Surveying and mapping sensor stability compensation device based on unmanned aerial vehicle

Abstract

The utility model belongs to the field of unmanned aerial vehicle surveying and mapping, and relates to a surveying and mapping sensor stability compensation device based on an unmanned aerial vehicle, which can improve the stability of a surveying and mapping sensor on the unmanned aerial vehicle. The technical scheme comprises an unmanned aerial vehicle, a holder and a stability compensation module. The holder is arranged below the unmanned aerial vehicle, and the holder is electrically connected with the unmanned aerial vehicle. The stability compensation module is arranged between the unmanned aerial vehicle and the holder, the upper end of the stability compensation module is fixedly connected with the unmanned aerial vehicle, and the lower end of the stability compensation module is fixedly connected with the holder.

Description

Technical Field

[0001] This utility model belongs to the field of UAV surveying and mapping, and relates to a UAV-based surveying sensor stabilization compensation device. Background Technology

[0002] Drone surveying requires drones to carry high-precision equipment for high-altitude cruising, some of which includes infrared imaging sensors and imaging devices. These high-precision devices require high stability during operation; otherwise, the acquired images may be distorted or blurry. To avoid these problems, a gimbal connection is typically used between the high-precision equipment and the drone, which can improve the stability of the high-precision equipment during operation.

[0003] During operation, drones often experience vibrations due to sudden changes in wind direction and force, as well as motor stall. In recent years, advancements in control systems have enabled drones to adjust motor power in real time based on their attitude and planned flight path, allowing them to quickly return to the intended path and stabilize. During this process, gimbals can effectively reduce vibrations in high-precision equipment. However, both the drone's own adjustments and the gimbal's assistance require time, especially during sudden changes in wind force at high altitudes. These rapid changes in motor power cause fluctuations in altitude within a short period. While gimbals can work in conjunction with the drone's motors, their response speed always lags behind changes in altitude, and this is currently difficult to further optimize through control. This results in inaccurate data collection during high-precision equipment operation. Utility Model Content

[0004] To overcome the shortcomings of the aforementioned related technologies, this utility model proposes a mapping sensor stabilization compensation device based on UAV, which can improve the stability of the mapping sensor on the UAV.

[0005] To achieve the above technical objectives, this utility model provides a UAV-based mapping sensor stabilization compensation device. The UAV-based mapping sensor stabilization compensation device includes: a UAV, a gimbal, and a stabilization compensation module. The gimbal is disposed below the UAV and is electrically connected to the UAV. The stabilization compensation module is disposed between the UAV and the gimbal, with its upper end fixedly connected to the UAV and its lower end fixedly connected to the gimbal.

[0006] The stabilization compensation module includes: an upper connector, an upper compression spring, an upper oil bladder sleeve, a lower connector, a lower compression spring, a lower oil bladder sleeve, a slide rod, and a sleeve. The upper connector is a tubular fitting with an open lower end. The upper compression spring is disposed inside the upper connector. The upper oil bladder sleeve has a horizontal cross-section of an annular elongated structure, and is fitted onto the outside of the upper connector, with the upper end of the upper connector communicating with the upper oil bladder sleeve.

[0007] The lower connector is a tubular fitting with an open top, and it is fixed directly below the upper connector. The lower compression spring is disposed inside the lower connector. The lower oil bladder sleeve has a horizontal cross-section of an annular elongated structure, and it is fitted onto the outside of the lower connector, with the upper end of the lower connector communicating with the lower oil bladder sleeve.

[0008] The slide rod has pistons at both ends. The slide rod is located between the upper connecting member and the lower connecting member. The piston at the upper end of the slide rod is movably disposed within the upper connecting member. One end of the upper compression spring abuts against the top wall of the upper connecting member, and the other end of the upper compression spring abuts against the piston at the upper end of the slide rod. The upper connecting member between the upper end of the slide rod and the top wall of the upper connecting member is filled with hydraulic oil. The piston at the lower end of the slide rod is movably disposed within the lower connecting member. One end of the lower compression spring abuts against the bottom end of the lower connecting member, and the other end of the lower compression spring abuts against the piston at the lower end of the slide rod. The upper connecting member between the upper end of the slide rod and the top wall of the upper connecting member is filled with hydraulic oil.

[0009] The sleeve is a tubular fitting with openings at both ends. The sleeve is movably fitted onto the outside of the upper oil bladder sleeve and the lower oil bladder sleeve, and the inner sidewall of the sleeve is fixedly connected to the middle of the slide rod. The sleeve drives the slide rod to reciprocate, and the sleeve is fixedly connected to the gimbal.

[0010] Preferably, the UAV-based mapping sensor stabilization compensation device further includes: a grating displacement sensor, the grating displacement sensor being fixed to the upper connector, the main scale of the grating displacement sensor being fixedly connected to the sleeve, the reading head of the grating displacement sensor being fixedly connected to the upper connector, and the grating displacement sensor being electrically connected to the UAV.

[0011] Preferably, the outer wall of the upper oil bladder sleeve has a conical structure, and the lower diameter of the outer wall of the upper oil bladder sleeve is smaller than the upper diameter of the outer wall of the upper oil bladder sleeve. The upper inner wall of the sleeve has a conical structure adapted to the outer wall of the upper oil bladder sleeve.

[0012] Preferably, the outer wall of the lower oil bladder sleeve has a conical structure, and the upper diameter of the outer wall of the lower oil bladder sleeve is smaller than the lower diameter of the outer wall of the lower oil bladder sleeve. The lower inner wall of the sleeve has a conical structure adapted to the outer wall of the lower oil bladder sleeve.

[0013] Preferably, the UAV-based mapping sensor stabilization compensation device further includes: an upper inner sleeve, which is a hollow structure. The upper inner sleeve is disposed inside the upper connecting member between the upper end of the slide rod and the top wall of the upper connecting member. The upper inner sleeve is filled with hydraulic oil and communicates with the upper oil sleeve. The piston at one end of the slide rod is clearance-fitted with the upper connecting member.

[0014] Preferably, the UAV-based mapping sensor stabilization compensation device further includes: a lower inner sleeve, which is a hollow structure. The lower inner sleeve is disposed inside the upper connecting member between the lower end of the slide rod and the bottom end of the upper connecting member. The lower inner sleeve is filled with hydraulic oil and communicates with the lower oil bladder sleeve. The piston at the other end of the slide rod is clearance-fitted with the lower connecting member.

[0015] The beneficial effects of this utility model are as follows:

[0016] This invention employs an upper connector, a lower connector, a sliding rod, and a sleeve. When the drone's altitude changes abruptly, the sliding rod fluctuates relative to the upper and lower connectors, thus delaying the altitude fluctuation time of the gimbal and mapping sensor. This allows the gimbal to have a longer action time, thereby improving the stability of the mapping sensor during operation.

[0017] This utility model also employs an upper oil bladder sleeve and a lower oil bladder sleeve. Experiments have shown that, due to the action of the upper and lower compression springs, when the altitude of the UAV fluctuates, the slide bar moves relative to the upper and lower connecting parts, resulting in reciprocating fluctuations of the slide bar, which increases the working difficulty of the gimbal. The cooperation of the upper oil bladder sleeve, the lower oil bladder sleeve, and the sleeve can consume the operating energy of the slide bar, reduce reciprocating fluctuations, and further improve the stability of the mapping sensor. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural diagram of the present invention;

[0020] Figure 2 This is a structural diagram of the stability compensation module of this utility model;

[0021] Figure 3 This is a structural diagram of the internal structure of the sleeve of the stabilization compensation module of this utility model;

[0022] Figure 4 For the present utility model Figure 3 A cross-sectional view along the AA direction;

[0023] Figure 5 This is a cross-sectional view of the stability compensation module of this utility model;

[0024] Figure 6 This is another cross-sectional view of the stability compensation module of this utility model. Detailed Implementation

[0025] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0028] like Figures 1 to 6 As shown, some embodiments of this utility model provide a mapping sensor stabilization compensation device based on a drone 1. The mapping sensor stabilization compensation device based on the drone 1 includes: the drone 1, a gimbal 2, and a stabilization compensation module 3. The gimbal 2 is disposed below the drone 1 and is electrically connected to the drone 1. The stabilization compensation module 3 is disposed between the drone 1 and the gimbal 2, with its upper end fixedly connected to the drone 1 and its lower end fixedly connected to the gimbal 2.

[0029] The stabilization compensation module 3 includes: an upper connector 31, an upper compression spring 32, an upper oil bladder sleeve 33, a lower connector 34, a lower compression spring 35, a lower oil bladder sleeve 36, a slide rod 37, and a sleeve 38. The upper connector 31 is a tubular fitting with an open lower end. The upper compression spring 32 is disposed within the upper connector 31. The upper oil bladder sleeve 33 has a horizontal cross-section of an annular elongated structure, and is fitted onto the outside of the upper connector 31, with the upper end of the upper connector 31 communicating with the upper oil bladder sleeve 33.

[0030] The lower connector 34 is a tubular fitting with an open top, and it is fixed directly below the upper connector 31. The lower compression spring 35 is disposed inside the lower connector 34. The lower oil bladder sleeve 36 has a horizontal cross-section of an annular elongated structure, and it is fitted onto the outside of the lower connector 34, with the upper end of the lower connector 34 communicating with the lower oil bladder sleeve 36.

[0031] The slide rod 37 has pistons at both ends. The slide rod 37 is located between the upper connecting member 31 and the lower connecting member 34. The piston at the upper end of the slide rod 37 is movably disposed within the upper connecting member 31. One end of the upper compression spring 32 abuts against the top wall of the upper connecting member 31, and the other end of the upper compression spring 32 abuts against the piston at the upper end of the slide rod 37. The upper connecting member 31 between the upper end of the slide rod 37 and the top wall of the upper connecting member 31 is filled with hydraulic oil. The piston at the lower end of the slide rod 37 is movably disposed within the lower connecting member 34. One end of the lower compression spring 35 abuts against the bottom end of the lower connecting member 34, and the other end of the lower compression spring 35 abuts against the piston at the lower end of the slide rod 37. The upper connecting member 31 between the upper end of the slide rod 37 and the top wall of the upper connecting member 31 is filled with hydraulic oil.

[0032] The sleeve 38 is a tube with openings at both ends. The sleeve 38 is movably fitted onto the outside of the upper oil bladder sleeve 33 and the lower oil bladder sleeve 36. The inner side wall of the sleeve 38 is fixedly connected to the middle of the slide rod 37. The sleeve 38 drives the slide rod 37 to reciprocate. The sleeve 38 is fixedly connected to the gimbal 2.

[0033] The mapping sensor stabilization compensation device based on UAV 1 further includes: a grating displacement sensor, which is fixed to the upper connector 31, the main scale of the grating displacement sensor is fixedly connected to the sleeve 38, the reading head of the grating displacement sensor is fixedly connected to the upper connector 31, and the grating displacement sensor is electrically connected to the UAV 1.

[0034] The outer wall of the upper oil bladder sleeve 33 has a conical structure, and the lower diameter of the outer wall of the upper oil bladder sleeve 33 is smaller than the upper diameter of the outer wall of the upper oil bladder sleeve 33. The upper inner wall of the sleeve 38 has a conical structure adapted to the outer wall of the upper oil bladder sleeve 33.

[0035] The outer wall of the lower oil bladder sleeve 36 has a conical structure, and the upper diameter of the outer wall of the lower oil bladder sleeve 36 is smaller than the lower diameter of the outer wall of the lower oil bladder sleeve 36. The lower inner wall of the sleeve 38 has a conical structure adapted to the outer wall of the lower oil bladder sleeve 36.

[0036] The mapping sensor stabilization compensation device based on UAV 1 further includes: an upper inner sleeve 39, which is a hollow structure. The upper inner sleeve 39 is disposed inside the upper connecting member 31 between the upper end of the slide rod 37 and the top wall of the upper connecting member 31. The upper inner sleeve 39 is filled with hydraulic oil and is connected to the upper oil sleeve 33. The piston at one end of the slide rod 37 is clearance-fitted with the upper connecting member 31.

[0037] The mapping sensor stabilization compensation device based on UAV 1 further includes: a lower inner sleeve 310, which is a hollow structure. The lower inner sleeve 310 is disposed inside the upper connecting member 31 between the lower end of the slide rod 37 and the bottom end of the upper connecting member 31. The lower inner sleeve 310 is filled with hydraulic oil and is connected to the lower oil sleeve 36. The piston at the other end of the slide rod 37 is clearance-fitted with the lower connecting member 34.

[0038] The operation process of this utility model is as follows:

[0039] This invention is particularly suitable for quadcopter drones 1 carrying remote sensing mapping sensors. When a sudden change in wind direction and force occurs at high altitude, drone 1 controls its motors to adjust its attitude. This is often accompanied by a change in the altitude of drone 1. During this process, drone 1 is first disturbed by the wind and shakes. Then, during the attitude adjustment process, the altitude of drone 1 changes slightly.

[0040] When the drone 1 shakes, the gimbal 2 and the drone 1 do not react in time. At this time, under the action of inertia, the gimbal 2 and the remote sensing mapping sensor generate relative displacement with the drone 1 in the vertical direction through the stabilization compensation module 3, which can provide the gimbal 2 with a certain reaction time. The drone 1 controls the operation of the gimbal 2, thereby reducing the stability of the remote sensing mapping sensor in the height direction.

[0041] For example, when the drone 1 experiences downward shaking, the upper connector 31 and lower connector 34 decrease in height accordingly, while the slide bar 37 maintains a constant height for a short period due to inertia, meaning that the upper connector 31 and lower connector 34 and the slide bar 37 experience relative displacement. When the drone 1 adjusts its attitude, its speed increases accordingly, and the slide bar 37 decreases relative to the upper connector 31 and lower connector 34. At this time, the gimbal 2 has sufficient time to react and adjust its attitude in time, ensuring that the remote sensing mapping sensor maintains high stability. Conversely, when the drone 1 experiences upward shaking, the principle of the relative movement of the slide bar 37 with the upper connector 31 and lower connector 34 is the same as described above, and will not be repeated here.

[0042] If the drone 1 experiences significant shaking, the movement of the slide bar 37 relative to the upper connector 31 and the lower connector 34 will compress the lower inner sleeve 310 or the upper inner sleeve 39, causing the lower oil bladder sleeve 36 or the upper oil bladder sleeve 33 to expand until the sleeve 38 and the drone 1 are substantially rigidly connected. At this point, the gimbal 2 has obtained sufficient reaction time and can maintain the stability of the mapping sensor through the gimbal 2.

[0043] When the UAV 1 is running stably, a balance is formed between the lower inner sleeve 310 and the lower oil bladder sleeve 36, and between the upper inner sleeve 39 and the upper oil bladder sleeve 33. That is, the hydraulic oil returns to the lower inner sleeve 310 or the upper inner sleeve 39, the pressure between the sleeve 38 and the lower oil bladder sleeve 36 or the upper oil bladder sleeve 33 disappears, and the slide bar 37 returns to its previous stable position. At this time, the lower compression spring 35 is squeezed to give the slide bar 37 and the sleeve 38 a certain operating space, so as to provide altitude compensation for subsequent shaking of the UAV 1.

[0044] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0045] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A UAV-based mapping sensor stabilization compensation device, characterized in that, include: Drones; A gimbal, wherein the gimbal is disposed below the drone and is electrically connected to the drone; A stabilization compensation module is disposed between the drone and the gimbal, with its upper end fixedly connected to the drone and its lower end fixedly connected to the gimbal. The stability compensation module includes: Upper connector, wherein the upper connector is a pipe with an open lower end; An upper compression spring is disposed within the upper connecting member; The upper oil bladder sleeve has a horizontal cross-section that is an annular elongated structure. The upper oil bladder sleeve is fitted onto the outside of the upper connector, and the upper end of the upper connector is connected to the upper oil bladder sleeve. The lower connector is a pipe with an open top, and the lower connector is fixed directly below the upper connector. A lower compression spring is disposed within the lower connecting member; The lower oil bladder sleeve has a horizontal cross-section that is an annular elongated structure. The lower oil bladder sleeve is fitted onto the outside of the lower connector, and the upper end of the lower connector is connected to the lower oil bladder sleeve. A sliding rod has pistons at both ends. The sliding rod is positioned between the upper connecting member and the lower connecting member. The piston at the upper end of the sliding rod is movably disposed within the upper connecting member. One end of the upper compression spring abuts against the top wall of the upper connecting member, and the other end of the upper compression spring abuts against the piston at the upper end of the sliding rod. The upper connecting member between the upper end of the sliding rod and the top wall of the upper connecting member is filled with hydraulic oil. The piston at the lower end of the sliding rod is movably disposed within the lower connecting member. One end of the lower compression spring abuts against the bottom end of the lower connecting member, and the other end of the lower compression spring abuts against the piston at the lower end of the sliding rod. The upper connecting member between the upper end of the sliding rod and the top wall of the upper connecting member is filled with hydraulic oil. The sleeve is a tubular fitting with openings at both ends. The sleeve is movably fitted onto the outside of the upper oil bladder sleeve and the lower oil bladder sleeve, and the inner sidewall of the sleeve is fixedly connected to the middle of the slide rod. The sleeve drives the slide rod to reciprocate, and the sleeve is fixedly connected to the gimbal.

2. The UAV-based mapping sensor stabilization compensation device according to claim 1, characterized in that, The UAV-based mapping sensor stabilization compensation device further includes: a grating displacement sensor, which is fixed to the upper connector, the main scale of the grating displacement sensor is fixedly connected to the sleeve, the reading head of the grating displacement sensor is fixedly connected to the upper connector, and the grating displacement sensor is electrically connected to the UAV.

3. The UAV-based mapping sensor stabilization compensation device according to claim 2, characterized in that, The outer wall of the upper oil bladder sleeve is a conical structure, and the lower diameter of the outer wall of the upper oil bladder sleeve is smaller than the upper diameter of the outer wall of the upper oil bladder sleeve. The upper inner wall of the sleeve has a tapered structure that adapts to the outer wall of the upper oil bladder sleeve.

4. The UAV-based mapping sensor stabilization compensation device according to claim 3, characterized in that, The outer wall of the lower oil bladder sleeve has a conical structure, and the upper diameter of the outer wall of the lower oil bladder sleeve is smaller than the lower diameter of the outer wall of the lower oil bladder sleeve. The lower inner wall of the sleeve has a tapered structure that adapts to the outer wall of the lower oil bladder sleeve.

5. The UAV-based mapping sensor stabilization compensation device according to claim 4, characterized in that, The UAV-based mapping sensor stabilization compensation device further includes: an upper inner bladder, which is a hollow structure. The upper inner bladder is provided inside the upper connector between the upper end of the slide rod and the top wall of the upper connector. The upper inner bladder is filled with hydraulic oil and is connected to the upper oil bladder. The piston at one end of the slide rod is fitted with the upper connecting member with a clearance.

6. The UAV-based mapping sensor stabilization compensation device according to claim 5, characterized in that, The UAV-based mapping sensor stabilization compensation device further includes: a lower inner bladder, which is a hollow structure. The lower inner bladder is provided inside the upper connecting member between the lower end of the slide rod and the bottom end of the upper connecting member. The lower inner bladder is filled with hydraulic oil and is connected to the lower oil bladder. The piston at the other end of the slide rod is clearance-fitted with the lower connecting member.

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