An unmanned aerial vehicle airborne apparatus integrating a laser radar and a camera

Abstract

The utility model provides an unmanned plane airborne device of integrated laser radar and camera belongs to the combined technical field of laser radar system and the system (for example the directional device) except laser radar, radar or sonar. Unmanned plane airborne device includes the casing and the laser radar, camera and main control board of setting in the casing, and the laser radar is fixed on the inner wall of casing, and the shell of laser radar has the camera fixed side for fixing camera and the main control board fixed side for fixing main control board, and the camera fixed side and main control board fixed side are not the same side, and the camera is fixed on the camera fixed side through camera mounting seat, and the main control board is fixed on the main control board fixed side through main control board mounting seat. The utility model installs the camera and main control board of lighter weight on the shell of heavier weight laser radar, and carries the camera and main control board through laser radar, and the problem that the circuit board is deformed, and the solder joint is broken or the internal circuit is damaged is solved through the main control board to carry.

Description

Technical Field

[0001] This utility model relates to an airborne device for unmanned aerial vehicles that integrates lidar and camera, belonging to the technical field of combined lidar systems and systems other than lidar, radar or sonar (such as directional devices). Background Technology

[0002] In fields such as autonomous driving, robotics, and augmented reality, accurate environmental perception is crucial for system safety and performance. LiDAR and cameras are two complementary sensors. LiDAR acquires high-precision 3D point cloud data by emitting lasers and measuring reflection time, while cameras capture rich color and texture information. The core idea of ​​LiDAR and camera fusion technology is to combine the advantages of these two sensors to achieve a more comprehensive and accurate environmental perception capability. The combination of high-precision point cloud data from LiDAR and imagery from cameras is widely used in topographic mapping, power line inspection, and urban 3D modeling, especially excelling in vegetation penetration and nighttime operations. Drones can use LiDAR to perceive the environment in real time and combine it with visual data to achieve obstacle avoidance in complex scenarios, improving safety in logistics delivery and disaster relief.

[0003] For example, Chinese utility model patent CN220019881U discloses a visual inspection device for power transmission lines with integrated lidar. This device includes a housing, within which a main board, a camera assembly, and a lidar assembly are housed. The main board is located at the bottom of the housing, and the camera and lidar assemblies are respectively fixed above the main board by their respective brackets, and both are electrically connected to the main board. This inspection device integrates the camera and lidar assemblies. The lidar measures the distance to targets using laser point clouds, enabling timely detection of potential hazards and making the measured data more accurate. Combined with visual image analysis, this results in more accurate alarm information. Furthermore, the camera and lidar assemblies are arranged adjacent to each other, ensuring that the camera's field of view is included within the lidar's field of view, thus improving the utilization rate of point cloud data within the lidar's field of view.

[0004] However, because the motherboard is located at the bottom, and both the camera and LiDAR components are fixed to it, the motherboard needs to support the weight of these components (LiDAR typically weighs several hundred grams). The core function of the motherboard is electrical connection and data transmission; its epoxy resin substrate only has the mechanical strength to support lightweight electronic components. Directly supporting heavier devices like the camera and LiDAR components under prolonged stress can easily lead to circuit board deformation, solder joint breakage, or internal circuit damage. Furthermore, since the camera and LiDAR components are mounted separately on the motherboard, they are prone to bumping into protruding components such as capacitors, resistors, and crystal oscillators during installation, causing component damage or solder joint detachment, thus affecting the normal operation of the motherboard. Utility Model Content

[0005] The purpose of this utility model is to provide an airborne device for unmanned aerial vehicles that integrates lidar and camera, in order to solve the problems in the prior art where the camera component and lidar component are carried by the motherboard, which can easily lead to circuit board deformation, solder joint breakage or internal circuit damage, as well as the problem that the components are easily damaged or the solder joints are detached when the camera component and lidar component are installed, due to collisions with the components on the motherboard.

[0006] To achieve the above objectives, the UAV airborne device integrating lidar and camera in this utility model adopts the following technical solution:

[0007] An airborne device for an unmanned aerial vehicle (UAV) integrating a lidar and a camera includes a housing and a lidar, a camera, and a main control board disposed within the housing. The lidar is fixed to the inner wall of the housing. The lidar housing has a camera mounting side for fixing the camera and a main control board mounting side for fixing the main control board. The camera mounting side and the main control board mounting side are not the same side. The camera is fixed to the camera mounting side by a camera mounting bracket, and the main control board is fixed to the main control board mounting side by a main control board mounting bracket.

[0008] The beneficial effects of the above technical solution are as follows: This utility model is an invention that changes the relationship between elements, altering the fixed positions of the lidar, camera, and main control board. The relatively heavy lidar is fixed to the inner wall of the housing. Utilizing the lidar's own outer shell, the lidar shell has a camera mounting side for fixing the camera and a main control board mounting side for fixing the main control board. The camera is fixed to the camera mounting side via a camera mounting bracket, and the main control board is fixed to the main control board mounting side via a main control board mounting bracket. This allows the camera and main control board to be mounted on the lidar respectively. Relatively speaking, the camera and main control board are lighter, and the lidar can easily support them. Furthermore, the camera mounting side and the main control board mounting side are not the same side, facilitating the installation and arrangement of the camera and main control board. This solves the problem in the prior art where the motherboard supports the camera and lidar components, which easily leads to circuit board deformation, solder joint breakage, or internal circuit damage. Meanwhile, since the camera is no longer mounted on the main control board, the main control board only needs to be fixed to the side of the main control board using the main control board mounting bracket. This reduces the installation operations performed on the main control board, thus reducing the risk of components being damaged or solder joints falling off due to collisions with the components on the motherboard.

[0009] Furthermore, the lidar is horizontally fixed on the bottom plate of the housing, with the lidar's detection window located at one horizontal end. The camera mounting side and the main control board mounting side are both directly connected to the side where the detection window is located.

[0010] Furthermore, the camera is fixed on the top surface of the lidar housing, and the main control board is fixed on one of the vertical sides of the lidar housing.

[0011] Furthermore, the base plate is provided with a bottom heat dissipation grille for heat dissipation of the lidar.

[0012] Furthermore, the lidar housing includes two vertical sides directly connected to the side where the detection window is located, with the main control board fixed on one of the vertical sides. The housing includes side plates arranged opposite to the two vertical sides, and each side plate is provided with a side heat dissipation grille.

[0013] Furthermore, a cooling fan is installed inside the housing at the location of one of the side heat dissipation grilles.

[0014] Furthermore, the camera mounting base includes a base body, which has a base body fixing surface that fits and fixes to the fixing side of the camera. On the side of the base body facing away from the base body fixing surface, there are respectively a square receiving groove for accommodating the square column portion of the camera, an arc-shaped receiving groove for accommodating the cylindrical portion of the camera, and a positioning protrusion located between the square receiving groove and the arc-shaped receiving groove for engaging the square column portion and the cylindrical portion of the camera.

[0015] Furthermore, the main control board mounting base includes a mounting plate that is fixed to the fixed side of the main control board and multiple connecting posts that are fixed at intervals on the mounting plate, and the main control board is fixedly connected to each connecting post.

[0016] Furthermore, the power communication interface of the lidar is located on the fixed side of the main control board, and the mounting plate is provided with a clearance for avoiding the power communication interface.

[0017] Furthermore, the detection window of the lidar is arranged facing forward, and the housing includes a front side plate and a rear side plate. The front side plate has a housing window corresponding to the detection window of the lidar, and the rear side plate is fixed with a connecting shaft for connecting with the UAV. Attached Figure Description

[0018] Figure 1 A perspective view of an embodiment of the UAV airborne device integrating lidar and camera according to this utility model;

[0019] Figure 2 This is a perspective view of another embodiment of the UAV airborne device integrating lidar and camera of this utility model.

[0020] Figure 3 This is another perspective view of an embodiment of the UAV airborne device integrating lidar and camera of this utility model.

[0021] Figure 4This is a perspective view of the UAV airborne device integrating lidar and camera according to the present invention, after removing the upper shell.

[0022] Figure 5 This is a perspective view of the lidar in the embodiment of the UAV airborne device integrating lidar and camera of this utility model;

[0023] Figure 6 This is a perspective view of the camera mounting base in an embodiment of the UAV airborne device integrating lidar and camera according to this utility model.

[0024] Figure 7 This is a perspective view of the main control board and main control board mounting base in an embodiment of the UAV airborne device integrating lidar and camera of this utility model.

[0025] Figure 8 This is a perspective view of the mounting plate of the main control board mounting base in the embodiment of the UAV airborne device integrating lidar and camera of this utility model.

[0026] Figure 9 This is a perspective view of the base plate in an embodiment of the UAV airborne device integrating lidar and camera of this utility model.

[0027] Figure 10 This is a perspective view of the upper housing in an embodiment of the UAV airborne device integrating lidar and camera according to this utility model.

[0028] In the diagram: 1. Base plate; 11. Bottom heat dissipation grille; 12. Cable guide hole; 2. Upper shell; 21. Left side plate; 211. Left side heat dissipation grille; 22. Right side plate; 221. Right side heat dissipation grille; 23. Front side plate; 231. First shell window; 232. Second shell window; 24. Rear side plate; 25. Top plate; 26. Stepped surface; 27. Fixing column; 3. Connecting shaft; 4. LiDAR; 41. Camera fixing side; 42. Main control board fixing side; 43. Detection window; 44. Power communication interface; 5. Camera; 51. Square column part; 52. Cylindrical part; 53. Groove; 54. Lens; 6. Main control board; 7. Camera mounting base; 71. Base body; 72. Square receiving groove; 73. Arc-shaped receiving groove; 74. Positioning protrusion; 75. Connecting edge; 8. Mounting plate; 81. Clearance opening; 82. Weight reduction hole; 9. Connecting column. Detailed Implementation

[0029] To address the technical problems existing in the prior art, the basic concept of this utility model is to change the fixed positions of the lidar, camera, and main control board, so that the lighter camera and main control board can be mounted on the shell of the heavier lidar. The lidar can support the camera and main control board without any problem. Furthermore, the fixed side of the camera and the fixed side of the main control board are not the same side, which facilitates the installation and arrangement of the camera and main control board.

[0030] The features and performance of this utility model will be further described in detail below with reference to the embodiments.

[0031] The implementation method of the UAV airborne device (hereinafter referred to as the airborne device) integrating lidar and camera in this utility model is as follows:

[0032] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the airborne device includes a housing and a lidar 4, a camera 5, and a main control board 6 disposed within the housing. In this embodiment, the housing includes a base plate 1 and an upper housing 2 fixed to the base plate 1, combined with... Figure 10 As shown, the upper shell 2 is a square shell with an opening at the lower end, including a left side plate 21, a right side plate 22, a front side plate 23, a rear side plate 24, and a top plate 25. A stepped surface 26 is provided on the inner side of the lower opening, which is used to mate with the bottom plate 1, allowing the bottom plate 1 to be completely housed within the upper shell 2. The bottom plate 1 is fixed to the stepped surface 26 with screws. Specifically, fixing posts 27 are provided at the four corners of the inner wall of the upper shell 2, each with a threaded hole. Corresponding screw holes are provided at the four corners of the bottom plate 1 to facilitate screw installation.

[0033] The lidar 4 is fixed to the inner wall of the housing, specifically as follows: Figure 4 and Figure 5 As shown, in this embodiment, the lidar 4 is horizontally fixed on the base plate 1. The detection window 43 of the lidar 4 is located at one end of the horizontal direction and is arranged facing forward. At the same time, the shooting lens 54 of the camera 5 is also arranged facing forward. In this case, the airborne device is used for obstacle avoidance and real-time navigation. Typical application scenarios include urban inspection, power line inspection, and low-altitude logistics transportation. In other embodiments, the detection window 43 of the lidar 4 and the shooting lens 54 of the camera 5 can also be arranged downward (i.e., vertically). In this case, the airborne device is used for terrain mapping and 3D modeling, geological monitoring and resource exploration. Typical application scenarios include geological disaster assessment, mine safety monitoring, and agricultural survey.

[0034] The lidar 4 itself has a housing, the bottom surface of which is attached to the base plate 1 and fixed to the base plate 1 with screws. Specifically, screw holes are provided on the base plate 1, and corresponding threaded holes are provided on the bottom surface of the lidar 4 housing to facilitate screw installation. Furthermore, since the lidar 4 is attached to the base plate 1, to facilitate heat dissipation of the lidar 4, such as... Figure 2 and Figure 9 As shown, a bottom heat dissipation grille 11 is provided on the base plate 1 at the position corresponding to the lidar 4.

[0035] like Figure 4 and Figure 5 As shown, the housing of the lidar 4 also includes a top surface and two vertical sides that are connected to the top surface, bottom surface, and the side where the detection window 43 is located (since the detection window 43 faces forward, the two vertical sides are the left vertical side and the right vertical side, respectively). The top surface forms the camera mounting side 41 for fixing the camera 5, and one of the two vertical sides forms the main control board mounting side 42 for fixing the main control board 6. That is, the camera mounting side 41 and the main control board mounting side 42 are not the same side, which facilitates the installation and arrangement of the camera 5 and the main control board 6.

[0036] Specifically, in this embodiment, the main control board fixing side 42 is the right vertical side; in other embodiments, it can also be the left vertical side. Of course, in other embodiments, the main control board fixing side can also be the top surface of the lidar 4 housing, in which case one of the two vertical sides constitutes the camera fixing side. In other embodiments, the main control board fixing side can also be the rear side of the lidar 4 housing, that is, the side opposite to the detection window 43. In this case, the main control board fixing side is no longer connected to the side where the detection window 43 is located, and the camera fixing side can be the top surface or either of the two vertical sides.

[0037] Camera 5 is fixed to the camera mounting side 41 by camera mounting bracket 7, as follows: Figure 4 As shown, the camera 5 is located above the lidar 4, and the relative position between them is fixed. After calibration with external parameters, the relative position and attitude relationship between the camera 5 and the lidar 4 can be accurately obtained. In addition to the shooting lens 54, the camera 5 also includes a square column portion 51, a cylindrical portion 52, and a groove 53 located between the square column portion 51 and the cylindrical portion 52.

[0038] The dimensions of the camera mount 7 are designed to maximize the overlap of the field of view of the camera 5 and the lidar 4. For example... Figure 6As shown, the camera mounting base 7 includes a base body 71. The base body 71 has a base fixing surface (i.e., the bottom surface of the base body 71) that fits and is fixed to the camera fixing side 41. The edge of the base fixing surface is provided with a connecting edge 75, and a screw through hole is provided on the connecting edge 75. A corresponding threaded hole is provided on the camera fixing side 41, so that the camera mounting base 7 can be fixed to the camera fixing side 41 by screws. On the side of the base body 71 facing away from the base fixing surface, there are respectively provided a square receiving groove 72 for accommodating the square column portion 51 of the camera 5, an arc-shaped receiving groove 73 for accommodating the cylindrical portion 52 of the camera 5, and a positioning protrusion 74 located between the square receiving groove 72 and the arc-shaped receiving groove 73 for engaging the square column portion 51 and the cylindrical portion 52 of the camera 5. That is, the base body 71 is provided with receiving grooves and protrusions that are adapted to the outer contour of the camera 5, which facilitates the installation of the camera 5 and allows for positioning of the camera 5 after installation.

[0039] To ensure the stability of the camera 5, a threaded hole is provided on the bottom surface of the square column portion 51 in this embodiment, and a corresponding screw through hole is provided on the bottom wall of the square receiving groove 72, so that the camera 5 is fixed to the camera mounting base 7 by screws. Meanwhile, to avoid the screw heads protruding and affecting the fit between the mounting surface of the base and the camera mounting side 41, the screw through holes on the bottom wall of the square receiving groove 72 are countersunk holes. Of course, in other embodiments, the camera mounting base 7 can also be configured as a two-part base. After the camera 5 is placed on the lower base, the upper base is then snapped on, and the two halves are fixed with screws to achieve clamping and fixing of the camera 5.

[0040] Combination Figure 4 , Figure 7 and Figure 8 As shown, the main control board 6 is fixed on the main control board mounting bracket on the main control board mounting side 42. The main control board 6 is essentially a network switch, which is electrically connected to the camera 5 and the lidar 4 respectively, and can realize the data collection and transmission functions of the camera 5 and the lidar 4.

[0041] The main control board mounting base includes a mounting plate 8 that is fixedly attached to the fixed side 42 of the main control board, and multiple connecting posts 9 that are fixed at intervals on the mounting plate 8. In this embodiment, there are four connecting posts 9, all of which are copper posts. In other embodiments, there may be six, and the material may also be aluminum alloy. The main control board 6 is fixedly connected to each connecting post 9. Threaded holes are machined at both ends of each connecting post 9. The main control board 6 and the connecting posts 9, as well as the mounting plate 8 and the connecting posts 9, are connected by screws. The main control board 6 is suspended by multiple connecting posts 9, which is beneficial for heat dissipation of the main control board 6.

[0042] The mounting plate 8 is fixed to the main control board mounting side 42 with screws. Screw holes are provided at the four corners of the mounting plate 8, and corresponding threaded holes are provided on the main control board mounting side 42 for screw installation. Additionally, the power communication interface 44 of the lidar 4 is located on the main control board mounting side 42. Figure 5 As shown, to avoid interference, a clearance opening 81 is provided on the mounting plate 8 to avoid the power communication interface 44. In addition, there are four weight reduction holes 82 on the mounting plate 8, all of which are triangular holes. In addition to weight reduction, they can also serve as heat dissipation holes to facilitate the heat dissipation of the lidar 4. Since the main control board 6 and the mounting plate 8 are arranged at intervals, the heat dissipated can be diffused into the housing and then discharged to the outside.

[0043] In other embodiments, if the position of the threaded holes on the main control board's mounting side 42 can be changed, the size of the mounting plate 8 can be made smaller, just enough to fix the connecting post 9, in which case there is no need to provide a clearance opening. Of course, in other embodiments, if the mounting plate 8 is fixed to another vertical side that does not contain the power communication interface 44, then there is no need to provide a clearance opening on the mounting plate 8. Furthermore, in other embodiments, the weight-reducing holes on the mounting plate 8 are not required, and the mounting plate 8 can be made of a lightweight, thermally conductive material, such as aluminum alloy.

[0044] Furthermore, to facilitate heat dissipation for the LiDAR 4, camera 5, and main control board 6, such as... Figure 1 , Figure 2 , Figure 3 , Figure 10 As shown, side heat dissipation grilles are respectively provided on the side plates of the upper housing 2 that are arranged opposite to the two vertical sides of the lidar 4. That is, a left side heat dissipation grille 211 is provided on the left side plate 21, and a right side heat dissipation grille 221 is provided on the right side plate 22. This facilitates air convection and improves heat dissipation.

[0045] Furthermore, a cooling fan can be installed inside the upper housing 2 at one of the side heat dissipation grilles to create forced convection and further improve heat dissipation. In this embodiment, the lidar 4 is positioned close to the left side plate 21, so the cooling fan is fixed to the inner wall of the right side plate 22 using screws. When the cooling fan is turned on, the left side heat dissipation grille 211 forms an air inlet, and the right side heat dissipation grille 221 forms an air outlet. In other embodiments, the lidar 4 can also be positioned close to the right side plate 22, in which case the cooling fan is fixed to the inner wall of the left side plate 21. Of course, in other embodiments, a cooling fan may not be installed, and heat dissipation may rely solely on natural convection.

[0046] It should be noted that there is a gap between the top surface of the camera 5 and the top plate 25, and there is also a gap between the rear side of the camera 5 and the lidar 4 and the rear side plate 24, which facilitates the airflow into the housing.

[0047] Since the detection window 43 of the lidar 4 and the imaging lens 54 of the camera 5 are both arranged facing forward in this embodiment, therefore... Figure 1 , Figure 2 and Figure 10 As shown, a first housing window 231 corresponding to the detection window 43 of the lidar 4 and a second housing window 232 corresponding to the shooting lens 54 of the camera 5 are provided on the front side panel 23. Protective glass may or may not be installed on the two housing windows. Meanwhile, as shown... Figure 3 As shown, a connecting shaft 3 for connecting to a drone is fixed on the rear side plate 24. One end of the connecting shaft 3 is provided with a flange, which is fixed to the rear side plate 24 by screws. The other end of the connecting shaft 3 is provided with a connecting hole for connecting to the drone.

[0048] In other embodiments, if the detection window 43 of the lidar 4 and the shooting lens 54 of the camera 5 are both arranged downwards, then a corresponding housing window is provided on the base plate 1, and the connecting shaft connected to the UAV is fixed on the top plate of the housing.

[0049] It should be noted that the screw connections between the various components mentioned above can be replaced with pin or rivet connections, or of course, they can be replaced with adhesive or welding (if welding is possible), or other fixing connection methods known to those skilled in the art.

[0050] In addition, such as Figure 2 and Figure 9 As shown, a wire-passing hole 12 is provided on the base plate 1 to allow the wires connected to the lidar 4, camera 5, and main control board 6 to pass through. Of course, in other embodiments, the wire-passing hole 12 can also be provided on one of the top plate, left side plate, right side plate, and rear side plate of the upper housing 2.

[0051] In summary, this invention achieves integrated control, status acquisition, and one-time data transmission for both lidar and camera payloads through payload integration. The lighter camera and main control board are mounted on the heavier lidar housing, with the lidar serving as the support for both. Furthermore, the camera and main control board are mounted on different sides, facilitating their installation and layout. This solves the problems of circuit board deformation, solder joint breakage, or internal circuit damage caused by the main control board bearing the load. Simultaneously, the camera is no longer mounted on the main control board; the main control board is simply fixed to its mounting side using a mounting bracket. This reduces the installation operations on the main control board, thus lowering the risk of component damage or solder joint detachment due to collisions with components on the motherboard.

[0052] In other embodiments of the UAV onboard device integrating LiDAR and camera: the main control board mounting base may include a fixed frame with legs at the four corners of the fixed frame, the legs being fixed to the fixed side of the main control board, and the main control board being fixed to the fixed frame.

[0053] In other embodiments of the UAV onboard device integrating LiDAR and camera: the side heat dissipation grilles may no longer be provided on the left and right side plates, but instead a top heat dissipation grille may be provided on the top plate, in which case the top and bottom heat dissipation grilles are used to form vertical convection.

[0054] In other embodiments of the UAV onboard device integrating LiDAR and camera: heat dissipation grilles may be provided on only one of the top plate, left side plate, right side plate, rear side plate, and bottom plate.

[0055] In other embodiments of the UAV-borne device integrating LiDAR and camera: the housing of the device may include a top plate and a lower housing, where the top plate acts as a top cover and the lower housing is an open-top housing. The LiDAR can still be fixed to the bottom plate of the lower housing. Alternatively, in other embodiments, the left, right, or rear side plates of the housing can be installed independently to form side covers. Regardless of the housing structure, the LiDAR can be fixed to the left, right, or rear side plate.

[0056] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. The patent protection scope of the present utility model shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present utility model shall also be included within the protection scope of the present utility model.

Claims

1. An airborne device for unmanned aerial vehicles (UAVs) integrating lidar and a camera, characterized in that, The device includes a housing and a lidar, a camera, and a main control board housed within the housing. The lidar is fixed to the inner wall of the housing. The lidar housing has a camera mounting side for fixing the camera and a main control board mounting side for fixing the main control board. The camera mounting side and the main control board mounting side are not the same side. The camera is fixed to the camera mounting side by a camera mounting bracket, and the main control board is fixed to the main control board mounting side by a main control board mounting bracket.

2. The UAV-borne device integrating lidar and camera according to claim 1, characterized in that, The lidar is horizontally fixed on the bottom plate of the housing. The lidar's detection window is located at one horizontal end. The camera mounting side and the main control board mounting side are both directly connected to the side where the detection window is located.

3. The UAV airborne device integrating lidar and camera according to claim 2, characterized in that, The camera is fixed on the top surface of the lidar housing, and the main control board is fixed on one of the vertical sides of the lidar housing.

4. The UAV-borne device integrating lidar and camera according to claim 2, characterized in that, The base plate is equipped with a bottom heat dissipation grille for heat dissipation of the lidar.

5. The UAV-borne device integrating lidar and camera according to claim 2, characterized in that, The lidar housing includes two vertical sides directly connected to the side where the detection window is located. The main control board is fixed on one of the vertical sides. The housing includes side plates arranged opposite to the two vertical sides, and each side plate is provided with a side heat dissipation grille.

6. The UAV-borne device integrating lidar and camera according to claim 5, characterized in that, A cooling fan is installed inside the casing at the location of one of the side heat dissipation grilles.

7. The UAV-borne device integrating lidar and camera according to any one of claims 1 to 6, characterized in that, The camera mounting base includes a base body, which has a base body fixing surface that fits and fixes to the fixed side of the camera. On the side of the base body facing away from the base body fixing surface, there are respectively a square receiving groove for accommodating the square column portion of the camera, an arc-shaped receiving groove for accommodating the cylindrical portion of the camera, and a positioning protrusion located between the square receiving groove and the arc-shaped receiving groove for engaging the square column portion and the cylindrical portion of the camera.

8. The UAV airborne device integrating lidar and camera according to any one of claims 1 to 6, characterized in that, The main control board mounting base includes a mounting plate that is fixed to the fixed side of the main control board and multiple connecting posts that are fixed at intervals on the mounting plate. The main control board is fixedly connected to each connecting post.

9. The UAV-borne device integrating lidar and camera according to claim 8, characterized in that, The power communication interface of the lidar is located on the fixed side of the main control board, and the mounting plate is provided with a clearance for avoiding the power communication interface.

10. The UAV-borne device integrating lidar and camera according to any one of claims 2 to 6, characterized in that, The lidar's detection window faces forward. The housing includes a front panel and a rear panel. The front panel has a housing window corresponding to the lidar's detection window, and the rear panel has a connecting shaft for connecting to the UAV.

Images