Unmanned aerial vehicle radar device for fan point cloud collection
The UAV radar device with a shock absorbing and angle-adjusting mechanism stabilizes drone vibrations and enhances data collection accuracy for wind turbine point clouds, addressing the deviation issues in LiDAR systems.
Patent Information
- Application Number
- CN202421140049.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-23
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2034-05-23
AI Technical Summary
LiDAR systems face challenges in accurately collecting point cloud information from high places of wind turbines due to drone vibrations causing deviations in laser landing points, affecting the accuracy of three-dimensional model generation.
A UAV radar device with a connecting sleeve and column featuring a shock absorbing mechanism, including springs, pistons, and damping elements to stabilize the radar body during operation, combined with a driving mechanism to adjust the search angle, ensuring precise data collection.
The device enhances the accuracy and stability of point cloud data collection by absorbing vibrations and adjusting the search angle, improving the generation of three-dimensional wind turbine models.
Smart Images
Figure CN222224459U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle radar device used for collecting point clouds of wind turbines. Background Art
[0002] By using LiDAR to collect point cloud information of wind turbines, the actual scene can be presented in the form of a 3D model through 3D real-scene modeling technology, realizing the visualization of virtual reality. This means that every detail in the process can be clearly presented, and monitoring personnel can observe and analyze the wind power generation scene from all angles through the digital twin platform.
[0003] In the prior art, laser point cloud is obtained by a laser scanning system that emits laser signals to the surroundings and then collects the reflected laser signals. The distance information of the target object is measured through information such as the speed of light and the time from the laser emission to the return. The three-dimensional coordinate information and distance information of the target object in front are calculated by combining information such as IMU, odometer, GNSS, etc.
[0004] Wind turbines are usually tall, which makes it impossible for LiDAR to collect point cloud information from high places of wind turbines. When LiDAR is lifted by drone to collect point cloud information from high places of wind turbines, the shaking of the drone will cause a slight deviation in the landing point of the laser when it returns, affecting the accuracy of the point cloud information. Utility Model Content
[0005] In view of the deficiencies in the prior art, the purpose of the present utility model is to provide a UAV radar device for wind turbine point cloud acquisition, so as to solve the technical problems mentioned in the above background technology.
[0006] The above technical objectives of the utility model are achieved through the following technical solutions:
[0007] A UAV radar device for collecting point clouds of wind turbines comprises a UAV body and a radar body, wherein a connecting column is fixedly connected to the bottom of the UAV body, a connecting sleeve is sleeved on the bottom of the connecting column, a shock absorbing portion formed by a plurality of protrusions is arranged in a circular array on the inner side wall of the connecting sleeve, a shock absorbing groove for connecting the shock absorbing portion is arranged on the outer side wall of the connecting column, springs connected to the shock absorbing groove are arranged on the top and bottom of the shock absorbing portion, the bottom of the connecting sleeve is connected to the radar body through a driving member, and a point cloud information processor is connected to the top of the radar body.
[0008] Furthermore, a through hole is opened on the top of the shock absorbing part from top to bottom, a piston is slidably connected in the through hole, the top and bottom of the piston are fixedly connected with a support rod, the support rod passes through the corresponding spring and is fixedly connected to the inner wall of the shock absorbing groove.
[0009] Furthermore, the top and bottom openings of the inner side wall of the through hole are both raised to form an annular portion, the inner side wall of the annular portion is connected to a sealing ring, and the side of the sealing ring away from the annular portion is in contact with the support rod.
[0010] Furthermore, at least two groups of circular holes are formed in an annular array on the top of the piston, and the circular holes are away from the support rod.
[0011] Furthermore, a plurality of balls are disposed on the outer side wall of the shock absorbing portion, and a side of the balls away from the shock absorbing portion contacts the inner side wall of the shock absorbing groove.
[0012] Furthermore, a buffer pad is fixedly connected to the inner bottom wall of the connecting sleeve, and the top of the buffer pad contacts the bottom of the connecting column.
[0013] Furthermore, the driving component includes a disc motor, a driving motor and a connecting rod, the output shaft of the disc motor is fixedly connected to the bottom of the connecting sleeve, the outer side wall of the disc motor is symmetrically connected to two connecting rods, the two connecting rods are connected to the radar body through a rotating shaft, one of the connecting rods is fixedly connected to the driving motor on the side away from the radar body, and the output shaft of the driving motor is connected to the corresponding rotating shaft.
[0014] In summary, the present invention includes at least one of the following beneficial technical effects:
[0015] 1. The UAV radar device for wind turbine point cloud acquisition has a connecting sleeve and a connecting column, and a shock absorbing part is arranged in the connecting sleeve, and a shock absorbing groove is arranged in the connecting column and connected to the shock absorbing part through a spring. When the UAV body vibrates during operation, the spring is used to absorb the vibration, so that the radar body will not be offset when receiving the laser signal, thereby improving the accuracy of the wind turbine three-dimensional model generation of the point cloud information processor;
[0016] 2. This drone radar device used for wind turbine point cloud collection has a through hole in the shock absorbing part, a piston is slidably connected in the through hole, and the top and bottom openings of the through hole are both provided with annular parts, so that a damping force can be generated when the piston slides, thereby utilizing the damping force to prevent the jitter generated when the spring bounces up, thereby further improving the operating stability of the radar body and improving the signal recovery accuracy of the radar body. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0018] Figure 1 The utility model is a structural schematic diagram of an unmanned aerial vehicle radar device for collecting point cloud of wind turbines.
[0019] Figure 2 The utility model is a schematic diagram of the structure of a driving component in a UAV radar device for collecting point cloud of a wind turbine.
[0020] Figure 3 The utility model is a schematic structural diagram of a connecting column and a connecting sleeve in a UAV radar device for collecting point cloud of a wind turbine.
[0021] Figure 4 The utility model is a schematic diagram of the structure of a shock absorbing groove in an unmanned aerial vehicle radar device for collecting point cloud of a wind turbine.
[0022] Figure 5 for Figure 4 Enlarged view of point A in the middle.
[0023] Figure 6 This is an exploded view of an unmanned aerial vehicle radar device for collecting point cloud of a wind turbine according to the utility model.
[0024] In the figure, 1. UAV body; 2. Radar body; 3. Connecting column; 4. Connecting sleeve; 5. Shock-absorbing part; 6. Shock-absorbing groove; 7. Spring; 8. Driving part; 81. Disc motor; 82. Driving motor; 83. Connecting rod; 9. Point cloud information processor; 10. Through hole; 11. Piston; 12. Support rod; 13. Annular part; 14. Sealing ring; 15. Round hole; 16. Ball; 17. Buffer pad. DETAILED DESCRIPTION
[0025] The utility model is further described in detail below in conjunction with the accompanying drawings.
[0026] Example:
[0027] Reference Figure 1 - Figure 6The utility model discloses a UAV radar device for collecting point cloud of wind turbine, comprising a UAV body 1 and a radar body 2, wherein a connecting column 3 is fixedly connected to the bottom of the UAV body 1, a connecting sleeve 4 is sleeved on the bottom of the connecting column 3, a shock absorbing part 5 formed by a plurality of protrusions is arranged in a circular array on the inner side wall of the connecting sleeve 4, a shock absorbing groove 6 for connecting the shock absorbing part 5 is opened on the outer side wall of the connecting column 3, a spring 7 connected to the shock absorbing groove 6 is arranged on the top and bottom of the shock absorbing part 5, the bottom of the connecting sleeve 4 is connected to the radar body 2 through a driving member 8, and a point cloud information processor 9 is connected to the top of the radar body 2.
[0028] In this embodiment, when in use, the radar body 2 is installed on the driving part 8, and then the drone body 1 is started, and the radar body 2 is lifted into the air by the drone body 1, and then the radar body 2 is used to send out a laser signal. Finally, the reflected laser signal is processed by the point cloud information processor 9, and the three-dimensional coordinate information and distance information of the target object in front are calculated in combination with the IMU, odometer, GNSS and other information.
[0029] However, because the height of the wind turbine is relatively large, the radar body 2 cannot generate the digital model of the wind turbine at one time through the point cloud information processor 9, so the drone body 1 needs to change multiple points to collect data from multiple sides of the wind turbine to improve the accuracy of the model generation of the wind turbine. However, as the height of the drone body 1 changes, the search range of the radar body 2 installed at the bottom of the drone body 1 will also change, affecting the data collection of the wind turbine by the radar body 2. Therefore, a driving member 8 is connected to the bottom of the connecting sleeve 4, and the driving member 8 can be used to rotate the radar body 2 and adjust the search angle of the radar body 2, so that the search area of the radar body 2 can cover more of the surface of the wind turbine, thereby improving the data collection efficiency of the radar body 2, and speeding up the speed of the point cloud information processor 9 to generate a three-dimensional model.
[0030] Because when the drone body 1 is flying, the propeller of the drone body 1 rotates at high speed and generates vibration, so that the radar body 2 follows the vibration, resulting in a slight offset in the landing point when the laser signal returns, which causes the point cloud information processor 9 to have a large error when analyzing the point cloud information, affecting the generation accuracy of the three-dimensional digital model of the wind turbine. Therefore, a shock absorbing part 5 is provided on the inner wall of the connecting sleeve 4, and a shock absorbing groove 6 connected to the shock absorbing part 5 is opened on the outer wall of the connecting column 3, and the shock absorbing groove 6 is in contact with the top and bottom of the shock absorbing part 5 through a spring 7, so that when the vibration generated by the propeller of the drone body 1 rotates at high speed is transmitted to the connecting column 3, the vibration of the connecting column 3 will preferentially squeeze the spring 7, and the elastic force of the spring 7 can absorb the impact during the vibration, thereby reducing the impact force during the vibration, so that it cannot be transmitted to the connecting sleeve 4 to affect the detection accuracy of the radar body 2.
[0031] In a further preferred embodiment of the present invention, Figure 4 and Figure 5 As shown, a through hole 10 is opened on the top of the shock absorbing part 5 from top to bottom, and a piston 11 is slidably connected in the through hole 10. The top and bottom of the piston 11 are fixedly connected with a support rod 12. The support rod 12 passes through the corresponding spring 7 and is fixedly connected to the inner wall of the shock absorbing groove 6.
[0032] In this embodiment, because the shock absorbing part 5 is arranged in the shock absorbing groove 6, and the shock absorbing part 5 and the shock absorbing groove 6 need to be able to slide, a gap will be generated between the shock absorbing part 5 and the shock absorbing groove 6, so that the connection sleeve 4 and the connection column 3 can shake slightly, which will affect the stability of the radar body 2, so the observation Figure 5 It can be found that a through hole 10 is provided in the shock absorbing part 5, and a piston 11 is slidably connected in the through hole 10, and a support rod 12 is connected to the top and bottom of the piston 11. Figure 4 It can be found that the end of the support rod 12 away from the piston 11 is connected to the inner wall of the shock absorbing groove 6, and the piston 11 is fixed by the support rod 12, and then the through hole 10 is restricted by the piston 11, so that the shock absorbing part 5 is more stable when sliding in the shock absorbing groove 6, which can avoid shaking between the connecting column 3 and the connecting sleeve 4, and improve the stability of the radar body 2 after installation.
[0033] In a further preferred embodiment of the present invention, Figure 5 As shown, an annular portion 13 is protruded from the top and bottom openings of the inner wall of the through hole 10 , and a sealing ring 14 is connected to the inner wall of the annular portion 13 . The side of the sealing ring 14 away from the annular portion 13 contacts the support rod 12 .
[0034] In this embodiment, because the radar body 2 uses the spring 7 to buffer the vibration, the radar body 2 is prevented from shaking. However, the spring 7 will bounce back after being compressed, so it will apply thrust to the shock absorbing part 5, resulting in a small part of the vibration still being transmitted to the radar body 2, making it impossible for the spring 7 to completely absorb the vibration.
[0035] So observe Figure 5 It can be found that an annular portion 13 is provided at the top and bottom openings of the through hole 10, and a sealing ring 14 is provided between the inner wall of the annular portion 13 and the support rod 12, so that the space in the through hole 10 can form a closed cavity. Then, when the connecting column 3 shakes, the shock absorbing groove 6 will swing up and down with the support rod 12, thereby causing the piston 11 to swing up and down. Because the through hole 10 is sealed, the medium in the through hole 10 can only flow slowly through the gap between the piston 11 and the inner wall of the through hole 10, so that the medium in the through hole 10 provides a damping effect on the piston 11. The piston 11 and the support rod 12 can provide another buffer for the shock absorbing portion 5, and can also provide resistance when the spring 7 shakes to prevent the spring 7 from shaking, thereby further improving the shock absorbing effect of the radar body 2, so that when the radar body 2 receives the reflected laser signal, the landing point of the laser signal will not be offset, thereby improving the three-dimensional digital model generation accuracy of the point cloud information processor 9.
[0036] In a further preferred embodiment of the present invention, Figure 5 As shown, at least two groups of circular holes 15 are formed in an annular array on the top of the piston 11 , and the circular holes 15 are away from the support rod 12 .
[0037] In this embodiment, because the piston 11 itself needs to provide support for the inner wall of the through hole 10 to make the sliding of the shock absorbing part 5 more stable, the gap between the piston 11 and the through hole 10 is very small, resulting in a very large damping force when the piston 11 slides in the through hole 10, which affects the vibration absorption effect.
[0038] Therefore, at least two groups of circular holes 15 are opened on the top of the piston 11, which can increase the passable cross-section when the medium flows in the through hole 10, thereby reducing the damping force, so that the piston 11 can better absorb the impact generated by the vibration when sliding in the through hole 10.
[0039] In a further preferred embodiment of the present invention, Figure 3 and Figure 5 As shown, a plurality of balls 16 are disposed on the outer side wall of the shock absorbing portion 5 , and the side of the balls 16 away from the shock absorbing portion 5 contacts the inner side wall of the shock absorbing groove 6 .
[0040] In this embodiment, when the shock absorbing part 5 is in direct contact with the shock absorbing groove 6, the contact area is larger, so that the friction force received by the shock absorbing part 5 when sliding in the shock absorbing groove 6 increases, and the vibration is transmitted to the shock absorbing part 5 through the contact surface, resulting in the deterioration of the shock absorbing effect of the spring 7 and the piston 11. Therefore, a plurality of balls 16 are arranged on the outer wall of the shock absorbing part 5, and the shock absorbing part 5 is in contact with the shock absorbing groove 6 through the balls 16, which can effectively reduce the contact area between the shock absorbing part 5 and the shock absorbing groove 6, thereby reducing the transmission of force, and the rolling friction of the balls 16 can also reduce the friction when the shock absorbing part 5 slides, so that the impact force generated by the vibration can contact the spring 7 and the piston 11 more, which can effectively improve the shock absorbing performance.
[0041] In a further preferred embodiment of the present invention, Figure 4 As shown, a buffer pad 17 is fixedly connected to the inner bottom wall of the connecting sleeve 4 , and the top of the buffer pad 17 contacts the bottom of the connecting column 3 .
[0042] In this embodiment, by connecting a buffer pad 17 to the bottom of the connecting sleeve 4, the impact generated when the connecting column 3 shakes can be absorbed, further preventing the connecting column 3 from directly contacting the connecting sleeve 4 when shaking, thereby providing multi-layer shock-absorbing protection for the radar body 2, further improving the stability of the radar body 2 during operation.
[0043] In a further preferred embodiment of the present invention, Figure 2 As shown, the driving member 8 includes a disc motor 81, a driving motor 82 and a connecting rod 83. The output shaft of the disc motor 81 is fixedly connected to the bottom of the connecting sleeve 4. The outer side wall of the disc motor 81 is symmetrically connected to two connecting rods 83. The two connecting rods 83 are connected to the radar body 2 through a rotating shaft. One of the connecting rods 83 is fixedly connected to the driving motor 82 on the side away from the radar body 2, and the output shaft of the driving motor 82 is connected to the corresponding rotating shaft.
[0044] In this embodiment, because the radar body 2 will change the search area as the height of the drone body 1 rises, when the drone body 1 flies to a relatively high area, the irradiated area of the wind turbine in the search area of the radar body 2 will be reduced, resulting in a worse search effect of the radar body 2. Therefore, a disc motor 81 is provided at the bottom of the connecting sleeve 4, and both sides of the disc motor 81 are rotatably connected to the radar body 2 through connecting rods 83, and the side wall of one of the connecting rods 83 is connected to the driving motor 82, so that when the search angle of the radar body 2 needs to be adjusted, the pitch angle can be adjusted by driving the motor 82 to rotate the radar body 2 along the horizontal axis, which can make the use of the radar body 2 more convenient.
[0045] When the horizontal angle of the radar body 2 needs to be adjusted, the disc motor 81 can be rotated to rotate the radar body 2 along the vertical axis, so that the search area of the radar body 2 is wider.
[0046] The embodiments of this specific implementation method are all preferred embodiments of the utility model, and are not intended to limit the protection scope of the utility model. Therefore, all equivalent changes made based on the structure, shape, and principle of the utility model should be included in the protection scope of the utility model.
Claims
1. A drone radar device for collecting wind turbine point clouds, comprising a drone body (1) and a radar body (2), characterized in that: The bottom of the drone body (1) is fixedly connected to a connecting column (3), the bottom of the connecting column (3) is sleeved with a connecting sleeve (4), the inner side wall of the connecting sleeve (4) is provided with a plurality of shock absorbing parts (5) formed by protrusions in an annular array, the outer side wall of the connecting column (3) is provided with a shock absorbing groove (6) for connecting the shock absorbing part (5), the top and bottom of the shock absorbing part (5) are both provided with springs (7) connected to the shock absorbing groove (6), the bottom of the connecting sleeve (4) is connected to the radar body (2) via a driving member (8), and the top of the radar body (2) is connected to a point cloud information processor (9).
2. The UAV radar device for wind turbine point cloud acquisition according to claim 1 is characterized in that: A through hole (10) is provided on the top of the shock absorbing portion (5) from top to bottom, a piston (11) is slidably connected in the through hole (10), a support rod (12) is fixedly connected to the top and bottom of the piston (11), and the support rod (12) passes through the corresponding spring (7) and is fixedly connected to the inner wall of the shock absorbing groove (6).
3. The UAV radar device for wind turbine point cloud acquisition according to claim 2 is characterized in that: The top and bottom openings of the inner side wall of the through hole (10) are both raised to form an annular portion (13), the inner side wall of the annular portion (13) is connected to a sealing ring (14), and the side of the sealing ring (14) away from the annular portion (13) is in contact with the support rod (12).
4. The drone radar device for wind turbine point cloud acquisition according to claim 3 is characterized in that: At least two groups of circular holes (15) are formed in an annular array on the top of the piston (11), and the circular holes (15) are arranged away from the support rod (12).
5. The drone radar device for wind turbine point cloud acquisition according to claim 1, characterized in that: The outer side wall of the shock absorbing portion (5) is provided with a plurality of rolling balls (16), and the side of the rolling balls (16) away from the shock absorbing portion (5) is in contact with the inner side wall of the shock absorbing groove (6).
6. The drone radar device for wind turbine point cloud acquisition according to claim 1, characterized in that: A buffer pad (17) is fixedly connected to the inner bottom wall of the connecting sleeve (4), and the top of the buffer pad (17) is in contact with the bottom of the connecting column (3).
7. The drone radar device for wind turbine point cloud acquisition according to claim 1, characterized in that: The driving member (8) comprises a disk motor (81), a driving motor (82) and a connecting rod (83); the output shaft of the disk motor (81) is fixedly connected to the bottom of the connecting sleeve (4); the outer side wall of the disk motor (81) is symmetrically connected to two connecting rods (83); the two connecting rods (83) are connected to the radar body (2) via a rotating shaft; the driving motor (82) is fixedly connected to a side of one of the connecting rods (83) away from the radar body (2); and the output shaft of the driving motor (82) is connected to the corresponding rotating shaft.