Unmanned aerial vehicle holder mounting structure and agricultural surveying and mapping unmanned aerial vehicle

Abstract

The unmanned aerial vehicle holder mounting structure comprises a connecting frame and a holder, a fixing disc is arranged at the center of the bottom of the connecting frame, a supporting cylinder is arranged on the fixing disc, a connecting rod is arranged at the top end of the supporting cylinder, and a ball head is arranged at one end of the connecting rod; a ball head seat matched with the ball head is arranged at the bottom of the holder, connecting ropes are arranged at the four corners of the bottom of the holder, a mounting groove is formed in the connecting frame, movable rollers are arranged in the mounting groove, each connecting rope penetrates through the position between the two movable rollers, a movable plate is arranged outside the supporting cylinder, a transmission plate is arranged at one end of the movable plate, and the transmission plate is connected with the transmission plate. The cradle head is quickly and automatically leveled around the universal ball by utilizing the self-adaptive traction of the counterweight ball under the action of gravity and combining with an intermittent locking and releasing mechanism, the swing of the connecting rope is inhibited by the intermittent clamping of the movable roller, the operation preparation time is shortened, and the surveying and mapping accuracy is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle (UAV) gimbals, and particularly relates to a UAV gimbal mounting structure and an agricultural surveying and mapping UAV. BACKGROUND

[0002] UAV surveying and mapping refers to a technical means for achieving rapid and accurate measurement of a target area by using a UAV to carry high-precision sensors and through aerial data collection, processing and analysis. UAV surveying and mapping has become an important tool for modern agriculture and is widely used in farmland surveying and mapping, crop growth monitoring, disaster assessment and irrigation planning. Compared with traditional agricultural monitoring methods, UAV surveying and mapping has the advantages of high efficiency, flexibility, low cost and strong real-time data.

[0003] A UAV used for agricultural surveying and mapping is usually equipped with a gimbal structure to carry optical or remote sensing sensors. The leveling process of the existing gimbal mounting structure is relatively cumbersome and often relies on manual adjustment or simple mechanical locking devices, which consumes time and makes it difficult to achieve rapid and accurate horizontal calibration in a field operation environment. The quality of data collection is easily affected by factors such as vibration and wind disturbance, resulting in a decrease in data collection quality. SUMMARY

[0004] The present application aims to provide a UAV gimbal mounting structure and an agricultural surveying and mapping UAV to solve the problem of inconvenient use of existing surveying and mapping UAVs.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions: A UAV gimbal mounting structure comprises a connecting frame and a gimbal, and further comprises: A connecting rope is provided at the bottom center of the connecting frame, a support cylinder is arranged on the fixing disc, a connecting rod is arranged at the top end of the support cylinder, a ball head is arranged at one end of the connecting rod, a ball head seat matched with the ball head is arranged at the bottom of the gimbal, connecting ropes are arranged at the four corners of the bottom of the gimbal, an installation groove is formed in the connecting frame, a movable roller is arranged inside the installation groove, the connecting rope passes between the two movable rollers, a movable plate is arranged outside the support cylinder, a transmission plate is arranged at one end of the movable plate, a transmission groove matched with the movable roller is formed in the transmission plate, and a counterweight ball is arranged outside the connecting rope, the counterweight ball being located below the transmission plate; A rotating cylinder is arranged at the bottom of the support cylinder, a fixing frame is arranged at the bottom of the support cylinder, a support frame is arranged at the bottom of the fixing frame, winding rods are arranged at the four corners of the support frame, the connecting rope is wound around the winding rods, a sliding groove is formed in the fixing disc, a sliding block is arranged inside the sliding groove, adjusting rods are arranged on the sliding block, and a rotating cylinder is arranged between the two adjusting rods, the rotating cylinder being rotatably arranged inside the fixing frame; Driving mechanism is arranged inside the fixed frame, and the connecting rope is reeled in or out by driving the winding rod to rotate; the two movable rollers are away from each other, the connecting rope is in a relaxed state, the counterweight ball is pulled down through the connecting rope under the action of gravity, the holder can be automatically leveled around the ball head, the transmission plate extrudes the two movable rollers away from each other, and the movable rollers lock the holder by clamping the connecting rope.

[0006] Based on the above technical scheme, the application further provides the following optional technical schemes. In an optional scheme, the driving mechanism comprises a driving rod, a rotating block and a clamping block, the rotating cylinder is provided with rotating blocks on both sides, the side wall of the rotating block is provided with a connecting groove, the connecting groove is provided with a clamping block, one end of the winding rod is provided with a groove matched with the clamping block, and the rotating cylinder is provided with a power element for driving the driving rod to rotate.

[0007] In an optional scheme, the movable plate is provided with a pressing block and a pressing groove, the adjusting rod is provided with a transmission block, the transmission block is provided with a square groove, and the support frame is provided with a power box at the bottom.

[0008] In an optional scheme, the support frame is provided with a mounting cylinder outside, one end of the winding rod is provided with a guide rod, the guide rod is slidably inserted into the mounting cylinder and provided with a limiting block, and the limiting block is provided with a friction block.

[0009] In an optional scheme, the support cylinder is provided with an electromagnet and a suction block inside, the suction block is provided with a reset spring at the bottom, and one end of the movable plate is inserted into the support cylinder and connected with the suction block.

[0010] In an optional scheme, the mounting groove is provided with a guide groove inside, the guide groove is provided with a mounting column inside, and the movable roller is arranged outside the mounting column.

[0011] An agricultural surveying and mapping unmanned aerial vehicle, comprising an unmanned aerial vehicle holder mounting structure, further comprising: An unmanned aerial vehicle body is arranged at the top of the connecting frame, the bottom of the unmanned aerial vehicle body is provided with a landing gear, the bottom end of the landing gear is provided with a support rod, and the holder is provided with a base for mounting a surveying and mapping instrument.

[0012] Compared with the prior art, the application has the following advantages: The drone gimbal mounting structure and agricultural surveying drone achieve efficient and stable gimbal adjustment. Utilizing the adaptive traction of the counterweight ball under gravity, combined with an intermittent locking and releasing mechanism, the gimbal can quickly and automatically level itself around the universal ball. The intermittent clamping of the movable roller suppresses the swing of the connecting rope, shortens the preparation time for operation, and ensures the accuracy of surveying. By pulling the connecting rope through the winding mechanism, the gimbal tilt angle can be adjusted, improving the gimbal's environmental adaptability and reliability, and providing a more stable installation platform for agricultural surveying. Attached Figure Description

[0013] Figure 1 A schematic diagram of the gimbal mounting structure for unmanned aerial vehicles (UAVs) and the structure of an agricultural surveying UAV.

[0014] Figure 2 A schematic diagram of the gimbal structure in the installation structure of a drone gimbal.

[0015] Figure 3 A schematic diagram of the mounting plate in the drone gimbal installation structure.

[0016] Figure 4 A cross-sectional view of the support cylinder in the drone gimbal mounting structure.

[0017] Figure 5 A cross-sectional view of the adjustment rod in the mounting structure of a drone gimbal.

[0018] Figure 6 A schematic diagram of the movable plate in the drone gimbal mounting structure.

[0019] Figure 7 A cross-sectional view of the connecting frame in the drone gimbal mounting structure.

[0020] Figure 8 A schematic diagram of the mounting bracket in the drone gimbal installation structure.

[0021] Figure 9 Installation structure for drone gimbal Figure 8 Enlarged view of part A in the middle.

[0022] Figure Labels and Annotations: 1-Surveying Instrument Body, 2-UAV Body, 3-Connecting Frame, 4-Landing Gear, 5-Power Box, 6-Gimbal, 601-Base, 602-Ball Head, 7-Guide Rod, 8-Limit Block, 9-Friction Block, 10-Connecting Rope, 11-Mounting Slot, 111-Guide Slot, 12-Counterweight Ball, 13-Ball Head, 14-Connecting Rod, 15-Support Cylinder, 16-Fixing Plate, 161-Sliding Slot, 17-Transmission Plate, 171-Transmission Slot, 18-Adjusting Rod 19-Fixed frame, 20-Reset spring, 21-Modible plate, 211-Pressure block, 212-Pressure groove, 22-Rotating cylinder, 23-Electromagnet, 24-Support frame, 241-Mounting cylinder, 25-Winding rod, 251-Groove, 26-Slider, 27-Modible roller, 271-Mounting column, 28-Support rod, 29-Suction block, 30-Clipping block, 31-Transmission block, 311-Square groove, 32-Rotating block, 321-Connecting groove, 33-Drive rod, 34-Power component. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0024] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0025] like Figures 1-9 As shown, an embodiment of the present invention provides a UAV gimbal mounting structure and an agricultural surveying UAV, including a connecting frame 3 and a gimbal 6, and further comprising: A connecting rope 10 is provided. The connecting frame 3 is used to connect the gimbal 6 and the drone body 2. A fixed plate 16 is provided at the center of the bottom of the connecting frame 3. A support cylinder 15 is provided on the fixed plate 16. A connecting rod 14 is fixedly provided at the top of the support cylinder 15. A ball head 13 is provided at one end of the connecting rod 14. A ball head seat 602 that cooperates with the ball head 13 is provided at the bottom of the gimbal 6. The ball head 13 and the ball head seat 602 form a universal ball joint connection, which enables the gimbal 6 to achieve multi-degree-of-freedom adjustment. Connecting ropes 10 are provided at the four corners of the bottom of the gimbal 6. An installation groove 11 is provided on the connecting frame 3. A movable roller 27 is provided inside the installation groove 11. The movable roller 27 is elastically installed inside the installation groove 11 by an elastic element, so that the movable roller 27 can slide relative to each other in the horizontal direction. The rope 10 passes between two movable rollers 27. A movable plate 21 is slidably provided on the outside of the support cylinder 15. The movable plate 21 can move up and down along the axial direction of the support cylinder 15. A transmission plate 17 is provided at one end of the movable plate 21. A transmission groove 171 that cooperates with the movable roller 27 is opened on the transmission plate 17. A counterweight ball 12 is provided on the outside of the connecting rope 10. The counterweight ball 12 is located below the transmission plate 17. The movable rollers 27 are far apart from each other. When the connecting rope 10 is slack, the counterweight ball 12 pulls down the four corners of the gimbal 6 under the action of gravity through the connecting rope 10, so that the gimbal 6 can automatically level itself around the ball head 13. When the transmission plate 17 is driven to rise by the movable plate 21 and squeezes the two movable rollers 27, the movable rollers 27 move closer to each other and squeeze and fix the connecting rope 10, thereby locking and fixing the four corners of the gimbal 6. The rotating cylinder 22 is provided with a fixed frame 19 at the bottom of the support cylinder 15, a support frame 24 at the bottom of the fixed frame 19, and a winding rod 25 at each of the four outer corners of the support frame 24. The connecting rope 10 is wound around the winding rod 25. A sliding groove 161 is provided on the fixed plate 16, and a slider 26 is provided inside the sliding groove 161. An adjusting rod 18 is provided on the slider 26. The rotating cylinder 22 is provided between two adjusting rods 18. The rotating cylinder 22 is rotatably disposed inside the fixed frame 19. The slider 26 moves along the sliding groove 161, which can drive the adjusting rod 18 and the rotating cylinder 22 to rotate, so that the rotating cylinder 22 rotates between any two opposite winding rods 25, driving the corresponding winding rod 25 to rotate, thereby winding and unwinding the connecting rope 10, pulling the pan-tilt 6 to tilt to the corresponding side, and realizing the pitch or lateral angle adjustment of the pan-tilt 6 and the surveying instrument body 1. The drive mechanism is located inside the fixed frame 19 and drives the connecting rope 10 to be wound up or down by rotating the winding rod 25.

[0026] like Figures 2-9As shown, in a preferred embodiment of the present invention, the driving mechanism includes a driving rod 33, a rotating block 32, and a locking block 30. Rotating blocks 32 are provided on both outer sides of the rotating cylinder 22. A connecting groove 321 is provided on the side wall of each rotating block 32, and a locking block 30 is provided inside the connecting groove 321. A groove 251 that cooperates with the locking block 30 is provided at one end of the winding rod 25. A power component 34 for driving the driving rod 33 to rotate is provided inside the rotating cylinder 22. The power component 34 is a dual-axis motor, and its output shaft is connected to the driving rod 33, enabling the driving rod 33 to rotate. The driving rod 33 drives the rotating blocks 32 on both sides to rotate. When the rotating block 32 is sleeved on the end of the winding rod 25 through the connecting groove 321, and the locking block 30 is engaged in the groove 251, the rotating block 32 drives the winding rod 25 to rotate through the cooperation of the locking block 30 and the groove 251.

[0027] like Figures 5-9 As shown, in a preferred embodiment of the present invention, the movable plate 21 is provided with a pressure block 211 and a pressure groove 212, the adjusting rod 18 is provided with a transmission block 31, the transmission block 31 is provided with a square groove 311, the bottom of the support frame 24 is provided with a power box 5, the outside of the support frame 24 is provided with an installation cylinder 241, one end of the winding rod 25 is provided with a guide rod 7, one end of the guide rod 7 slides into the inside of the installation cylinder 241 and is provided with a limit block 8, the limit block 8 is provided with a friction block 9, and a spring is also provided inside the installation cylinder 241, so that the limit block 8 is in a certain position. Figure 9 In the initial position shown, the friction block 9 is in contact with the inner wall of the mounting cylinder 241, so that the winding rod 25 is in the locked position and cannot be rotated.

[0028] When the adjusting rod 18 drives the transmission block 31 and the rotating cylinder 22 to rotate between the pair of winding rods 25 that need to be adjusted, the square groove 311 on the transmission block 31 presses against the pressure block 211 or pressure groove 212 on the movable plate 21 corresponding to the pair of winding rods 25. Since the positions of the two sets of square grooves 311 are lower than the pressure block 211 or pressure groove 212 respectively, the pressed movable plate 21 descends, and the movable plate 21 drives the transmission plate 17 on it to descend, thereby releasing the compression and locking of the transmission plate 17 on the two movable rollers 27 above. The movable rollers 27 are reset under the action of the elastic element in the mounting groove 11. The two parts move away from each other, so that the connecting rope 10 is in a relaxed and untensioned state. At this time, one end of the winding rod 25 with the groove 251 is inserted into the connecting groove 321 of the rotating block 32. The guide rod 7 at the other end of the winding rod 25 slides in the mounting cylinder 241. The friction block 9 on the limiting block 8 disengages from the inner wall of the mounting cylinder 241, so that the axial lock of the winding rod 25 is released. The power component 34 drives the rotating cylinder 22 and the rotating block 32 to rotate. The winding rod 25 winds up and unwinds the connecting rope 10, thereby pulling the gimbal 6 to tilt to the corresponding side and completing the angle adjustment on that side.

[0029] When the angle of the other side of the gimbal 6 needs to be adjusted, the adjusting rod 18 drives the rotating cylinder 22 to rotate, causing one end of the currently connected winding rod 25 to slide out of the connecting groove 321. Under the action of the spring, the winding rod 25 moves back, and the friction block 9 fixes the winding rod 25 through friction, making the winding rod 25 unable to rotate. The length of the connecting rope 10 is locked, ensuring the stability of the adjusted side of the gimbal 6. Subsequently, the rotating cylinder 22 rotates to the position of the next pair of winding rods 25 that need to be adjusted, and the above process is repeated to adjust the other side. This achieves orderly switching between two sets of angle adjustments. When the rotating cylinder 22 switches to connect different winding rods 25, the friction block 9 locks the winding rod 25, ensuring that the length of the connecting rope 10 is fixed, preventing the gimbal 6 from shaking or going out of control during dynamic adjustment, and improving the accuracy of adjustment and the stability during operation.

[0030] like Figures 1-5 As shown, in a preferred embodiment of the present invention, an electromagnet 23 and a suction block 29 are provided inside the support cylinder 15. A return spring 20 is provided at the bottom of the suction block 29. One end of the movable plate 21 passes through the support cylinder 15 and is connected to the suction block 29. In the initial state, the electromagnet 23 is de-energized, the return spring 20 pulls the suction block 29 to the initial position, and the movable plate 21 drives the transmission plate 17 on it to rise and squeeze the two movable rollers 27, so that the movable rollers 27 move closer to each other and clamp the connecting rope 10, thereby fixing the gimbal 6. When it is necessary to level the gimbal 6, When the electromagnet 23 is energized, it attracts the suction block 29 upwards. Then, when the power is turned off, the suction block 29 returns to its original position downwards under the action of the return spring 20. This process causes the suction block 29 to move the movable plate 21 up and down, thereby realizing the intermittent fixing and releasing of the connecting rope 10 by the movable roller 27. The counterweight ball 12 pulls the gimbal 6 to automatically level through the connecting rope 10. The movable roller 27 intermittently clamps and releases the connecting rope 10 that passes through it. The rapid switching between brief fixing and releasing can suppress the excessive swing of the connecting rope 10, making the leveling process faster and more stable, and the gimbal 6 can reach a stable balance state more quickly.

[0031] like Figure 7 As shown, in a preferred embodiment of the present invention, the mounting groove 11 is provided with a guide groove 111 inside, the guide groove 111 is provided with a mounting column 271 inside, and the movable roller 27 is provided outside the mounting column 271.

[0032] An agricultural surveying drone includes a drone gimbal mounting structure and a drone body 2. The drone body 2 is mounted on top of a connecting frame 3, and a landing gear 4 is mounted on the bottom of the drone body 2. A support rod 28 is mounted on the bottom of the landing gear 4. A base 601 for mounting a surveying instrument is mounted on the gimbal 6. The connecting frame 3 is used to suspend the gimbal 6 below the drone body 2. The base 601 can be used to fix and mount different types of surveying sensors such as visible light cameras, multispectral cameras, and lidar according to actual usage requirements.

[0033] The above embodiments of the present invention provide a UAV gimbal mounting structure and an agricultural surveying UAV. The UAV gimbal mounting structure is installed and fixed below the UAV body 2 through the connecting frame 3. Under the action of the return spring 20, the suction block 29 is in the initial position. The transmission plate 17 squeezes the two movable rollers 27 through the transmission groove 171, making them close to each other and clamping the four connecting ropes 10 at the four corners of the bottom of the gimbal 6, thereby firmly locking the gimbal 6. When the UAV needs to be recalibrated before takeoff or during flight, the automatic leveling function is activated, and the electromagnet 23 is controlled to attract the suction block 29 to move upward. After the power is cut off, the suction block 29 is reset downward under the action of the return spring 20. The movable plate 21 and transmission plate 17 are driven to move up and down reciprocally. The counterweight ball 12 suspended at the lower end of the connecting rope 10 pulls down the corresponding angle of the connecting rope 10 and the gimbal 6 under the action of gravity, so that the gimbal 6 is adjusted around the ball head 13 to the direction of the vertical line of gravity, that is, in a horizontal state. When the surveying task requires changing the angle of the surveying instrument, the power component inside the power box 5 drives 22 to rotate. The rotating cylinder 22 drives the adjusting rod 18 to rotate. The winding rod 25 winds up or releases the connecting rope 10, thereby pulling the corresponding side of the gimbal 6 to tilt upward or downward, so as to achieve angle adjustment.

[0034] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A UAV gimbal mounting structure, comprising a connecting frame and a gimbal, characterized in that, Also includes: The connecting rope has a fixed plate at the center of its bottom, a support cylinder on the fixed plate, a connecting rod at the top of the support cylinder, a ball head at one end of the connecting rod, a ball head seat at the bottom of the gimbal that mates with the ball head, connecting ropes at the four corners of the bottom of the gimbal, an installation groove on the connecting frame, a movable roller inside the installation groove, the connecting rope passing between two movable rollers, a movable plate outside the support cylinder, a transmission plate at one end of the movable plate, a transmission groove on the transmission plate that mates with the movable roller, and a counterweight ball outside the connecting rope, the counterweight ball being located below the transmission plate. A rotating cylinder is provided with a fixed frame at the bottom of the support cylinder, a support frame at the bottom of the fixed frame, and winding rods at the four outer corners of the support frame. The connecting rope is wound around the winding rods. A sliding groove is provided on the fixed plate, and a slider is provided inside the sliding groove. An adjusting rod is provided on the slider, and a rotating cylinder is provided between the two adjusting rods. The rotating cylinder is rotatably disposed inside the fixed frame. The drive mechanism is located inside the fixed frame. It drives the winding rod to rotate to wind up and unwind the connecting rope. The two movable rollers move away from each other, and the connecting rope is in a slack state. Under the action of gravity, the counterweight ball pulls down the four corners of the gimbal through the connecting rope. The gimbal can automatically level itself around the ball head. The transmission plate squeezes the two movable rollers to move away from each other. The movable rollers lock the gimbal by clamping the connecting rope.

2. The UAV gimbal mounting structure according to claim 1, characterized in that, The driving mechanism includes a driving rod, a rotating block, and a locking block. Rotating blocks are provided on both sides of the outer side of the rotating cylinder. A connecting groove is provided on the side wall of the rotating block. A locking block is provided inside the connecting groove. A groove that cooperates with the locking block is provided at one end of the winding rod. A power component for driving the driving rod to rotate is provided inside the rotating cylinder.

3. The UAV gimbal mounting structure according to claim 2, characterized in that, The movable plate is provided with pressure blocks and pressure grooves, the adjusting rod is provided with a transmission block, the transmission block is provided with a square groove, and the bottom of the support frame is provided with a power box.

4. The UAV gimbal mounting structure according to claim 3, characterized in that, An installation cylinder is provided on the outside of the support frame. A guide rod is provided at one end of the winding rod. One end of the guide rod slides into the interior of the installation cylinder and is provided with a limit block. A friction block is provided on the limit block.

5. The UAV gimbal mounting structure according to claim 1, characterized in that, The support cylinder is equipped with an electromagnet and a suction block. A return spring is installed at the bottom of the suction block. One end of the movable plate passes through the support cylinder and is connected to the suction block.

6. The UAV gimbal mounting structure according to claim 1, characterized in that, The mounting groove has a guide groove inside, the guide groove has a mounting column inside, and the movable roller is located outside the mounting column.

7. An agricultural surveying drone, comprising the drone gimbal mounting structure as described in any one of claims 1-6, characterized in that, Also includes: The drone body is mounted on top of the connecting frame, and a landing gear is mounted on the bottom of the drone body. A support rod is mounted on the bottom end of the landing gear, and a base for mounting a surveying instrument is mounted on the gimbal.

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