RTK positioning device and unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicle positioning, and discloses an RTK positioning device and an unmanned aerial vehicle. An adjusting assembly used for installation is arranged at the bottom of the installation base and comprises a locking part and a sliding part, the sliding part is in sliding connection with the installation base, the locking part is in sliding connection with the sliding part, the sliding part and the locking part are locked and fixed through a bolt, the sliding part slides in the X-axis direction along the installation base, and the locking part slides in the Z-axis direction along the sliding part. The locking part is locked and fixed through the bolt, and then the mounting seat, the locking part and the locking part are pressed tightly through another bolt, so that the mounting position of the mounting seat is locked, the mounting position of the antenna can be adjusted within a certain range, the mounting position is flexible, more reasonable layout can be achieved, the adjusting range is wide, locking is easy and convenient, and the mounting seat is convenient to use. The operation is easy.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle positioning, in particular to an RTK positioning device and a unmanned aerial vehicle. Background Art

[0002] The prior art discloses a positioning correction and compensation device for RTK and PPK systems of unmanned aerial vehicles (CN202023227314.5), in which the RTK / PPK antenna is installed on a platform provided with a pitch axis servo motor and a roll axis servo motor, and the pitch axis servo motor and the roll axis servo motor are used to correct and compensate the pitch angle and roll angle of the unmanned aerial vehicle during aerial photography, and the projection of the phase center of the RTK / PPK antenna and the optical center of the camera lens are corrected and compensated in real time to obtain high-precision POS information collection of aerial photos;

[0003] The prior art adjusts the illumination angle of the antenna by rotating in two axes to achieve angle compensation during the flight of the UAV, and the platform for installing the antenna is fixedly connected to the UAV, and the installation position is fixed. The fixed position installation method causes the center of gravity of the UAV to change after the entire device is installed, which has a certain impact on the flight, and the hole position of the UAV for installing the platform is fixed. Therefore, it is necessary to optimize the platform structure for installing the antenna so that the installation position can be adjusted within a certain range to adjust the center of gravity position.

[0004] To this end, we propose an RTK positioning device and a UAV. Utility Model Content

[0005] The utility model mainly solves the technical problems existing in the above-mentioned prior art and provides an RTK positioning device and a UAV.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an RTK positioning device and an unmanned aerial vehicle, comprising a mounting seat; a first flip body rotatably connected to the mounting seat; a second flip body rotatably connected to the first flip body, an antenna being fixedly installed on the top of the second flip body, motors being installed on the walls of the mounting seat and the first flip body respectively for driving the first flip body and the second flip body to rotate and adjust the angle of the antenna, an adjustment component for installation is provided at the bottom of the mounting seat, the adjustment component comprises a locking part and a sliding part, the sliding part is slidably connected to the mounting seat, the locking part is slidably connected to the sliding part, the sliding part and the locking part are locked and fixed by bolts, and the locking part and the sliding part can slide along two intersecting axes to adjust the position of the mounting seat.

[0007] As a preferred embodiment of the utility model, the adjustment component also includes a first adjustment channel and a second adjustment channel, the first adjustment channel and the second adjustment channel are opened on the bottom surface of the mounting seat, the sliding part slides in the first adjustment channel, and the locking part slides in the second adjustment channel.

[0008] As a preferred embodiment of the utility model, the first adjustment channel forms a rectangular notch, the sliding portion and the first adjustment channel cooperate with each other, two first adjustment channels are opened in parallel on the bottom surface of the mounting seat, and a sliding portion is slidably connected in each first adjustment channel.

[0009] As a preferred embodiment of the utility model, the second adjustment channel is a rectangular groove, the mounting seat and the bottom of the sliding portion jointly open the second adjustment channel, the width of the locking portion is smaller than the width of the second adjustment channel, and the length of the locking portion is greater than the mounting seat and extends to the side of the mounting seat.

[0010] As a preferred embodiment of the utility model, the adjustment component also includes a limit groove, the wall surfaces of the locking part and the sliding part are provided with a limit groove, the limit groove is a rectangular groove, and the top surface of the mounting seat is provided with another two limit grooves parallel to each other.

[0011] As a preferred embodiment of the present invention, the top and bottom surfaces of the sliding portion are provided with teeth, the top surface of the locking portion and the bottom surface of the mounting seat are provided with teeth, and the teeth of the top and bottom surfaces of the sliding portion are cross-distributed.

[0012] A drone comprises a frame, the top of which is provided with all the above-mentioned RTK positioning devices, and the locking part is fixed to the top of the frame by bolts.

[0013] Beneficial Effects

[0014] The utility model provides an RTK positioning device and a UAV, which have the following beneficial effects:

[0015] 1. The RTK positioning device and the UAV are provided with a locking part and a sliding part which are cross-distributed. The sliding part slides along the mounting seat in the X-axis direction, and the locking part slides along the sliding part in the Z-axis direction. The locking part is locked and fixed by a bolt, and then the mounting seat, the locking part and the locking part are pressed by another bolt to lock the mounting position of the mounting seat, so that the mounting position of the antenna can be adjusted within a certain range, and the mounting position has a flexible installation position, which can be more reasonably laid out, has a wide adjustment range, is simple to lock, and is easy to operate.

[0016] 2. The RTK positioning device and the UAV are provided with teeth and tooth openings. When the bolts press the mounting seat, the sliding part and the locking part, the teeth and tooth openings are engaged with each other, which can suppress relative slippage, have better installation stability, and effectively suppress relative displacement.

[0017] 3. By setting the above-mentioned RTK positioning device, a certain degree of adjustability is achieved during the installation process. The entire device can adjust the installation position within a certain range, thereby adjusting the center of gravity of the entire frame, making the overall layout more reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is one of the three-dimensional diagrams of the utility model;

[0019] Figure 2 This is the second stereogram of the utility model;

[0020] Figure 3 This is a bottom-up stereogram of the mounting base of the utility model;

[0021] Figure 4 This is one of the three-dimensional diagrams of the locking portion and the sliding portion of the utility model;

[0022] Figure 5 This is the second stereoscopic view of the locking part and the sliding part of the utility model.

[0023] Legend: 10. Mounting seat; 11. First flip body; 12. Second flip body; 13. Antenna; 20. Locking portion; 21. Sliding portion; 22. First adjustment channel; 23. Second adjustment channel; 30. Limiting groove. DETAILED DESCRIPTION

[0024] A RTK positioning device and a UAV, such as Figure 1 and Figure 2As shown, it includes a mounting seat 10; a first flip body 11 rotatably connected to the mounting seat 10; a second flip body 12 rotatably connected to the first flip body 11, an antenna 13 is fixedly installed on the top of the second flip body 12, and motors are installed on the walls of the mounting seat 10 and the first flip body 11 respectively for driving the first flip body 11 and the second flip body 12 to rotate and adjust the angle of the antenna 13, and a protrusion is fixedly connected to the top surface of the mounting seat 10, the first flip body 11 and the second flip body 12 are both U-shaped rod structures, the first flip body 11 is rotatably connected to the protrusion along the X-axis direction, the second flip body 12 is rotatably connected to the first flip body 11 along the Z-axis direction, and the protrusion and the wall of the first flip body 11 are fixedly installed A servo motor is installed, and the first flip body 11 and the second flip body 12 are fixedly connected to the output shaft of the motor respectively, so as to adjust the angle of the antenna 13 in two axes. Of course, the top surface of the mounting seat 10 should also be installed with an IMU sensor and a computing unit module. The antenna 13 is compensated for the pitch angle and roll angle of the drone during aerial photography by the pitch axis servo motor and the roll axis servo motor. The projection of the phase center of the antenna 13 and the optical center of the camera lens are corrected and compensated in real time, so that the phase center of the antenna 13 is kept directly above the optical center of the camera lens, and high-precision POS information collection of aerial photos is obtained. The specific control method and connection method have been disclosed in detail in the prior art, so they will not be repeated here.

[0025] like Figure 2 , Figure 3 and Figure 4As shown, the bottom of the mounting seat 10 is provided with an adjustment component for installation, the adjustment component includes a locking portion 20 and a sliding portion 21, the sliding portion 21 is slidably connected to the mounting seat 10, the locking portion 20 is slidably connected to the sliding portion 21, the sliding portion 21 and the locking portion 20 are locked and fixed by bolts, the locking portion 20 and the sliding portion 21 can slide along two intersecting axial directions to adjust the position of the mounting seat 10, the adjustment component also includes a first adjustment channel 22 and a second adjustment channel 23, the bottom surface of the mounting seat 10 is provided with the first adjustment channel 22 and the second adjustment channel 23, the sliding portion 21 is in the first adjustment channel 2 2, the locking portion 20 slides in the second adjustment channel 23, the first adjustment channel 22 forms a rectangular notch, the sliding portion 21 and the first adjustment channel 22 are used in conjunction with each other, the bottom surface of the mounting seat 10 is parallel to the two first adjustment channels 22, each first adjustment channel 22 is slidably connected to a sliding portion 21, the second adjustment channel 23 is a rectangular groove, the mounting seat 10 and the bottom of the sliding portion 21 are jointly provided with the second adjustment channel 23, the width of the locking portion 20 is smaller than the width of the second adjustment channel 23, the length of the locking portion 20 is greater than the mounting seat 10 and extends to the side of the mounting seat 10, the adjustment The joint assembly also includes a limiting groove 30. The wall surfaces of the locking portion 20 and the sliding portion 21 are both provided with the limiting groove 30. The limiting groove 30 is a rectangular groove. The top surface of the mounting seat 10 is provided with two other limiting grooves 30 parallel to each other. In this embodiment, by arranging the locking portion 20 and the sliding portion 21 distributed in a cross, the sliding portion 21 slides along the mounting seat 10 in the X-axis direction, and the locking portion 20 slides along the sliding portion 21 in the Z-axis direction. The locking portion 20 is locked and fixed by a bolt, and then the mounting seat 10, the locking portion 20 and the locking portion 20 are pressed by another bolt to achieve the mounting seat 10. The installation position is locked, so that the installation position of the antenna 13 can be adjusted within a certain range, with a flexible installation position, so that a more reasonable layout can be achieved. Specifically, two bolts need to be passed through the limiting grooves 30 on the wall of the locking part 20 and locked with the mounting holes of the rack. After adjusting the positions of the mounting seat 10 and the sliding part 21, the bolts are passed through the limiting grooves 30 of the mounting seat 10, the locking part 20 and the sliding part 21 and fastened with nuts, so that the mounting seat 10, the sliding part 21 and the locking part 20 are pressed against each other to fix the position of the mounting seat 10. The adjustment range is wide, the locking is simple, and the operation is easy.

[0026] The top and bottom surfaces of the sliding portion 21 are both provided with teeth, the top surface of the locking portion 20 and the bottom surface of the mounting seat 10 are both provided with teeth, and the teeth of the top and bottom surfaces of the sliding portion 21 are cross-distributed. By setting the teeth and the teeth, when the bolts press the mounting seat 10, the sliding portion 21 and the locking portion 20, the teeth and the teeth are engaged with each other, which can suppress relative sliding, have better installation stability, and effectively suppress relative displacement.

[0027] A drone comprises a frame, the top of which is provided with all the above-mentioned RTK positioning devices, a locking portion 20 is fixed to the top of the frame by bolts, a threaded hole is provided on the top surface of the frame to lock the bolts passing through the locking portion 20, thereby achieving locking of the locking portion 20, and by providing the above-mentioned RTK positioning device, a certain degree of adjustability is achieved during the installation process, the entire device can adjust the installation position within a certain range, and then the center of gravity position of the entire frame can be adjusted, so that the overall layout is more reasonable.

[0028] The working principle of the utility model is as follows: two bolts are passed through the limit grooves 30 on the wall of the locking part 20 and locked with the mounting holes of the frame, the sliding part 21 slides along the mounting seat 10 and in the first adjustment channel 22, and the locking part 20 slides along the sliding part 21 in the second adjustment channel 23, and another bolt is used to press the mounting seat 10, the locking part 20 and the locking part 20 to achieve locking of the mounting position of the mounting seat 10, so that the mounting position of the antenna 13 can be adjusted within a certain range, and the position of the mounting seat 10 is adjusted to adjust the center of gravity of the body.

[0029] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An RTK positioning device, comprising a mounting seat (10); a first flip body (11) rotatably connected to the mounting seat (10); a second flip body (12) rotatably connected to the first flip body (11), an antenna (13) being fixedly mounted on the top of the second flip body (12), and motors being mounted on the walls of the mounting seat (10) and the first flip body (11) respectively for driving the first flip body (11) and the second flip body (12) to rotate and adjust the angle of the antenna (13), characterized in that: The bottom of the mounting seat (10) is provided with an adjustment component for mounting, and the adjustment component comprises a locking portion (20) and a sliding portion (21); the sliding portion (21) is slidably connected to the mounting seat (10); the locking portion (20) is slidably connected to the sliding portion (21); the sliding portion (21) and the locking portion (20) are locked and fixed by bolts; the locking portion (20) and the sliding portion (21) can slide along two intersecting axial directions to adjust the position of the mounting seat (10).

2. The RTK positioning device according to claim 1, characterized in that: The adjustment assembly further comprises a first adjustment channel (22) and a second adjustment channel (23); the first adjustment channel (22) and the second adjustment channel (23) are provided on the bottom surface of the mounting seat (10); the sliding portion (21) slides in the first adjustment channel (22); and the locking portion (20) slides in the second adjustment channel (23).

3. The RTK positioning device according to claim 2, characterized in that: The first adjustment channel (22) forms a rectangular notch, the sliding portion (21) and the first adjustment channel (22) are used in conjunction with each other, two first adjustment channels (22) are arranged in parallel on the bottom surface of the mounting seat (10), and a sliding portion (21) is slidably connected in each first adjustment channel (22).

4. The RTK positioning device according to claim 2, characterized in that: The second adjustment channel (23) is a rectangular groove; the second adjustment channel (23) is jointly formed at the bottom of the mounting seat (10) and the sliding portion (21); the width of the locking portion (20) is smaller than the width of the second adjustment channel (23); the length of the locking portion (20) is greater than that of the mounting seat (10) and extends to the side of the mounting seat (10).

5. The RTK positioning device according to claim 1, characterized in that: The adjustment component further comprises a limiting groove (30), the wall surfaces of the locking portion (20) and the sliding portion (21) are both provided with the limiting groove (30), the limiting groove (30) is a rectangular groove, and the top surface of the mounting seat (10) is provided with two other limiting grooves (30) parallel to each other.

6. The RTK positioning device according to claim 1, characterized in that: The top and bottom surfaces of the sliding portion (21) are both provided with tooth openings, the top surface of the locking portion (20) and the bottom surface of the mounting seat (10) are both provided with teeth, and the tooth openings of the top and bottom surfaces of the sliding portion (21) are distributed in a cross pattern.

7. An unmanned aerial vehicle, comprising a frame, characterized in that: The top of the frame is provided with the RTK positioning device according to any one of claims 1 to 6, and the locking portion 20 is fixed to the top of the frame by bolts.

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