Unmanned aerial vehicle scanning platform and unmanned aerial vehicle equipment

Abstract

The utility model provides an unmanned aerial vehicle scanning platform and unmanned aerial vehicle equipment, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle scanning platform comprises a support which is provided with a plurality of sensors, an electric connection interface and a quick release mechanism; the quick release mechanism is used for realizing detachable connection between the bracket and the unmanned aerial vehicle main body, and when the bracket and the unmanned aerial vehicle main body are connected through the quick release mechanism, the electric connection interface is connected with the unmanned aerial vehicle main body, so that the plurality of sensors are electrically connected with the unmanned aerial vehicle main body.

Description

Technical Field

[0001] This specification relates to the technical field of unmanned aerial vehicles (UAVs), specifically to a UAV scanning platform and UAV equipment. Background Technology

[0002] 3D scanning technology can be used to create terrain-related maps and / or models, such as with tools like total stations and theodolites, but manual equipment adjustment and point-by-point data collection are still required. High-precision industrial-grade scanners (such as laser rangefinders) can achieve non-contact terrain measurement, but their applications are still limited to static environments and cannot meet the needs of efficient modeling of dynamic or complex terrains. Drones can carry monocular or binocular cameras to acquire two-dimensional images or basic three-dimensional coordinates, but they struggle to achieve omnidirectional environmental perception. Professional-grade 3D scanning drones can handle dynamic and complex terrains in some scenarios, but they are expensive and have fixed functions, making it difficult to flexibly expand their capabilities according to needs. Utility Model Content

[0003] This specification provides one or more embodiments of a drone scanning platform including: a bracket, the bracket being provided with multiple sensors, an electrical connection interface, and a quick-release mechanism; the quick-release mechanism is used to realize the detachable connection between the bracket and the drone body, when the bracket and the drone body are connected through the quick-release mechanism, the electrical connection interface is connected to the drone body, thereby the multiple sensors are electrically connected to the drone body.

[0004] In some embodiments, the sensing range of the plurality of sensors covers the perimeter of the drone body; and / or, the sensing ranges of two adjacent sensors among the plurality of sensors overlap.

[0005] In some embodiments, the support includes a frame structure, the interior of which forms a vertically extending clearance area that covers the position of the fan blades of the drone body.

[0006] In some embodiments, the plurality of sensors include a visual perception sensor, a DToF sensor, and / or an iToF area array laser sensor.

[0007] In some embodiments, the bracket includes a main structure, a front beam structure, and side wing structures. Two front beam structures extend outward from both sides of the main structure, and one end of each of the two side wing structures is connected to the two front beam structures. The main structure is provided with the electrical connection interface. The plurality of sensors include visual perception sensors, and each of the two ends of each side wing structure is provided with a visual perception sensor.

[0008] In some embodiments, the bracket further includes: a connecting structure, wherein the other ends of the two side wing structures are respectively connected to one end of the two connecting structures, and the other ends of the two connecting structures are respectively connected to both sides of the main structure.

[0009] In some embodiments, the front beam structure, the side wing structure, the connecting structure, and the side of the main structure together form a frame structure; a first clearance area is formed inside each frame structure; and a second clearance area is formed between two frame structures.

[0010] In some embodiments, each end of each of the side wing structures has a mounting block for mounting the visual perception sensor; each mounting block has a mounting surface for arranging the sensing part of the visual perception sensor, and the mounting surfaces of the four mounting blocks face four directions respectively.

[0011] In some embodiments, the plurality of sensors include a DToF sensor and an iToF area array laser sensor; the iToF area array laser sensor is provided on the main structure; and each of the side wing structures is provided with a DToF sensor.

[0012] In some embodiments, the quick-release mechanism includes: grippers for assisting in holding the main body of the drone, with one gripper on each side of the main body structure.

[0013] In some embodiments, the middle portion of the gripper is rotatably connected to the main structure; an elastic element is provided between the upper portion of the gripper and the main structure; and gripping teeth are provided at the lower end of the gripper. The bracket also houses an AI processor, an image processing unit, and a 3D modeling algorithm accelerator; the image processing unit is signal-connected to the plurality of sensors; the 3D modeling algorithm accelerator is signal-connected to the image processing unit; the AI ​​processor is signal-connected to the image processing unit and the 3D modeling algorithm accelerator; and a wireless communication module is also provided within the bracket.

[0014] In some embodiments, the plurality of sensors include infrared sensors and / or ultrasonic sensors.

[0015] This specification provides one or more embodiments of a drone device, including a drone body and a drone scanning platform as described in any of the above embodiments, wherein the drone body and the drone scanning platform are detachably connected. Attached Figure Description

[0016] Figure 1 This is a top-view perspective schematic diagram of the drone scanning platform and the drone body according to some embodiments of this specification.

[0017] Figure 2 This is a three-dimensional schematic diagram of the UAV scanning platform and the UAV body from a bottom-view angle, according to some embodiments of this specification.

[0018] Figure 3 This is a rear view schematic diagram of the assembly state of the drone scanning platform and the drone body according to some embodiments of this specification.

[0019] Figure 4 This is a top view schematic diagram of the assembly state of the UAV scanning platform and the UAV body according to some embodiments of this specification.

[0020] Figures 5 to 7 This is a schematic diagram of a drone scanning platform according to some embodiments of this specification.

[0021] Figures 8 to 10 This is a schematic diagram of a drone scanning platform according to other embodiments of this specification.

[0022] Figure 11 This is an exploded schematic diagram of the gripper of a drone scanning platform according to other embodiments of this specification.

[0023] The diagram shows the following markings: 100 UAV body; 1 support frame; 11 main structure; 12 front beam structure; 13 side wing structure; 131 mounting block; 1311 mounting surface; 14 connection structure; 2 visual perception sensor; 3 3D ToF sensor; 4 iToF area array laser sensor; 5 electrical connection interface; 61 first avoidance area; 62 second avoidance area; 71 gripper; 72 elastic element; 73 gripping teeth. Detailed Implementation

[0024] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0025] It should be understood that the terms "system," "device," "equipment," "part" and / or "component," "unit" and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0026] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0027] In the description of this specification, it should be understood that the directional descriptions, such as up, down, front, back, left, and right, indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. These descriptions are for the convenience of describing this application and for simplification, 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 application. In the description of this specification, unless otherwise expressly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this specification in conjunction with the specific content of the technical solution.

[0028] 3D scanning technology can be used to acquire coordinate data of an object's surface and build an object model. In some related embodiments, the 3D scanning device can directly contact the object's surface with a mechanical probe to acquire coordinate data point by point, but the scanning speed is slow and may damage the fragile object surface. In some related embodiments, the 3D scanning device may include non-contact scanning, but it is limited by the resolution of the optical sensor, and the device relies on manual adjustment from multiple angles, with data stitching done manually, resulting in low efficiency. The above-mentioned related embodiments are only suitable for small static objects, such as precision measurement and quality inspection of industrial products.

[0029] In some use cases, 3D scanning technology can be applied to create terrain-related maps and / or models, such as with tools like total stations and theodolites. However, manual equipment adjustment and point-by-point data collection are still required. In some related embodiments, high-precision industrial-grade scanners (such as devices based on laser ranging principles) can achieve non-contact terrain measurement, but their application scenarios are still limited to static environments and cannot meet the needs of efficient modeling of dynamic or complex terrains.

[0030] In some application scenarios, drones can be equipped with monocular or binocular cameras to acquire two-dimensional images or basic three-dimensional coordinates, but they struggle to achieve omnidirectional environmental perception. In some related embodiments, professional-grade 3D scanning drones can handle dynamic and complex terrains in certain application scenarios, but they are expensive and have fixed functions, making it difficult to flexibly expand them according to needs.

[0031] Based on this, one or more embodiments of this specification provide a drone scanning platform that can be used as an extension component of a drone to meet the needs of efficient modeling of dynamic and complex terrains, and has a low cost.

[0032] Figure 1 This is a top-view perspective schematic diagram of the unmanned aerial vehicle (UAV) scanning platform and the main body of the UAV, based on some embodiments shown in this specification. Figure 2 This is a perspective view of the UAV scanning platform and the UAV body from a low angle, according to some embodiments shown in this specification. See also Figure 1 , Figure 2 As shown, in one or more embodiments of this specification, the UAV scanning platform may include: a support 1, on which multiple sensors, an electrical connection interface 5, and a quick-release mechanism are provided. The quick-release mechanism is used to achieve a detachable connection between the support 1 and the UAV body 100, so that the support 1 can be installed on one or more UAV bodies 100, thereby expanding the functionality of the UAV body 100. In some embodiments, the support 1 may provide one or more additional functions to the UAV body 100, such as providing environmental perception and / or 3D modeling. In some embodiments, the UAV body 100 provides motion capabilities to the support 1, so that the functions provided by the support 1 can not only be applied to static objects, but also further cope with dynamic and complex terrain.

[0033] In some embodiments, when the bracket 1 is connected to the drone body 100 via a quick-release mechanism, the electrical connection interface 5 is connected to the drone body 100, thereby electrically connecting multiple sensors to the drone body 100. In some embodiments, the bracket 1 may include multiple sensors. In some embodiments, the multiple sensors may include one or more sensors, thereby providing one or more functions accordingly. In some embodiments, the drone body 100 supplies power to the bracket 1 and the devices (e.g., multiple sensors) carried on the bracket 1 to enable the devices to operate. In some embodiments, supplying power to the bracket 1 and the devices (e.g., multiple sensors) carried on the bracket 1 via the drone body 100 avoids the need for the bracket 1 to carry an additional battery, thereby reducing the overall weight of the bracket 1 after it is mounted to the drone body 100.

[0034] In some embodiments, multiple sensors can be used to achieve 3D scanning. In other embodiments, multiple sensors can also be used to achieve other functions. For example, the support 1 can be equipped with an inertial measurement unit for flight attitude control, heading maintenance, and vibration correction, ensuring the precise execution of complex maneuvers (such as sharp turns and climbs). For example, the support 1 can be equipped with a global navigation satellite system to achieve precise coordinate positioning and path tracking in scenarios such as surveying / logistics distribution / agricultural plant protection. As another example, the support 1 can be equipped with a barometric pressure sensor to ensure the stability of aerial footage or for altitude control in low-altitude agricultural monitoring and search and rescue missions in complex terrain.

[0035] In some embodiments, the sensing range of multiple sensors covers the circumference of the drone body 100 to achieve circumferential environmental perception of the drone body 100. In some embodiments, "sensing range covering the circumference of the drone body 100" can be understood as covering a 360-degree area of ​​the drone body 100 in the horizontal direction when the drone body is hovering. In some embodiments, the sensing ranges of two adjacent sensors overlap, so that the superimposed sensing ranges of the multiple sensors cover the circumference of the drone body 100. In some embodiments, the sensing ranges of multiple sensors may cover a portion of the circumference of the drone body 100, and the sensing ranges of two adjacent sensors may overlap.

[0036] In some embodiments, the sensors mounted on the bracket 1 may include one or more of a visual perception sensor 2, a 3D ToF sensor 3, and an iToF area array laser sensor 4. In some embodiments, the bracket 1 may mount one or more of the same type of sensor.

[0037] In some embodiments, the visual perception sensor 2 can be a 2D visual sensor or a 3D visual sensor. In some embodiments, a 2D visual sensor (e.g., CMOS / CCD) can capture planar images of objects or terrain, and combine them with deep learning algorithms to achieve high-precision positioning or product defect detection. In some embodiments, a 3D visual sensor can simulate human eye parallax using binocular or even multi-view cameras, calculate depth information, construct a 3D spatial model, and achieve dynamic environment perception and autonomous navigation. In some embodiments, the visual perception sensor 2 can simultaneously include a 2D visual sensor and a 3D visual sensor, and combine them with structured light or LiDAR to enhance the accuracy of 3D reconstruction in complex scenes. In some embodiments, the visual perception sensor 2 can be an RGB camera.

[0038] In some embodiments, the 3D ToF sensor 3 (ToF, Time of Flight) can be used for real-time depth measurement, for example, by emitting infrared light and calculating the time difference of light reflection (d=c*t / 2) to acquire a high-precision depth map in real time for rapid modeling of dynamic scenes. In some embodiments, the 3D ToF sensor 3 can also be used to process images acquired by the drone body 100, for example, to perform background blurring, AR interaction, and depth-of-field optimization in low-light environments to improve image quality. In some embodiments, the 3D ToF sensor 3 can also support drone obstacle avoidance and navigation, and its anti-interference capabilities (such as resistance to sunlight noise) enable stable distance measurement.

[0039] In some embodiments, the iToF area array laser sensor 4 (iToF, Indirect Time-of-Flight) can achieve millimeter-level precision depth measurement by continuously modulating light waves and analyzing the phase difference of reflected signals based on the phase modulation principle.

[0040] In some embodiments, the sensor mounted on the bracket 1 may also include one or more of an infrared sensor and an ultrasonic sensor.

[0041] In one or more embodiments of this specification, the bracket 1 may include a frame structure, with a vertically extending clearance area formed inside the frame structure. This clearance area covers the position of the fan blades of the drone body 100, preventing airflow obstruction and ensuring proper airflow intake. In some embodiments, the frame structure may be larger than the circumscribed rectangle of the drone body 100, so that the fan blades of the drone body 100 are located inside the clearance area of ​​the frame structure, thereby preventing airflow obstruction. See also... Figure 4 As shown, the range of the frame structure can be roughly consistent with the range of the outer rectangle where the rotation axis of the fan blade of the UAV body 100 is located, so that the rotation axis of the fan blade is located at the frame structure, thereby placing part of the fan blade in the avoidance area and the other part of the fan blade outside the frame structure, thus avoiding obstruction of airflow.

[0042] In some embodiments, the support 1 includes a main structure 11, a front beam structure 12, and side wing structures 13. Two front beam structures 12 extend outward from both sides of the main structure 11, and one end of each side wing structure 13 is connected to one of the two front beam structures 12. In some embodiments, the main structure 11 may be block-shaped, and functional components, such as control circuit boards, may be arranged inside the main structure 11. In some embodiments, the front beam structure 12 may be rod-shaped. In some embodiments, the side wing structures 13 may be rod-shaped. In some embodiments, the front beam structure 12 and the side wing structures 13 may be used to arrange sensors, such as a visual perception sensor 2, a 3D ToF sensor 3, and an iToF area array laser sensor 4. In some embodiments, the wiring harnesses related to the sensors, such as power lines or communication lines, can extend through the front beam structure 12 and / or the side wing structures 13 into the interior of the main structure 11 and connect to the functional components inside. In some embodiments, the support 1 may be made of lightweight materials.

[0043] In some embodiments, the main structure 11 of the bracket 1 is provided with an electrical connection interface 5, which is used to realize the electrical connection between the main structure 11 of the bracket 1 and the drone body 100, thereby allowing the drone body 100 to supply power to the devices on the bracket 1 and realize data exchange.

[0044] In some embodiments, a visual perception sensor 2 is provided at each end of each side wing structure 13. In some embodiments, the visual perception sensor 2 is an ultra-wide-angle visual perception sensor. In some embodiments, the visual perception sensor 2 is arranged at the end of the side wing structure 13, so that the visual perception sensor 2 is located at the outermost corner of the support 1, thereby avoiding interference from other structures of the support 1 with the sensing range of the visual perception sensor 2. In some embodiments, the sensing ranges of two adjacent visual perception sensors 2 overlap, thereby forming a binocular function. Arranging the visual perception sensor 2 at the end of the side wing structure 13 is beneficial to the overlap of the visual perception sensor 2 (for example, when the visual perception sensor 2 is arranged in the middle of the side wing structure 13, the end of the side wing structure 13 may block the visual perception sensor 2, affecting the overlap of the sensing range).

[0045] In some embodiments, the two side wing structures 13 may be arranged in parallel so that the four visual sensing sensors 2 are respectively positioned at the four corners of the bracket 1 facing four different directions. In some embodiments, the side wing structures 13 and the front beam structure 12 may have an angle between them. In some embodiments, the angle between the side wing structures 13 and the front beam structure 12 may be 90°.

[0046] In some embodiments, the bracket 1 further includes a connecting structure 14, wherein the other ends of the two side wing structures 13 are respectively connected to one end of the two connecting structures 14, and the other ends of the two connecting structures 14 are respectively connected to both sides of the main structure 11. The connecting structure 14 can enhance the stability of the ends of the side wing structures 13 away from the front beam structure 12.

[0047] In some embodiments, see Figure 6 As shown, the front beam structure 12, side wing structure 13, connecting structure 14, and the side of the main body structure 11 together form a frame structure. In some embodiments, a first clearance area 61 extending vertically is formed inside each frame structure to avoid obstructing airflow and affecting the fan blade intake. In some embodiments, a second clearance area 62 is formed between two frame structures to avoid obstructing part of the structure of the UAV main body 100.

[0048] In some embodiments, see Figures 5 to 7 As shown, each end of each side wing structure 13 has a mounting block 131 for mounting the visual perception sensor 2. In some embodiments, the mounting block 131 may be hexagonal prism-shaped. In some embodiments, see... Figure 5 As shown, each mounting block 131 has a mounting surface 1311 for arranging the sensing part of the visual perception sensor 2. The mounting surfaces 1311 of the four mounting blocks 131 face four directions respectively, so that the sensing part of the visual sensor 2 can face four directions respectively. In some embodiments, the mounting surface 1311 is provided on one side of the hexagonal prism-shaped mounting block 131.

[0049] In some embodiments, see Figure 5 As shown, the main structure 11 is equipped with an iToF area array laser sensor 4, for example, the front end of the main structure 11 (e.g., the surface of the main structure 11 facing the flight direction of the UAV body 100) is equipped with an iToF area array laser sensor 4.

[0050] In some embodiments, see Figure 5 , Figure 7 As shown, each side wing structure 13 is provided with a 3D ToF sensor 3, for example, a 3D ToF sensor 3 is provided in the middle of each side wing structure 13. In some embodiments, two 3D ToF sensors 3 are located on the left and right sides of the bracket 1. In some embodiments, the two 3D ToF sensors 3 face two opposite directions.

[0051] In some embodiments, the support 1 further includes an AI processor, an image processing unit, and a 3D modeling algorithm accelerator. In some embodiments, the image processing unit is connected to multiple sensor signals. In some embodiments, the 3D modeling algorithm accelerator is connected to the image processing unit. In some embodiments, the AI ​​processor is connected to both the image processing unit and the 3D modeling algorithm accelerator.

[0052] In some embodiments, the image processing unit is used to receive and process image data (e.g., real-time image data) from multiple sensors (e.g., visual perception sensor 2). In some embodiments, the image processing unit can be used to perform preprocessing operations such as image enhancement, noise suppression, and feature extraction. In some embodiments, the image processing unit can also be used for object detection and image segmentation. In some embodiments, the image processing unit can be used to output standardized data for use by subsequent modules (e.g., AI processors, 3D modeling algorithm accelerators, etc.).

[0053] In some embodiments, the 3D modeling algorithm accelerator can be used to accelerate the generation of 3D point clouds and perform spatial modeling, such as dynamically constructing a real-time 3D environment model in front of a drone. In some embodiments, the 3D modeling algorithm accelerator can be used to optimize computationally intensive algorithms (such as Contourlet transform and non-sampling transform) to improve modeling efficiency.

[0054] In some embodiments, the AI ​​processor is used to run deep models and perform advanced decision-making tasks, such as predicting collision risks with obstacles and identifying features in 3D environment modeling. In some embodiments, the AI ​​processor can also be used to control downstream execution modules.

[0055] For example, the image processing unit segments the outlines of objects in the environment, the 3D modeling algorithm accelerator registers the segmented outlines with the planned model, the AI ​​processor updates the target position of the object to the coordinate system of the drone body 100, guides the drone body 100 to approach or arrive at the target position, and performs a 3D scan of the environment at the target position. For example, the image processing unit identifies surrounding obstacles in the environment, the 3D modeling algorithm accelerator constructs an environmental model, and the AI ​​processor adjusts the motion parameters of the drone body 100 in real time to avoid obstacles.

[0056] In the above embodiments, the support frame 1 provides an independent computing platform to supplement the limited computing power of the drone body 100 in order to support complex algorithms.

[0057] In some embodiments, the bracket 1 may employ a USB Type-C high-speed data interface to enable communication. In some embodiments, the bracket 1 may include a wireless communication module to enable communication.

[0058] In one or more embodiments of this specification, see Figures 8 to 11 As shown, the quick-release mechanism includes grippers 71 for assisting in clamping the drone body 100, with one gripper 71 on each side of the main body structure 11. In some embodiments, the ends of the two grippers 71 are configured to automatically move towards each other or have a tendency to move towards each other to clamp the drone body 100 and assist in the connection between the drone body 100 and the bracket 1. In some embodiments, the shape of the ends of the grippers 71 can match the shape of the upper part of the drone body 100, thereby clamping the upper part of the drone body 100.

[0059] In some embodiments, see Figure 9 As shown, the middle portion of the gripper 71 is rotatably connected to the main body structure 11, allowing the gripper 71 to rotate about its middle portion, thereby allowing the lower ends of the gripper 71 to move towards each other. In some embodiments, an elastic member 72 is provided between the upper portion of the gripper 71 and the main body structure 11. The elastic member 72 is used to provide an elastic force to the upper portion of the gripper 71 to move it away from the drone body 100, thereby causing the lower portions of the gripper 71 to tend to move towards each other.

[0060] In some embodiments, see Figure 10 , Figure 11 As shown, the elastic element 72 can be a spring. In some embodiments, one end of the elastic element 72 abuts against the upper part of the gripper 71, and the other end of the elastic element 72 abuts against the side of the main body structure 11.

[0061] In some embodiments, the side of the main structure 11 may have a guide post for guiding the elastic member 72, and the elastic member 72 may be sleeved on the guide post. In some embodiments, the upper part of the gripper 71 may have a guide groove, and one end of the elastic member 72 is arranged in the guide groove.

[0062] In some embodiments, see Figure 11 As shown, the lower end of the gripper 71 is provided with gripping teeth 73. In some embodiments, the gripping teeth 73 may include one or more parallel strip-shaped structures. In other embodiments, the gripping teeth 73 may include one or more cylindrical structures arranged in a horizontal direction. In some embodiments, the shape of the gripping teeth 73 may match the shape of the heat dissipation grooves or heat dissipation holes of the drone body 100, so that when the gripper 71 is gripping the drone body 100, the gripping teeth 73 can extend into the heat dissipation grooves or heat dissipation holes of the drone body 100 to obtain a stable gripping effect.

[0063] In one or more embodiments of this specification, a drone device is provided, comprising a drone body 100 and the aforementioned drone scanning platform, wherein the drone body 100 and the drone scanning platform are detachably connected. In some embodiments, the drone device may include multiple drone scanning platforms with different functions. In some embodiments, the support 1 of the drone scanning platform may carry multiple different sensors, or the combination of sensors may be adjusted to achieve different functions.

[0064] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) the quick-release mechanism enables the bracket and the main body of the UAV to be quickly connected, and the electrical connection structure enables the main body of the UAV to power the sensors on the bracket, thereby enabling the sensors to operate and expanding the functions of the main body of the UAV; (2) the coverage and / or overlap of the sensing range of multiple sensors enables the main body of the UAV to obtain all-round environmental perception through the UAV scanning platform; (3) the avoidance area can avoid obstructing the airflow, so that the UAV scanning platform does not affect the flight of the UAV after being assembled into the UAV; (4) the visual perception sensors are installed on the four sides of the bracket 1 through the side wing structure. (5) The second avoidance area can adapt to various drone body models and is used to avoid the upward protruding parts in the drone body; (6) The clamp assists in fixing the bracket to the drone body, avoiding displacement or even separation between the bracket and the drone body during the drone's flight; (7) The clamping tooth design enables the clamp to clamp the drone's heat dissipation slots or heat dissipation holes, further stabilizing the fixing of the bracket to the drone; (8) The image processing unit, 3D modeling algorithm accelerator and AI processor expand the drone's computing power, enabling it to support complex algorithms. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0065] The basic concepts have been described above. It is clear that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. An unmanned aerial vehicle scanning platform, characterized by, The application relates to a bracket (1) provided with a plurality of sensors, an electrical connection interface (5) and a quick-release mechanism. The quick-release mechanism is used for detachably connecting the bracket (1) and a main body (100) of a drone, when the bracket (1) is connected to the main body (100) of the drone through the quick-release mechanism, the electrical connection interface (5) is connected to the main body (100) of the drone, so that the plurality of sensors are electrically connected to the main body (100) of the drone. The sensing ranges of the plurality of sensors cover one side of the main body (100) of the drone, and / or the sensing ranges of two adjacent sensors in the plurality of sensors overlap. The bracket (1) comprises a frame structure, an upper and lower through-avoidance area is formed in the frame structure, and the avoidance area covers the position of a fan blade of the main body (100) of the drone.

2. The drone scanning platform of claim 1, wherein, The plurality of sensors comprise visual perception sensors (2), 3DToF sensors (3) and / or iToF area array laser sensors (4).

3. The drone scanning platform of claim 1, wherein, The bracket (1) comprises a main body structure (11), a front beam structure (12) and a wing structure (13), the main body structure (11) is extended outward at two sides to form two front beam structures (12), and one end of two wing structures (13) is connected to two front beam structures (12) respectively.

4. The drone scanning platform of claim 1, wherein, The main body structure (11) is provided with the electrical connection interface (5). The plurality of sensors comprise visual perception sensors (2), and two ends of each wing structure (13) are provided with one visual perception sensor (2) respectively. The bracket (1) further comprises connecting structures (14), the other ends of two wing structures (13) are connected to one end of two connecting structures (14) respectively, and the other ends of two connecting structures (14) are connected to two sides of the main body structure (11) respectively.

5. The drone scanning platform of claim 4, wherein, The front beam structure (12), the wing structure (13), the connecting structure (14) and the side surface of the main body structure (11) form a frame structure.

6. The drone scanning platform of claim 5, wherein, An upper and lower through-avoidance area (61) is formed in each frame structure. A second avoidance area (62) is formed between two frame structures. Each end of each wing structure (13) is provided with a mounting block (131) for mounting the visual perception sensor (2).

7. The drone scanning platform of any one of claims 4 to 6, wherein, Each mounting block (131) is provided with a mounting surface (1311) for arranging a sensing part of the visual perception sensor (2), and the mounting surfaces (1311) of four mounting blocks (131) are respectively directed to four directions. The plurality of sensors comprise 3DToF sensors (3) and iToF area array laser sensors (4). The main body structure (11) is provided with the iToF area array laser sensor (4). Each wing structure (13) is provided with one 3DToF sensor (3). ​ 8. The drone scanning platform of claim 4, wherein, The quick release mechanism comprises clamping claws (71) for assisting in clamping a UAV body (100), and each side of the body structure (11) is provided with one clamping claw (71); The middle part of the clamping claw (71) is rotatably connected with the body structure (11); An elastic member (72) is arranged between the upper part of the clamping claw (71) and the body structure (11); The lower end of the clamping claw (71) is provided with a clamping tooth (73).

9. The drone scanning platform of claim 1, wherein, The bracket (1) is further provided with an AI processor, an image processing unit and a 3D modeling algorithm accelerator; The image processing unit is connected with the plurality of sensor signals; The 3D modeling algorithm accelerator is connected with the image processing unit; The AI processor is connected with the image processing unit and the 3D modeling algorithm accelerator; The bracket (1) is further provided with a wireless communication module.

10. An unmanned aerial vehicle apparatus, comprising: The unmanned aerial vehicle scanning platform comprises an unmanned aerial vehicle body and the unmanned aerial vehicle scanning platform according to any one of claims 1 to 9, and the unmanned aerial vehicle body (100) and the unmanned aerial vehicle scanning platform are detachably connected.

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