shock-absorbing layer. The self-locking mechanism of the electric push rod and the engagement of the latch 74 with the locking groove 714 ensure a stable connection between the base compartment 71 and the cover compartment 72. At the same time, the latch arm 85 contacts the shock-absorbing layer between the base compartment 71 and the cover compartment 72. The rubber seat 81 serves as a shock-absorbing structure for the latch arm 85 on the fuselage 1, thus providing overall shock absorption for the part in contact with the lidar 5. This prevents the lidar 5 from being significantly damaged by impact during unstable landings or low-altitude crashes.

[0036] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A high-precision terrain modeling UAV based on lidar, comprising a fuselage, arms distributed around the fuselage, and wing assemblies fixed to the ends of the arms, characterized in that: A gimbal is fixedly installed at the bottom of the machine body, and a lidar is installed on the gimbal. A rear compartment is fixedly provided at the bottom of the machine body behind the gimbal. A transfer component is provided between the gimbal and the rear compartment to move the lidar into the rear compartment. The lidar has controlled axes on both sides. The gimbal includes a fork-shaped central frame and is mounted on both sides of the controlled axes. The central frame is nested with the controlled axes through a shaft buckle assembly. The shaft buckle assembly includes a bushing seat rotatably mounted on the central frame and a radial clamping shaft shift ring axially slidably nested on the bushing seat. The bushing seat and the radial clamping shaft shift ring cooperate to nest and engage the controlled axes. The transfer assembly includes a horizontal shaft rotatably mounted on the bottom of the machine body and a buckle arm fixedly mounted on both sides of the horizontal shaft. There is a gap between the laser radar and the shaft buckle assembly. The buckle arm has a movable arm nested on it for cooperating with the buckle arm to clamp the controlled shaft. The rear compartment includes a base compartment and a cover compartment. The base compartment and the cover compartment are provided with shock-absorbing layers on their inner sides. The cover compartment is oscillatingly mounted on the base compartment. There is a clearance groove between the base compartment and the cover compartment to allow the buckle arm to pass.

2. The high-precision terrain modeling UAV based on lidar according to claim 1, characterized in that: The bushing seat has a cavity in the middle, and the front end of the bushing seat is provided with a semi-circular half-fastening base ring. The radial clamp shaft shifting ring is semi-circular and is spliced ​​with the half-fastening base ring below to nest the controlled shaft. The length of the portion of the controlled shaft nested with the semi-fastened base ring and the radial clamp shaft shift ring is less than the axial thickness of the radial clamp shaft shift ring; The bushing seat has a movable annular groove on the outside of the semi-fastened base ring and the radial clamp shaft shifting ring. The radial clamp shaft shifting ring has space to move in the direction of the movable annular groove on the bushing seat. A shaft clamp rotating ring is slidably engaged on the movable annular groove. The shaft clamp rotating ring retains the degree of freedom of rotation around the axis of the bushing seat between the bushing seat and the radial clamp shaft shifting ring. The shaft clamp rotating ring is used to restrict the degree of freedom of the radial clamp shaft shifting ring in the direction of the movable annular groove. The buckle arm is equipped with a pusher claw for pushing the shaft locking ring to rotate within the movable ring groove.

3. The high-precision terrain modeling UAV based on lidar according to claim 2, characterized in that: The bushing seat is provided with a side rail on the outside, and the caliper shaft shifting ring is slidably nested on the side rail. A pulling member is provided between the bushing seat and the caliper shaft shifting ring, and the pulling member provides elastic force to the caliper shaft shifting ring to drive it to move into the movable ring groove. The bushing seat is provided with a reversing elastic element. One end of the reversing elastic element is fixed in the bushing seat and the other end is connected to one end of the shaft retainer rotating ring. A limiting wall is provided on one side of the movable ring groove. The reversing elastic element drives one end of the shaft retainer rotating ring to abut against the limiting wall. The shaft retainer rotating ring abutting against the limiting wall and the radial retainer shaft retainer abut against each other on the axis.

4. The high-precision terrain modeling UAV based on lidar according to claim 3, characterized in that: The distance between the end of the reversing elastic element fixed to the bushing seat and the shaft retainer rotating ring is less than the radius of the bushing seat, and the distance between the end of the reversing elastic element fixed to the bushing seat and the limiting wall is less than the radius of the bushing seat. The straight line formed by connecting the three points—a point on the axis of the bushing seat, a point where the directional elastic element is fixed to the bushing seat, and one end where the directional elastic element is fixed to the shaft clamp rotating ring—is defined as the force direction dividing line. The angle between the directional elastic element on the shaft clamp rotating ring that abuts against the limiting wall and the force direction dividing line is less than or equal to 60 degrees. The force direction dividing line intersects with the half-locking base ring above the bushing seat. The length of the shaft shift ring is less than the length of the radial shaft shift ring.

5. A high-precision terrain modeling UAV based on lidar according to claim 2, 3 or 4, characterized in that: The buckle arm has a slide rail and the movable arm slides and nests on the slide rail. A buckling elastic element is provided between the buckle arm and the movable arm to provide elastic force for the movable arm to move towards the end of the buckle arm. The end of the buckle arm has a semi-circular main buckle hook and the end of the movable arm has a ring-shaped movable buckle hook. The movable buckle hook and the main buckle hook are combined to form an approximately circular ring to clamp the controlled shaft. The movable arm is located on the side closer to the gimbal during the movement of the latch arm toward the gimbal; The main hook is equipped with a limiting head, which includes an annular contact part. One end of the contact part is oscillatingly connected to one end of the main hook, and the other end of the contact part extends to provide a top pin. An outer elastic element is provided between the top pin and the main hook. The outer elastic element drives the contact part and the top pin to move outward of the main hook, and the top pin moving outward abuts against the movable hook.

6. The high-precision terrain modeling UAV based on lidar according to claim 5, characterized in that: The transfer assembly also includes a shift actuator and a gearbox for driving the horizontal shaft to rotate. The shift actuator and gearbox are fixedly installed at the bottom of the machine body by a rubber base. The latch arm is fixedly connected to the horizontal shaft and forms an integral part with the gearbox and shift actuator.

7. The high-precision terrain modeling UAV based on lidar according to claim 2, characterized in that: The gimbal also includes a base, which is installed at the bottom of the body. The mid-frame is movably mounted on the base. A position actuator is fixed on the base to drive the mid-frame to swing back and forth. A pitch actuator is fixed on the mid-frame to drive the lidar to swing in pitch.

8. A high-precision terrain modeling UAV based on lidar according to claim 6, characterized in that: The rear compartment also includes an opening and closing actuator, which is connected to the base compartment and the cover compartment at both ends. The opening and closing actuator drives the cover compartment to perform translational opening and closing and swing opening and closing on the base compartment. The base compartment is provided with a locking groove on the translational path of the cover compartment, and the cover compartment is provided with a latch on the translational path for engaging with the locking groove. The buckle arm contacts the shock-absorbing layer between the base compartment and the cover compartment, and the rubber seat serves as a shock-absorbing structure for the buckle arm on the machine body.

9. A high-precision terrain modeling UAV based on lidar according to claim 8, characterized in that: The rear end of the cover compartment is provided with a functional plate, the functional plate is provided with a sliding pin, the base compartment is provided with a guide groove structure, and the sliding pin can translate and swing on the guide groove structure; The guide groove structure includes a horizontal groove and a downwardly extending lower arc groove at the end of the horizontal groove. A locking protrusion is provided between the horizontal groove and the lower arc groove. The bottom of the sliding pin has at least two contact points with the horizontal groove and the top has at least one contact point with the horizontal groove. The bottom of the sliding pin has an inwardly recessed locking recess for engaging with the locking protrusion.

10. A high-precision terrain modeling UAV based on lidar according to claim 2, characterized in that: The pushing claw extends forward from the main hook. The distance between the front end of the pushing claw and the center axis of gravity of the main hook is less than the distance between the main body of the main hook and the center axis of gravity. The outer side of the shaft locking ring has several groove structures for the pushing claw to contact. The pusher claw has elasticity that allows it to deform in the radial direction.

Images