A surveying and mapping device for forestry unmanned aerial vehicles

Abstract

The utility model discloses a kind of surveying and mapping devices for forestry unmanned aerial vehicle, including unmanned aerial vehicle body, still including fixedly connected in the foot stand of unmanned aerial vehicle body bottom, the protective assembly of being set in the outside of unmanned aerial vehicle body, detachable mounting frame in the inside of unmanned aerial vehicle body, installation assembly being set on mounting frame, linkage assembly being set on installation assembly. By driving assembly drive first rotating frame rotation, it can be with the aid of sliding frame to drive movable frame to slide on fixed frame, realize to optical camera body and laser radar body horizontal angle adjustment;Meanwhile, by driving assembly drive second rotating frame rotation, it can drive sliding frame to slide on movable frame, complete to optical camera body and laser radar body inclination angle adjustment, improve the flexibility of optical camera body and laser radar body angle adjustment, without through changing the flight attitude of unmanned aerial vehicle itself to adapt different surveying and mapping demand, to improve the practicability of device.

Description

Technical Field

[0001] This utility model relates to the field of surveying and mapping device technology, specifically a surveying and mapping device for forestry drones. Background Technology

[0002] Forestry drone mapping devices are specialized equipment systems mounted on drone platforms for collecting, measuring, and analyzing information such as topography, vegetation distribution, tree parameters (such as tree height, diameter at breast height, and density), and pest and disease conditions in forestry areas. Their core function is to acquire spatial data on forestry resources, providing technical support for forest resource surveys, ecological monitoring, and disaster assessment. Compared with traditional manual mapping, they have advantages such as high efficiency, wide coverage, low cost, and strong security.

[0003] In existing technologies, the combination of optical cameras and lidar is the mainstream mapping solution in forestry drone mapping devices. Most devices mount the optical camera and lidar on the drone in a fixed posture, resulting in a very limited range of angle adjustment for both, which can only be adjusted by tilting angle. Therefore, in actual mapping, if it is necessary to adjust the shooting angle of the optical camera or the scanning direction of the lidar to adapt to different mapping targets, it can often only be achieved by changing the drone's own flight attitude. However, frequent adjustment of the drone's angle not only increases the difficulty of operation, but may also affect the accuracy of data acquisition due to the instability of the flight attitude, leading to a decrease in mapping efficiency. Furthermore, it is difficult to ensure that all target areas can obtain an ideal observation angle, thus affecting the overall mapping effect. Summary of the Invention

[0004] The purpose of this utility model is to provide a surveying device for forestry drones, in order to solve the problems mentioned in the background art, in which the optical camera and lidar are mostly fixedly installed, the angle adjustment is limited, and in actual surveying, the drone's own attitude needs to be adjusted to adapt to different targets. This not only increases the difficulty of operation and affects the accuracy of data, but also leads to a decrease in surveying efficiency and effect.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a surveying device for forestry drones, comprising a drone body, a tripod fixedly connected to the bottom of the drone body, a protective component disposed on the outside of the drone body, a mounting frame detachably installed inside the drone body, a mounting component disposed on the mounting frame, a linkage component disposed on the mounting component, a drive component disposed on the mounting frame, a first rotating frame rotatably connected inside the mounting frame, a second rotating frame rotatably connected inside the mounting frame, a fixed frame fixedly connected to the mounting frame, a movable frame slidably connected to the fixed frame, a sliding frame slidably connected to the movable frame, an optical camera body fixedly connected to the side of the sliding frame away from the movable frame, and a lidar body fixedly connected to the optical camera body. The sliding frame is movably connected inside the first rotating frame and the sliding frame is movably connected inside the second rotating frame.

[0006] In a preferred embodiment of this technical solution, the movable frame has a sliding groove at a corresponding position on the fixed frame, and the movable frame slides on the fixed frame through the sliding groove. The movable frame also has a sliding groove at a corresponding position on the sliding frame, and the sliding frame is slidably connected to the sliding groove of the movable frame.

[0007] In a preferred embodiment of this technical solution, the first rotating frame has a corresponding through groove at the corresponding position of the sliding frame, and the sliding frame is movably connected inside the through groove of the first rotating frame; similarly, the second rotating frame has a corresponding through groove at the corresponding position of the sliding frame, and the sliding frame is movably connected inside the through groove of the second rotating frame.

[0008] According to the preferred embodiment of this technical solution, the drive assembly includes a first motor fixedly connected to the mounting bracket, a second motor fixedly connected to the mounting bracket, a first rotating frame fixedly connected to the output end of the first motor, and a second rotating frame fixedly connected to the output end of the second motor.

[0009] Based on the preferred embodiment of this technical solution, the mounting components include a fixed rod fixedly connected inside the mounting frame, a snap-fit ​​bracket slidably connected inside the mounting frame, and a compression spring fixedly connected between the mounting frame and the snap-fit ​​bracket. The snap-fit ​​bracket is slidably connected to the fixed rod and is detachably snapped into the interior of the UAV body.

[0010] Based on the preferred embodiment of this technical solution, the linkage component includes a fixed plate fixedly connected to one side of the clip bracket, a button slidably connected inside the mounting bracket, a movable plate fixedly connected to the end of the button near the fixed plate, and a sliding rod fixedly connected to the fixed plate, with the sliding rod movably connected inside the movable plate.

[0011] Based on the preferred embodiment of this technical solution, two sets of sliding rods are provided, which are symmetrically distributed inside the moving plate. The moving plate has matching through slots at corresponding positions of the two sets of sliding rods, and the two sets of sliding rods are movably connected inside the through slots of the moving plate.

[0012] Based on the preferred embodiment of this technical solution, the protective component includes a fixed frame fixedly connected to the outside of the UAV body, an optical axis fixedly connected to the outside of the fixed frame, a protective frame slidably connected to the optical axis, a limiting plate fixedly connected to the end of the optical axis away from the fixed frame, a shock-absorbing damper fixedly connected between the protective frame and the fixed frame, and a buffer spring fixedly connected between the protective frame and the fixed frame.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. By driving the first rotating frame to rotate through the drive component, the movable frame can slide on the fixed frame via the sliding bracket, thereby adjusting the horizontal angle of the optical camera body and the lidar body. At the same time, by driving the second rotating frame to rotate through the drive component, the sliding bracket can slide on the movable frame, thereby adjusting the tilt angle of the optical camera body and the lidar body. This improves the flexibility of angle adjustment of the optical camera body and the lidar body, eliminating the need to change the flight attitude of the UAV to adapt to different surveying needs, thus enhancing the practicality of the device.

[0015] 2. The protective frame is guided by the optical axis on the fixed frame on the outside of the drone body. When the drone is hit, the protective frame slides along the optical axis. With the shock absorption damping and buffer spring between the protective frame and the fixed frame, the impact force generated by the collision can be effectively absorbed, reducing the impact force on the drone body and internal components, and ensuring the stability and protection effect of the drone body. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one embodiment of a surveying device for forestry drones according to the present invention;

[0017] Figure 2 This is a schematic diagram of the installation component structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the drive component structure of this utility model;

[0019] Figure 4 This is a schematic diagram of the linkage component structure of this utility model;

[0020] Figure 5 This is a schematic diagram of the protective component structure of this utility model;

[0021] Figure 6 This is a schematic diagram of the shock-absorbing damping and buffer spring structure of this utility model.

[0022] In the diagram: 1. UAV body; 21. Mounting frame; 22. First motor; 23. First rotating frame; 24. Second motor; 25. Second rotating frame; 26. Fixed frame; 27. Movable frame; 28. Sliding frame; 29. ​​Optical camera body; 210. LiDAR body; 31. Fixed rod; 32. Clip-on frame; 33. Compression spring; 34. Button; 35. Moving plate; 36. Fixed plate; 37. Sliding rod; 41. Fixed frame; 42. Optical axis; 43. Protective frame; 44. Limiting plate; 45. Shock absorption damping; 46. Buffer spring; 5. Tripod. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-6This utility model provides an embodiment of a surveying device for forestry drones, including a drone body 1, a tripod 5 fixedly connected to the bottom of the drone body 1, a protective component disposed on the outside of the drone body 1, a mounting frame 21 detachably installed inside the drone body 1, a mounting component disposed on the mounting frame 21, a linkage component disposed on the mounting component, a drive component disposed on the mounting frame 21, a first rotating frame 23 rotatably connected inside the mounting frame 21, a second rotating frame 25 rotatably connected inside the mounting frame 21, a fixed frame 26 fixedly connected to the mounting frame 21, a movable frame 27 slidably connected to the fixed frame 26, a sliding frame 28 slidably connected to the movable frame 27, an optical camera body 29 fixedly connected to the side of the sliding frame 28 away from the movable frame 27, and a lidar body 210 fixedly connected to the optical camera body 29. The sliding frame 28 is movably connected inside the first rotating frame 23 and the second rotating frame 25. The first rotating frame 28 is driven by the drive component. The rotating frame 23 rotates, which, with the help of the sliding frame 28, drives the movable frame 27 to slide on the fixed frame 26, thereby adjusting the horizontal angle of the optical camera body 29 and the lidar body 210. At the same time, the second rotating frame 25 is driven to rotate by the drive component, which drives the sliding frame 28 to slide on the movable frame 27, thereby adjusting the tilt angle of the optical camera body 29 and the lidar body 210. This improves the flexibility of the angle adjustment of the optical camera body 29 and the lidar body 210, eliminating the need to change the flight attitude of the UAV to adapt to different surveying needs, thus enhancing the practicality of the device. The protective component guides the protective frame 43 through the optical axis 42 on the fixed frame 41 on the outside of the UAV body 1. When the UAV is hit, the protective frame 43 slides along the optical axis 42. With the shock-absorbing damping 45 and the buffer spring 46 between the protective frame 43 and the fixed frame 41, the impact force generated by the collision can be effectively absorbed, reducing the impact force on the UAV body 1 and its internal components, and ensuring the stability and protective effect of the UAV body 1.

[0025] Please see Figure 3 A further solution based on this embodiment is as follows: the movable frame 27 has a corresponding groove on the fixed frame 26, and the movable frame 27 slides on the fixed frame 26 through the groove. The movable frame 27 also has a corresponding groove on the sliding frame 28, and the sliding frame 28 is slidably connected to the groove on the movable frame 27. The groove on the movable frame 27 at the corresponding position on the fixed frame 26 and the groove on the movable frame 27 for the sliding frame 28 provide a clear and stable path for the sliding of the movable frame 27 relative to the fixed frame 26 and the sliding of the sliding frame 28 relative to the movable frame 27. This effectively reduces the jamming and offset during the sliding process, ensures the smoothness and accuracy of the optical camera body 29 and the lidar body 210 when adjusting the horizontal and tilt angles, and improves the reliability of the angle adjustment.

[0026] Please see Figure 3 A further solution based on this embodiment is as follows: the first rotating frame 23 has a corresponding through groove at the corresponding position of the sliding frame 28, and the sliding frame 28 is movably connected inside the through groove of the first rotating frame 23. The second rotating frame 25 has a corresponding through groove at the corresponding position of the sliding frame 28, and the sliding frame 28 is movably connected inside the through groove of the second rotating frame 25. Through the through grooves on the first rotating frame 23 and the second rotating frame 25 that are compatible with the sliding frame 28, the sliding frame 28 can move stably within the through groove. When the first rotating frame 23 and the second rotating frame 25 rotate, the through groove can accurately drive the sliding frame 28 to perform corresponding movements, ensuring that the power of the rotating frame can be efficiently transmitted to the sliding frame 28, thereby ensuring the timeliness and accuracy of the angle adjustment of the optical camera body 29 and the lidar body 210, and enhancing the stability of the device's adjustment function.

[0027] Please see Figure 3 A further solution based on this embodiment is as follows: the driving component includes a first motor 22 fixedly connected to the mounting frame 21 and a second motor 24 fixedly connected to the mounting frame 21. A first rotating frame 23 is fixedly connected to the output end of the first motor 22, and a second rotating frame 25 is fixedly connected to the output end of the second motor 24. The first motor 22 and the second motor 24 fixedly connected to the mounting frame 21 provide power to the first rotating frame 23 and the second rotating frame 25 respectively, so that the first rotating frame 23 and the second rotating frame 25 can rotate independently and stably. This realizes the separate control of the horizontal angle and tilt angle of the optical camera body 29 and the lidar body 210, avoids mutual interference during angle adjustment, improves the flexibility and controllability of angle adjustment, and meets the angle requirements under different surveying scenarios.

[0028] Please see Figure 4 A further solution based on this embodiment is as follows: the mounting assembly includes a fixed rod 31 fixedly connected inside the mounting frame 21, a snap-fit ​​bracket 32 ​​slidably connected inside the mounting frame 21, and a compression spring 33 fixedly connected between the mounting frame 21 and the snap-fit ​​bracket 32. The snap-fit ​​bracket 32 ​​is slidably connected to the fixed rod 31 and can be detachably snapped into the inside of the drone body 1. The fixed rod 31 inside the mounting frame 21 guides the sliding of the snap-fit ​​bracket 32. With the help of the compression spring 33 between the mounting frame 21 and the snap-fit ​​bracket 32, the snap-fit ​​bracket 32 ​​can slide stably on the fixed rod 31. When the mounting frame 21 needs to be installed on the drone body 1, the elastic force of the compression spring 33 can push the snap-fit ​​bracket 32 ​​into the inside of the drone body 1, simplifying the loading and unloading process between the mounting frame 21 and the drone body 1.

[0029] Please see Figure 4A further solution based on this embodiment is as follows: the linkage component includes a fixed plate 36 fixedly connected to one side of the snap-fit ​​bracket 32, a button 34 slidably connected inside the mounting bracket 21, a movable plate 35 fixedly connected to one end of the button 34 near the fixed plate 36, and a sliding rod 37 fixedly connected to the fixed plate 36. The sliding rod 37 is movably connected inside the movable plate 35. By pressing the button 34, the movable plate 35 is moved. The movable plate 35 pushes the fixed plate 36 through the movable connection with the sliding rod 37, thereby causing the snap-fit ​​brackets 32 on both sides to be stored inside the mounting bracket 21. This allows the operator to disassemble the mounting bracket 21 without directly contacting the snap-fit ​​bracket 32, making the operation simpler and less strenuous.

[0030] Please see Figure 4 A further solution based on this embodiment is as follows: two sets of sliding rods 37 are provided, and the two sets of sliding rods 37 are symmetrically distributed inside the moving plate 35. The moving plate 35 has matching through slots at corresponding positions of the two sets of sliding rods 37. The two sets of sliding rods 37 are movably connected inside the through slots of the moving plate 35. Through the two sets of sliding rods 37 symmetrically distributed inside the moving plate 35 and the through slots on the moving plate 35 that are compatible with the sliding rods 37, the force is more even when the moving plate 35 drives the sliding rods 37 to move, which further improves the reliability of the mounting bracket 21 during the loading and unloading process.

[0031] Please see Figure 5-6 A further solution based on this embodiment is as follows: The protective component includes a fixed frame 41 fixedly connected to the outside of the drone body 1, an optical axis 42 fixedly connected to the outside of the fixed frame 41, a protective frame 43 slidably connected to the optical axis 42, a limiting disk 44 fixedly connected to the end of the optical axis 42 away from the fixed frame 41, a shock-absorbing damping 45 fixedly connected between the protective frame 43 and the fixed frame 41, and a buffer spring 46 fixedly connected between the protective frame 43 and the fixed frame 41. The optical axis 42 on the fixed frame 41 outside the drone body 1 guides the protective frame 43. When the drone is hit, the protective frame 43 slides along the optical axis 42. With the shock-absorbing damping 45 and the buffer spring 46 between the protective frame 43 and the fixed frame 41, the impact force generated by the collision can be effectively absorbed, reducing the impact force on the drone body 1 and its internal components, and ensuring the stability and protective effect of the drone body 1.

[0032] Working principle: First, the mounting bracket 21 is fixed to the UAV body 1 through the installation components. Specifically, the fixing rod 31 inside the mounting bracket 21 guides the snap-fit ​​bracket 32. Under the elastic force of the compression spring 33, the snap-fit ​​bracket 32 ​​snaps into the UAV body 1, completing the installation. If disassembly is required, press the button 34 of the linkage component to move the moving plate 35. The moving plate 35 is movably connected to two sets of symmetrical sliding rods 37 on the fixing plate 36, pushing the fixing plate 36 and thus moving the snap-fit ​​bracket 32 ​​into the mounting bracket 21 for easy disassembly. During the surveying process, the first motor 22 of the drive component drives the first rotating frame 23 to rotate. Utilizing the cooperation between the through slot of the first rotating frame 23 and the sliding frame 28, the sliding frame 28 is moved to move the moving frame. 27 slides along the groove of the fixed frame 26, thereby adjusting the horizontal angle of the optical camera body 29 and the lidar body 210; the second motor 24 drives the second rotating frame 25 to rotate, and through the cooperation of the through groove of the second rotating frame 25 and the sliding frame 28, the sliding frame 28 is driven to slide along the groove of the movable frame 27. Different surveying needs can be met without adjusting the attitude of the UAV itself. At the same time, the protective components on the outside of the UAV are always in use. When it is hit, the protective frame 43 slides along the optical axis 42 on the fixed frame 41. Under the action of the shock-absorbing damper 45 and the buffer spring 46, the impact force is absorbed. The limit plate 44 prevents the protective frame 43 from falling off, ensuring the stable operation of the UAV body 1 and its components. The bottom foot 5 provides a stable support foundation for the UAV.

[0033] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A surveying device for forestry unmanned aerial vehicles (UAVs), comprising the UAV body (1), characterized in that: It also includes a tripod (5) fixedly connected to the bottom of the UAV body (1), a protective component set on the outside of the UAV body (1), a mounting frame (21) detachably installed inside the UAV body (1), a mounting component set on the mounting frame (21), a linkage component set on the mounting component, a drive component set on the mounting frame (21), a first rotating frame (23) rotatably connected inside the mounting frame (21), a second rotating frame (25) rotatably connected inside the mounting frame (21), a fixed frame (26) fixedly connected to the mounting frame (21), a movable frame (27) slidably connected to the fixed frame (26), a sliding frame (28) slidably connected to the movable frame (27), an optical camera body (29) fixedly connected to the side of the sliding frame (28) away from the movable frame (27), and a lidar body (210) fixedly connected to the optical camera body (29). The sliding frame (28) is movably connected inside the first rotating frame (23) and the sliding frame (28) is movably connected inside the second rotating frame (25).

2. The surveying device for forestry unmanned aerial vehicles according to claim 1, characterized in that: The movable frame (27) has a groove at the corresponding position of the fixed frame (26). The movable frame (27) slides on the fixed frame (26) through the groove. The movable frame (27) also has a groove at the corresponding position of the sliding frame (28). The sliding frame (28) is slidably connected to the groove of the movable frame (27).

3. The surveying device for forestry unmanned aerial vehicles according to claim 1, characterized in that: The first rotating frame (23) has a corresponding through groove at the corresponding position of the sliding frame (28), and the sliding frame (28) is movably connected inside the through groove of the first rotating frame (23). The second rotating frame (25) has a through groove at the corresponding position of the sliding frame (28), and the sliding frame (28) is movably connected inside the through groove of the second rotating frame (25).

4. A surveying device for forestry unmanned aerial vehicles according to claim 1, characterized in that: The drive assembly includes a first motor (22) fixedly connected to the mounting bracket (21), a second motor (24) fixedly connected to the mounting bracket (21), a first rotating frame (23) fixedly connected to the output end of the first motor (22), and a second rotating frame (25) fixedly connected to the output end of the second motor (24).

5. A surveying device for forestry unmanned aerial vehicles according to claim 1, characterized in that: The mounting components include a fixed rod (31) fixedly connected inside the mounting frame (21), a snap-fit ​​bracket (32) slidably connected inside the mounting frame (21), and a compression spring (33) fixedly connected between the mounting frame (21) and the snap-fit ​​bracket (32). The snap-fit ​​bracket (32) is slidably connected to the fixed rod (31) and is detachably snapped into the inside of the UAV body (1).

6. A surveying device for forestry unmanned aerial vehicles according to claim 1, characterized in that: The linkage component includes a fixed plate (36) fixedly connected to one side of the clip bracket (32), a button (34) slidably connected inside the mounting bracket (21), a movable plate (35) fixedly connected to one end of the button (34) near the fixed plate (36), and a sliding rod (37) fixedly connected to the fixed plate (36), with the sliding rod (37) movably connected inside the movable plate (35).

7. A surveying device for forestry unmanned aerial vehicles according to claim 6, characterized in that: Two sets of sliding rods (37) are provided. The two sets of sliding rods (37) are symmetrically distributed inside the moving plate (35). The moving plate (35) has matching through slots at the corresponding positions of the two sets of sliding rods (37). The two sets of sliding rods (37) are movably connected inside the through slots of the moving plate (35).

8. A surveying device for forestry unmanned aerial vehicles according to claim 1, characterized in that: The protective components include a fixed frame (41) fixedly connected to the outside of the UAV body (1), an optical axis (42) fixedly connected to the outside of the fixed frame (41), a protective frame (43) slidably connected to the optical axis (42), a limiting plate (44) fixedly connected to the end of the optical axis (42) away from the fixed frame (41), a shock-absorbing damper (45) fixedly connected between the protective frame (43) and the fixed frame (41), and a buffer spring (46) fixedly connected between the protective frame (43) and the fixed frame (41).

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