Unmanned aerial vehicle arbor canopy sampling system mounting device

Abstract

The utility model discloses an unmanned aerial vehicle arbor canopy sampling system mounting device which comprises an unmanned aerial vehicle body, a mounting plate, a throwing device, a connecting piece, a universal ball head A, a universal ball head B, a mechanical arm, a mechanical claw and a control system. The mounting plate is fixed to undercarriages on the two sides of the unmanned aerial vehicle body, the bottom of the mounting plate is connected with the throwing device, the throwing device is connected with the connecting piece, the other end of the connecting piece is connected with the universal ball head A, the other end of the universal ball head A is connected with the universal ball head B, the other end of the universal ball head B is connected with the mechanical arm, and the mechanical claw is arranged on a foot stool on one side of the unmanned aerial vehicle body. An independent control system is adopted, when the unmanned aerial vehicle flies, flexible connection is kept, when sampling is carried out, rigid connection is kept, the sampling posture is controlled and adjusted, and the safety and the high efficiency of the unmanned aerial vehicle during arbor canopy sampling are improved.

Description

Technical Field

[0001] The utility model relates to a mechanical structure device, in particular to a mounting device for an unmanned aerial vehicle (UAV) arbor canopy sampling system. Background Art

[0002] Arbor canopy sampling is widely used. Since arbors are relatively tall, it is difficult for humans to reach. Moreover, in dangerous areas such as mountains and river valleys, manual sampling is not only inefficient but also very dangerous. Due to its non-contact, lightweight, flexible, low-cost, and ability to carry different types of equipment, UAVs are widely used. However, due to the lack of a reliable and safe mounting platform, it is currently impossible to effectively implement field scenario arbor canopy sampling using UAVs. Content of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide a mounting device for an arbor canopy sampling system for UAVs, which adopts a separate control system. When the UAV is flying, a flexible connection is maintained, and when sampling, a quasi-rigid connection is maintained to control and adjust the sampling attitude, ensuring the safety and efficiency of the UAV during arbor canopy sampling.

[0004] To solve the above technical problem, the utility model provides a mounting device for an arbor canopy sampling system for UAVs, including: a UAV body, a mounting plate, a catapult, a connecting member, a universal ball head A and a universal ball head B, a robotic arm, a robotic claw, and a control system; the mounting plate is fixed on the landing gears on both sides of the UAV body, and the bottom is connected to the catapult. The catapult is connected to the connecting member, and the other end of the connecting member is connected to the universal ball head A. The other end of the universal ball head A is connected to the universal ball head B. The other end of the universal ball head B is connected to the robotic arm. The robotic claw is arranged on the outrigger on one side of the UAV body; the battery, electronic speed controller (ESC), and receiver of the control system are all fixed on the mounting plate with cable ties. The battery is connected to the ESC through a T-shaped plug, and the signal line on the same side of the ESC is connected to the receiver.

[0005] Preferably, the catapult is installed at the center of gravity of the bottom of the mounting plate, bearing all the weights of the safety mounting device and the sampler.

[0006] Preferably, the servo-driven pin of the catapult is connected to the hole of the connecting member. The width of the middle part of the connecting member is the same as the opening degree of the catapult, and they are connected by direct insertion.

[0007] Preferably, the universal ball head B is connected to the robotic arm through a rubber gasket.

[0008] Preferably, the universal ball head A and the universal ball head B are selected as ball head pan-tilt heads with adjustable screw rod torque and bottom light holes, and the material is stainless steel.

[0009] Preferably, the robotic claw is fixed to the carbon fiber rod on one side of the tripod of the UAV body through a carbon fiber rod and is driven by a digital servo.

[0010] Preferably, the control system is connected to the electronic speed controller through a battery, and the other side of the electronic speed controller is connected to the receiver. The required thrower and the robotic claw are connected to the receiver and are remotely controlled through a remote controller.

[0011] Preferably, the control remote controller closes the robotic claw, so that the robotic arm carrying the sampler forms a rigid connection with the UAV body, which is convenient for fine-tuning the attitude of the sampler, preventing the sampler from touching the canopy sample and changing the attitude due to the interaction of forces, and unable to complete the precise clamping and cutting actions; if the UAV shakes or sways slightly during the fine-tuning of the attitude, immediately open and fix the robotic claw to restore the entire device from a rigid connection to a flexible connection, remove the torque, and gradually return to a stable state.

[0012] The beneficial effects of the present utility model are as follows: (1) The present utility model is provided with a load-bearing plate, so that all the weights of the safety mounting device and the sampling device are borne thereon, avoiding direct installation on the battery mounting plate, which causes it to be deformed by force, resulting in an unstable battery position, an offset of the center of gravity of the UAV, and spin-up during takeoff, posing a safety hazard; (2) The present utility model is provided with a thrower. When the UAV carrying the sampling device encounters a situation that cannot be controlled and corrected, for example, the UAV carrying the device experiences large oscillations due to sudden strong winds and other factors during flight, exceeding the correctable range, or the sampling device is hooked on a tree during sampling and cannot be detached, etc., the thrower is immediately opened to separate the UAV body from the mounting device and the sampling device, thereby primarily ensuring the safety of the UAV body and reducing cost losses; (3) The present utility model is provided with 2 universal ball heads, which have high degrees of freedom, so that the UAV does not need to be placed on a high platform before takeoff, and only needs to be placed parallel to the ground for takeoff, greatly improving convenience. In addition, during the flight stage of the UAV carrying the device in the air, since the universal ball heads are flexibly connected, the torque generated by forward, backward, leftward, and rightward movements can be well removed, improving safety; (4) The present utility model is provided with an electric robotic claw rigidly connected to the UAV body. When the UAV carrying the sampling device flies directly above the target sample, the electric robotic claw closes and grabs the robotic arm, so that the robotic arm and the UAV as a whole maintain a rigid connection movement, achieving the purpose of controllable direction of the entire device and improving the accuracy and reliability of the sampling action; (5) The present utility model adopts a mechanical connection, which can be quickly disassembled and assembled, facilitating transportation. Description of the Drawings

[0013] Figure 1 It is a schematic structural diagram of the device of the present utility model.

[0014] Figure 2 It is a top view of the UAV body structure of the present utility model.

[0015] Figure 3 The top view of the mounting board, the throwing device, and the universal ball head used in the present utility model.

[0016] Figure 4 Schematic diagram of the control system of the present utility model.

[0017] Among them, 1. UAV body; 2. Mounting board; 3. Throwing device; 4. Connecting piece; 5. Universal ball head A; 6. Universal ball head B; 7. Robot arm; 8. Robot claw; 9. Tee joint A; 10. Tee joint B; 11. Tee joint C; 12. Carbon fiber rod A; 13. Carbon fiber rod B; 14. Plug; 15. Hole; 16: Sponge tape; 17. Battery; 18. Electronic speed controller; 19. Receiver. Specific embodiments

[0018] As Figure 1 shown, a mounting device for a UAV tree canopy sampling system includes: UAV body 1, mounting board 2, throwing device 3, connecting piece 4, universal ball head A 5, universal ball head B 6, robot arm 7, fixed robot claw 8, tee joint A 9, tee joint B 10, tee joint C 11, carbon fiber rod A 12, and carbon fiber rod B 13. The mounting board 2 is fixed on both landing gears of the UAV body 1, and is connected to the throwing device 3 at the bottom. The throwing device 3 is connected to the connecting piece 4, the other end of the connecting piece 4 is connected to the universal ball head A 5, the other end of the universal ball head A 5 is connected to the universal ball head B 6, the other end of the universal ball head B 6 is connected to the robot arm 7, and the robot claw 8 is arranged on one side leg of the UAV body 1. The specific connection method is that the tee joint A 9 and the tee joint B 10 control the height of the robot claw 8, and are connected through the carbon fiber rod A 12 in the middle. A tee joint C 11 is arranged in the middle of the carbon fiber rod A 12, and the other end of the tee joint C 11 is connected to the robot claw 8 through the carbon fiber rod B 13.

[0019] As Figure 2 shown, the rotary-wing UAV of the present utility model, compared with a fixed-wing aircraft or a flapping-wing aircraft, can complete flight tasks such as vertical takeoff and landing and hovering, has better maneuverability, and the rotary-wing aircraft is easy to operate and has higher flight safety. The load-bearing board is fixed on both side legs of the UAV body 1 through screws and anti-slip nuts.

[0020] As Figure 3As shown in the figure, a thrower 3 driven by a digital servo is provided at the bottom of the center of gravity of the load-bearing plate 2. The thrower 3 is connected to the hole 15 on the connecting member 4 through the bolt 14. Four threaded holes are provided on the base of the connecting member 4 and are connected to the universal ball head A 5 through screws. The universal ball head A 5 is a ball head pan-tilt with adjustable screw rod torque and a smooth hole at the bottom, and the material is stainless steel. The bottom stud is connected to the universal ball head B 6. The bottom stud of the universal ball head is connected to the carbon fiber telescopic rod serving as the robotic arm 7. The robotic arm is telescopic. A layer of sponge tape 16 is wrapped outside the universal ball head B 6.

[0021] The robotic claw 8 is arranged on the leg of one side of the UAV body 1 and forms a rigid connection with the UAV body 1. The legs on both sides of the UAV body 1 are composed of carbon fiber rods. Carbon fiber rods are provided at the same height position of the two rods on one side of the leg. The robotic claw 8 is driven by a digital servo.

[0022] As Figure 4 shown, the other end of the ESC is connected to the R9DS receiver 19. The thrower 3 and the corresponding drive servo wires of the fixed robotic claw 8 are respectively connected to the corresponding channels of the receiver, and kilometer-level remote control is carried out through the remote controller at the ground end.

[0023] The specific operation method of the safety mounting device of the utility model based on the UAV tree canopy sampler is as follows:

[0024] Before the UAV body 1 carrying the device takes off, the robotic arm 7 of the safety mounting device of the utility model carries the tree canopy sampling device and is horizontally placed on the ground through the two universal ball heads 5 and 6. The robotic claw 8 is in an open state, and the UAV takes off. Control the UAV platform 1 to locate at the specific geographical location of the tree sample to be sampled, fine-tune the UAV, and hover the sampler directly above the tree sample to be sampled and the sampling device is in a suitable direction. For example, for the sampling and retrieving device, the grasping device is located at the end of the sample, that is, away from the tree trunk direction, and the cutting device is located near the tree trunk direction, so as to ensure that the sampler can achieve the functions of cutting and sampling and retrieving. Control the remote controller to close the robotic claw 8 tightly, so that the robotic arm 7 carries the sampling device and forms a rigid connection with the UAV body, which is convenient for fine-tuning the attitude of the sampling device and preventing the sampler from touching the canopy sample and changing the attitude due to the interaction of forces, resulting in the inability to complete the precise clamping and cutting actions. If the UAV shakes or sways slightly during the process of fine-tuning the attitude, immediately open the fixed robotic claw 8 to restore the entire device from a rigid connection to a flexible connection, remove the torque, and gradually return to a stable state. If the UAV is out of control and cannot be corrected during this process, for example: the UAV carrying device encounters strong winds during flight and causes large oscillations, exceeding the correctable range, or the sampling device is hooked on a tree during sampling and cannot be detached, etc., immediately open the thrower to separate the UAV body 1 from the mounting device and the sampling device to ensure the safety of the UAV body and reduce cost losses.

Claims

1. An attachment device for an unmanned aerial vehicle tree canopy sampling system, characterized in that include: The unmanned aerial vehicle (1), a mounting plate (2), a thrower (3), a connecting piece (4), a universal ball head A (5), a universal ball head B (6), a mechanical arm (7), a mechanical claw (8) and a control system; the mounting plate (2) is fixed on the landing gears on both sides of the unmanned aerial vehicle (1), the bottom is connected to the thrower (3), the thrower (3) is connected to the connecting piece (4), the other end of the connecting piece (4) is connected to the universal ball head A (5), the other end of the universal ball head A (5) is connected to the universal ball head B (6), the other end of the universal ball head B (6) is connected to the mechanical arm (7), and the mechanical claw (8) is arranged on a tripod on one side of the unmanned aerial vehicle (1); the battery (17), the electric regulator (18) and the receiver (19) of the control system are all fixed on the mounting plate (2) by using a cable tie, the battery (17) is connected to the electric regulator (18) through a T-type plug, and the signal line on the same side of the electric regulator (18) is connected to the receiver (19).

2. The mounting device of an unmanned aerial vehicle tree canopy sampling system according to claim 1, wherein The thrower (3) is installed at the center of gravity of the bottom of the mounting plate (2) and bears all the weight of the mounting device and the sampler.

3. The mounting device of an unmanned aerial vehicle tree canopy sampling system according to claim 1, characterized in that The steering gear driving latch (14) of the thrower (3) is connected to the hole (15) of the connecting piece (4), the width of the middle part of the connecting piece (4) is consistent with the opening of the thrower (3), and the connection is made by direct insertion.

4. The mounting device of an unmanned aerial vehicle tree canopy sampling system according to claim 1, characterized in that, The universal ball head B (6) is connected to the mechanical arm (7) via a rubber gasket.

5. The mounting device of an unmanned aerial vehicle tree canopy sampling system according to claim 1, characterized in that, Universal ball head A (5) and universal ball head B (6) are ball head heads with adjustable screw rod torque and bottom apertures, and are made of stainless steel.

6. The mounting device of a drone arbor canopy sampling system according to claim 1, wherein, The mechanical claw (8) is fixed to a carbon fiber rod of a tripod on one side of the drone body (1) through a carbon fiber rod and a three-way adapter, and is driven by a digital steering gear.

7. The mounting device of an unmanned aerial vehicle tree canopy sampling system according to claim 1, characterized in that, The control system is connected to an electric regulator (18) via a battery (17), the same side of the electric regulator (18) is connected to a receiver (19), the required throwing device (3) and the mechanical claw (8) are connected to the receiver, and are remotely operated and controlled via a remote controller.

8. The mounting device of a drone arbor canopy sampling system according to claim 1, characterized in that, Control the remote controller to tightly close the mechanical claw (8), so that the mechanical arm (7) carrying the sampler forms a rigid connection with the drone body (1), facilitating fine-tuning of the sampler's posture; If the drone shakes or swings slightly during the process of fine-tuning the attitude, the fixed mechanical claw (8) is immediately opened to restore the entire device from a rigid connection to a flexible connection, unload the torque, and gradually restore the stable state.

Images