Light and small unmanned aerial vehicle photogrammetry device

Abstract

The utility model relates to the technical field of photogrammetry devices, and discloses a light and small unmanned aerial vehicle photogrammetry device which comprises an unmanned aerial vehicle body, a photographing device and an undercarriage, the lower end of the unmanned aerial vehicle body is rotatably connected to the photographing device, and the lower end of the photographing device is fixedly connected to the undercarriage. The unmanned aerial vehicle main body comprises a solar panel, four wings and a fuselage, the photographing device comprises a yaw structure, a pitching structure and a rolling structure, and the undercarriage comprises four spring columns and a base. According to the unmanned aerial vehicle, the photographing device realizes multi-axis angle adjustment through the yaw structure, the pitching structure and the rolling structure, and the stability and reliability of flight are ensured through balance weight adjustment and vibration reduction design such as a telescopic rod and a spring column; one-way linkage of the filters is achieved through the ratchet wheel, so that different filters such as infrared filters can be rapidly replaced in education and teaching to simulate thermal imaging analysis, teaching content is greatly enriched, and understanding and interests of students are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of photogrammetry devices, in particular to a light and small unmanned aerial vehicle photogrammetry device. Background Art

[0002] Drones, as unmanned aerial vehicles, are primarily controlled by onboard computer-controlled systems or radio remote controls, offering both safe and efficient operation. Their simple design and relatively low operating costs make them promising for broad application across a wide range of sectors. Drones not only perform tasks comparable to manned aircraft but also demonstrate unique advantages in complex, dangerous, or inaccessible locations. Drones play a crucial role in emergency response, early warning, and monitoring. Drones are increasingly being used in numerous fields, with low-altitude photogrammetry being a key application. Equipped with high-precision cameras, drones are capable of performing precise measurements and photography at low altitudes, providing valuable data support for various engineering projects. However, most lightweight drone photogrammetry systems currently on the market employ fixed, single-structure designs, lacking the necessary flexibility to adapt to diverse angles. This, in turn, impacts user experience and operational efficiency.

[0003] A search revealed an existing patent (publication number: CN205664820U) that discloses a "swing-sweeping low-altitude photogrammetry device based on a lightweight unmanned aerial vehicle. The lower center plate of the lightweight unmanned aerial vehicle is connected to a support plate via a shock-absorbing ball to form a shock-absorbing platform. The center of the shock-absorbing platform is vertically connected to a suspension rod. The upper end of the suspension rod is fixedly connected to a drive motor, which is coaxially connected to a small gear. The small gear meshes with a large gear. The large gear is connected to one end of a rocker arm, and the other end of the rocker arm is connected to one end of a camera base support plate via a roller. The lower end of the suspension rod is vertically movably connected to the center of the camera base support plate, which is connected to an airborne camera. The technical effects of this utility model are: simplifying the structure of current mainstream oblique photogrammetry devices, reducing the weight of the device, increasing operating time, and minimizing wind constraints on continuous angle shooting."

[0004] Although this patented technology uses mechanical connection components such as a rocker arm, a gear set, a shock-absorbing ball and a roller to swing the drone left and right during its movement to capture multiple images within a certain angle, there is a problem of the center of gravity of the drone changing during the swing of the rocker arm, which affects the flight stability of the drone. Therefore, those skilled in the art provide a light and small drone photogrammetry device to solve the problems raised in the above background technology. Utility Model Content

[0005] The purpose of the utility model is to address the shortcomings of the existing technology and propose a light and small unmanned aerial vehicle photogrammetry device. In the device, the drone body uses solar panels to improve endurance, while the four wings provide stable flight. The photography device realizes multi-axis angle adjustment through yaw structure, pitch structure and roll structure. The counterweight adjustment and vibration reduction design such as telescopic rod and spring column ensure the stability and reliability of flight. The one-way linkage of the filter is realized by the ratchet, so that different filters, such as infrared filters for simulated thermal imaging analysis, can be quickly replaced in education and teaching, which greatly enriches the teaching content and improves students' understanding and interest.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A lightweight unmanned aerial vehicle (UAV) photogrammetry device comprises a UAV body, a photographic device, and a landing gear. The lower end of the UAV body is rotatably connected to the photographic device, and the lower end of the photographic device is fixedly connected to the landing gear. The UAV body comprises a solar panel, four wings, and a fuselage. The photographic device comprises a yaw structure, a pitch structure, and a roll structure. The landing gear comprises four spring columns and a base. The yaw structure comprises a first motor, a yaw axis, and a main frame. The pitch structure comprises a second motor, a pitch driving shaft, a pitch driven shaft, two pitch transmission belts, a pitch plate, two telescopic rods, two protective covers, and a vertical plate. The roll structure comprises a third motor, a roll driving shaft, a roll driven shaft, a roll transmission belt, a camera, a filter, and a ratchet.

[0008] Through the above technical solution, the drone body provides flight capability through four wings, and the photographic device provides adjustment of photographic angles in three axes through a yaw structure, a pitch structure, and a roll structure.

[0009] Furthermore, the lower end of the solar panel is fixed to the upper end of the fuselage, the four wings are fixed to the middle of the four corners of the fuselage in a centrally symmetrical manner, the first motor is fixed to the center of the lower end of the fuselage, one end of the yaw axis is fixed to the output end of the first motor, and the center of the upper end of the main frame is fixed to the other end of the yaw axis;

[0010] Through the above technical solution, the solar panel converts solar energy to replenish energy for the device and thus improves the endurance when weather conditions permit. The four wings are arranged in a centrally symmetrical manner to provide the device with stable and strong flight capabilities. The first motor drives the main frame to perform yaw rotation through the yaw axis.

[0011] Furthermore, the pitch driving shaft passes through the center upper position of both side plates of the main frame and is rotatably arranged at the center upper position inside the main frame; the second motor is fixedly arranged at the center position of the pitch driving shaft, and the pitch driving shaft is fixedly connected to the output end of the second motor;

[0012] Through the above technical solution, the second motor drives the pitch active axis to rotate smoothly.

[0013] Furthermore, the pitch driven shaft passes through the center lower position of the two side plates of the main frame and is rotatably arranged at the center lower position inside the main frame, the pitch plate is fixedly arranged at the center position of the pitch driven shaft, and the lower end of the vertical plate is fixedly arranged on the upper surface of the pitch plate near one side edge;

[0014] Through the above technical solution, the pitch plate follows the pitch driven axis to perform pitch adjustment, and the vertical plate follows the pitch plate to perform pitch adjustment.

[0015] Furthermore, the two pitch transmission belts respectively slidably connect the two ends of the pitch active shaft and the pitch driven shaft, the two protective covers are fixedly arranged at the center position of the outer side of the main frame side plate to cover the ends of the pitch active shaft and the pitch driven shaft and the pitch transmission belts, one end of the two telescopic rods is fixedly arranged at a position of the pitch active shaft inside the main frame near the side plate of the main frame, two sliding grooves are provided on the upper surface of the pitch plate near the inner side of the main frame side plate, the other ends of the two telescopic rods are respectively connected to a counterweight by a ball hinge, and the counterweights are respectively slidably arranged inside the two sliding grooves;

[0016] With the above technical solution, the pitch driven shaft rotates along with the pitch active shaft via the pitch transmission belt, thereby adjusting the pitch of the pitch plate. The two protective covers provide good protection for the ends of the pitch active shaft and the pitch driven shaft, as well as the two pitch transmission belts. The two telescopic rods extend in opposite directions when the pitch plate is pitched. The counterweights, which are ball-hinged at the ends of the two telescopic rods, slide in the opposite direction of the pitch adjustment within the slide slot, thereby adjusting the center of gravity of the device and improving flight stability and reliability.

[0017] Furthermore, one end of the roll active shaft is fixedly arranged at a lower center position on the inner side of the rear side plate of the main frame, the third motor is fixedly arranged on the roll active shaft near one end, the roll active shaft is fixedly connected to the output end of the third motor, the roll driven shaft passes through and is rotatably connected to the center position of the vertical plate, the camera is fixedly connected to one end of the roll driven shaft, the roll transmission belt slidably connects the middle position of the roll active shaft and the roll driven shaft, the ratchet is fixedly arranged on the roll active shaft near one end away from the third motor, and the center position of the filter is rotatably connected to the ratchet;

[0018] Through the above technical solution, the third motor drives the roll active shaft to rotate through the roll transmission belt, and the camera follows the roll driven shaft to adjust the roll angle. The roll active shaft drives the ratchet to rotate. When the ratchet rotates in one direction, it drives the filter to rotate, but cannot drive the filter to rotate when it rotates in the opposite direction.

[0019] Furthermore, one end of the four spring columns is fixedly connected to the four corners of the lower end of the main frame in a centrally symmetrical manner, and the other end of the four spring columns is fixedly connected to the four corners of the upper end of the base in a centrally symmetrical manner;

[0020] Through the above technical solution, the base plays a good vibration reduction and buffering role for the device during take-off and landing operations through the spring column.

[0021] Furthermore, ventilation and weight-reducing grilles are provided on the main frame, protective cover and base surfaces;

[0022] Through the above technical solution, the ventilation weight-reducing grille reduces the weight of the device while improving the heat dissipation effect.

[0023] The utility model has the following beneficial effects:

[0024] This utility model proposes a lightweight, compact unmanned aerial vehicle (UAV) photogrammetry device. When weather conditions permit, the solar panels in this device convert solar energy into energy for the drone's main body, thereby improving its flight endurance and eliminating the need for frequent battery replacements during extended missions. Furthermore, the four wings are centrally and symmetrically fixed to the center corners of the fuselage, providing the drone with stable and powerful flight capabilities. This configuration not only enhances the drone's flight stability but also maintains excellent flight performance in diverse environments, ensuring the continuity and reliability of measurement work.

[0025] 2. This utility model proposes a lightweight, small unmanned aerial vehicle (UAV) photogrammetry device. The device's photography mechanism provides three-axis camera angle adjustment via yaw, pitch, and roll mechanisms. A first motor in the yaw mechanism drives the yaw axis to achieve yaw rotation of the main frame. A second motor in the pitch mechanism drives the active pitch axis for pitch adjustment. A counterweight slides in a slot, cooperating with a telescopic rod to adjust the center of gravity and ensure stability during camera angle adjustment. A third motor in the roll mechanism drives the passive roll axis via a roll transmission belt. A ratchet allows for one-way filter switching between the camera and filter, significantly enriching teaching content and enhancing student understanding and interest. This design ensures multi-angle, efficient photogrammetry capabilities.

[0026] 3. This utility model proposes a lightweight unmanned aerial vehicle (UAV) photogrammetry device. The pitch mechanism, through the cooperation of a telescopic rod and a counterweight chute, automatically adjusts the center of gravity when the pitch plate is adjusted, shifting the device's center of gravity with changes in pitch angle, thereby improving flight stability. Furthermore, the landing gear includes four spring columns connected to the base. The elastic deformation of these spring columns provides excellent vibration damping during takeoff and landing, preventing damage to the device from hard landings. This design not only improves the device's safety but also extends its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is an axonometric diagram of the present utility model;

[0028] Figure 2 This is a schematic front cross-sectional view of the present invention;

[0029] Figure 3 This is an axonometric cross-sectional diagram of the present invention;

[0030] Figure 4 This is an axonometric side sectional view of the main frame at position 20103 of the present invention;

[0031] Figure 5 This is an axonometric side sectional view of the protective cover 20207 of the present invention;

[0032] Figure 6 For this utility model Figure 2 A magnified schematic diagram of the structure at point A.

[0033] Legend:

[0034] 1. Drone body; 2. Camera device; 3. Landing gear; 101. Solar panels; 102. Wings; 103. Fuselage; 201. Yaw mechanism; 202. Pitch mechanism; 203. Roll mechanism; 301. Spring column; 302. Base; 20101. First motor; 20102. Yaw axis; 20103. Main frame; 20201. Second motor; 20202. Pitch active Axis; 20203, pitch driven shaft; 20204, pitch transmission belt; 20205, pitch plate; 20206, telescopic rod; 20207, protective cover; 20208, vertical plate; 20301, third motor; 20302, roll active shaft; 20303, roll driven shaft; 20304, roll transmission belt; 20305, camera; 20306, filter; 20307, ratchet. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] Reference Figure 1-6 The utility model provides an embodiment: a light and small UAV photogrammetry device, including a UAV body 1, a photographic device 2 and a landing gear 3, the lower end of the UAV body 1 is rotatably connected to the photographic device 2, and the lower end of the photographic device 2 is fixedly connected to the landing gear 3.

[0037] The drone body 1 includes a solar panel 101, four wings 102 and a fuselage 103. The lower end of the solar panel 101 is fixed to the upper end of the fuselage 103. When weather conditions permit, the solar panel 101 converts solar energy into energy to replenish the device and thus improve the flight endurance. The four wings 102 are arranged in a centrally symmetrical manner to provide the device with stable and strong flight capabilities.

[0038] The photographic device 2 includes a yaw structure 201 , a pitch structure 202 and a roll structure 203 . The photographic device 2 provides adjustment of photographic angles in three axes through the yaw structure 201 , the pitch structure 202 and the roll structure 203 .

[0039] The yaw structure 201 includes a first motor 20101, a yaw axis 20102 and a main frame 20103. The first motor 20101 is fixed to the center position of the lower end of the fuselage 103. One end of the yaw axis 20102 is fixed to the output end of the first motor 20101. The center position of the upper end of the main frame 20103 is fixedly connected to the other end of the yaw axis 20102. The first motor 20101 drives the main frame 20103 to perform yaw rotation through the yaw axis 20102.

[0040] The pitch structure 202 includes a second motor 20201 , a pitch driving shaft 20202 , a pitch driven shaft 20203 , two pitch transmission belts 20204 , a pitch plate 20205 , two telescopic rods 20206 , two protective covers 20207 and a vertical plate 20208 .

[0041] The pitch active shaft 20202 passes through the center of the two side plates of the main frame 20103 and is rotated to be set at the upper center position inside the main frame 20103. The second motor 20201 is fixedly set at the center position of the pitch active shaft 20202. The pitch active shaft 20202 is fixedly connected to the output end of the second motor 20201. The second motor 20201 drives the pitch active shaft 20202 to rotate smoothly. The pitch driven shaft 20203 passes through the center of the two side plates of the main frame 20103 and is rotated to be set at the lower center position inside the main frame 20103. The pitch plate 20205 is fixedly set at the center position of the pitch driven shaft 20203. The lower end of the vertical plate 20208 is fixedly set on the upper surface of the pitch plate 20205 near one side edge. The pitch plate 20205 follows the pitch driven shaft 2203 to pitch adjustment, and the vertical plate 20208 follows the pitch plate 20205 to pitch adjustment.

[0042] The two pitch transmission belts 20204 slidingly connect the two ends of the pitch active shaft 20202 and the pitch driven shaft 20203 respectively. The pitch driven shaft 20203 follows the rotation of the pitch active shaft 20202 through the pitch transmission belt 20204 and then adjusts the pitch of the pitch plate 20205. The two protective covers 20207 are fixedly set at the center position of the outer side of the side plate of the main frame 20103 to cover the ends of the pitch active shaft 20202 and the pitch driven shaft 20203 and the pitch transmission belts 20204. The two protective covers 20207 play a good protective role on the ends of the pitch active shaft 20202 and the pitch driven shaft 20203 and the two pitch transmission belts 20204.

[0043] One end of the two telescopic rods 20206 is fixed to the portion of the pitch active axis 20202 inside the main frame 20103, near the side panels of the main frame 20103. Two slots are provided on the upper surface of the pitch plate 20205, near the inner side panels of the main frame 20103. The other ends of the two telescopic rods 20206 are each connected by a ball joint to a counterweight, which slides within the two slots. When the pitch plate 20205 is adjusted in pitch, the two telescopic rods 20206 extend in the opposite direction. The counterweights, connected by ball joints at the ends of the two telescopic rods 20206, slide within the slots in the opposite direction of the pitch adjustment, thereby adjusting the center of gravity of the device and improving flight stability and reliability.

[0044] The roll structure 203 includes a third motor 20301 , a roll driving shaft 20302 , a roll driven shaft 20303 , a roll transmission belt 20304 , a camera 20305 , a filter 20306 and a ratchet 20307 .

[0045] One end of the roll active shaft 20302 is fixedly set at the lower center position of the inner side of the rear side plate of the main frame 20103, the third motor 20301 is fixedly set on the roll active shaft 20302 near one end, the roll active shaft 20302 is fixedly connected to the output end of the third motor 20301, the roll driven shaft 20303 is rotated through and connected to the center position of the vertical plate 20208, the camera 20305 is fixedly connected to one end of the roll driven shaft 20303, and the roll transmission belt 20304 slides and connects the middle position of the roll active shaft 20302 and the roll driven shaft 20303.

[0046] The ratchet 20307 is fixedly set on the roll active shaft 20302 close to the end away from the third motor 20301. The center position of the filter 20306 is rotatably connected to the ratchet 20307. The third motor 20301 drives the roll active shaft 20302 to rotate through the roll transmission belt 20304, and the roll driven shaft 20303 is driven to rotate. The camera 20305 follows the roll driven shaft 20303 to adjust the roll angle. The roll active shaft 20302 drives the ratchet 20307 to rotate. When the ratchet 20307 rotates in one direction, it drives the filter 20306 to rotate, but cannot drive the filter 20306 to rotate when it rotates in the opposite direction.

[0047] The landing gear 3 includes four spring columns 301 and a base 302. One end of the four spring columns 301 is fixedly connected to the four corners of the lower end of the main frame 20103 in a centrally symmetrical manner, and the other end of the four spring columns 301 is fixedly connected to the four corners of the upper end of the base 302 in a centrally symmetrical manner. The base 302 plays a good vibration reduction and buffering role for the device during takeoff and landing operations through the spring columns 301. Ventilation and weight reduction grilles are opened through the surfaces of the main frame 20103, the protective cover 20207 and the base 302. The ventilation and weight reduction grilles reduce the weight of the device and improve the heat dissipation effect.

[0048] Working principle: When in use, the device provides adjustment of the photographic angle in three axes through the yaw structure 201, the pitch structure 202 and the roll structure 203. While adjusting the photographic angle, the stability of flight and shooting is ensured by symmetrically arranging motors and multiple transmission belts, and using two telescopic rods 20206 and counterweights to stabilize the center of gravity. At the same time, the spring column 301 and the base 302 play a good vibration reduction and buffering role during take-off and landing operations. A ventilation and weight-reducing grille is opened on the surface to reduce the weight of the device and improve the heat dissipation effect.

[0049] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A light and small UAV photogrammetry device, comprising a UAV body (1), a photographic device (2) and a landing gear (3), characterized in that: The lower end of the drone body (1) is rotatably connected to the photographic device (2), and the lower end of the photographic device (2) is fixedly connected to the landing gear (3). The drone body (1) includes a solar panel (101), four wings (102) and a fuselage (103). The photographic device (2) includes a yaw structure (201), a pitch structure (202) and a roll structure (203). The landing gear (3) includes four spring columns (301) and a base (302). The yaw structure (201) comprises a first motor (20101), a yaw axis (20102) and a main frame (20103); the pitch structure (202) comprises a second motor (20201), a pitch active axis (20202), a pitch driven axis (20203), two pitch transmission belts (20204), a pitch plate (20205), two telescopic rods (20206), two protective covers (20207) and a vertical plate (20208); and the roll structure (203) comprises a third motor (20301), a roll active axis (20302), a roll driven axis (20303), a roll transmission belt (20304), a camera (20305), a filter (20306) and a ratchet (20307).

2. A light and small UAV photogrammetry device according to claim 1, characterized in that: The lower end of the solar panel (101) is fixedly arranged on the upper end of the fuselage (103); the four wings (102) are fixedly arranged in a centrally symmetrical manner on the middle parts of the four corners of the fuselage (103); the first motor (20101) is fixedly arranged on the center position of the lower end of the fuselage (103); one end of the yaw axis (20102) is fixedly arranged on the output end of the first motor (20101); and the center position of the upper end of the main frame (20103) is fixedly connected to the other end of the yaw axis (20102).

3. The light-weight UAV photogrammetry device according to claim 1, characterized in that: The pitch active shaft (20202) passes through the center upper position of the two side plates of the main frame (2103) and is rotatably arranged at the center upper position inside the main frame (2103); the second motor (20201) is fixedly arranged at the center position of the pitch active shaft (20202); and the pitch active shaft (20202) is fixedly connected to the output end of the second motor (20201).

4. The light-weight UAV photogrammetry device according to claim 1, characterized in that: The pitch driven shaft (20203) passes through the center lower position of the two side plates of the main frame (2103) and is rotatably arranged at the center lower position inside the main frame (20103); the pitch plate (20205) is fixedly arranged at the center position of the pitch driven shaft (20203); and the lower end of the vertical plate (20208) is fixedly arranged on the upper surface of the pitch plate (20205) near one side edge.

5. The light-weight UAV photogrammetry device according to claim 1, characterized in that: The two pitch transmission belts (20204) respectively connect the two ends of the pitch active shaft (20202) and the pitch driven shaft (20203) in a sliding manner; the two protective covers (20207) are fixedly arranged at the center position of the outer side of the side plate of the main frame (2103) to cover the ends of the pitch active shaft (20202) and the pitch driven shaft (20203) and the pitch transmission belt (20204); one end of the two telescopic rods (20206) is fixedly arranged at the position of the pitch active shaft (20202) inside the main frame (2103) near the side plate of the main frame (2103); two sliding grooves are provided on the upper surface of the pitch plate (20205) near the inner side of the side plate of the main frame (2103); the other ends of the two telescopic rods (20206) are respectively connected to a counterweight by a ball hinge, and the counterweights are respectively slidably arranged inside the two sliding grooves.

6. The light-weight UAV photogrammetry device according to claim 1, characterized in that: One end of the roll driving shaft (20302) is fixedly arranged at the lower center position of the inner side of the rear side plate of the main frame (20103), the third motor (20301) is fixedly arranged on the roll driving shaft (20302) near one end position, the roll driving shaft (20302) is fixedly connected to the output end of the third motor (20301), the roll driven shaft (20303) is connected to the center position of the vertical plate (2208) through rotation, and the phase The machine (20305) is fixedly connected to one end of the roll driven shaft (20303), the roll transmission belt (20304) slides and connects the middle position of the roll active shaft (20302) and the roll driven shaft (20303), the ratchet (20307) is fixedly set on the roll active shaft (20302) close to the end away from the third motor (20301), and the center position of the filter (20306) is rotatably connected to the ratchet (20307).

7. The light-weight UAV photogrammetry device according to claim 1, characterized in that: One end of the four spring columns (301) is fixedly connected to the four corners of the lower end of the main frame (20103) in a centrally symmetrical manner, and the other end of the four spring columns (301) is fixedly connected to the four corners of the upper end of the base (302) in a centrally symmetrical manner.

8. The light-weight UAV photogrammetry device according to claim 1, characterized in that: Ventilation and weight-reducing grilles are provided through the surfaces of the main frame (20103), the protective cover (20207) and the base (302).

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