Aerial mapping unmanned aerial vehicle

Abstract

The utility model discloses a kind of for surveying and mapping aerial unmanned aerial vehicle, it is related to the platform field of testing unmanned aerial vehicle, including unmanned aerial vehicle main body, the abdomen of unmanned aerial vehicle main body is fixedly installed with mounting bracket, the bottom end of mounting bracket is installed with four-axis platform mechanism, the end fixedly installed with surveying and mapping camera of four-axis platform mechanism away from mounting bracket, four-axis platform mechanism includes No. 1 rotating stand, No. 2 rotating stand, No. 3 rotating stand, the below of mounting bracket rotates No. 1 rotating stand, No. 1 rotating stand is '' L '' type structure, the vertical board portion below of No. 1 rotating stand is rotatably installed with No. 2 rotating standThe utility model can effectively improve the service life of each rotating stand by setting reinforcing mechanism, and can avoid the fracture caused by rotating stand in material fatigue, the two parts of broken rotating stand are pulled, the problem that surveying and mapping camera directly falls from high altitude is avoided.

Description

Technical Field

[0001] This utility model relates to the field of test drone platforms, specifically a surveying and aerial photography drone. Background Technology

[0002] When using a drone to carry a surveying camera for high-altitude aerial photography and surveying, a four-axis platform (i.e., yaw axis, roll axis, pitch axis, and translation axis) is usually installed between the drone and the surveying camera. The four-axis platform can effectively maintain the stability of the surveying camera during surveying.

[0003] However, during long-term flight with the drone, the rotating frames of the quadcopter platform are subject to wind resistance. If material fatigue occurs and any one of the rotating frames breaks, the surveying camera will fall from a great height. Utility Model Content

[0004] The purpose of this utility model is to provide a drone for surveying and aerial photography in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a surveying and mapping drone, comprising a drone body, a mounting frame fixedly installed on the underside of the drone body, a four-axis platform mechanism installed at the bottom of the mounting frame, a surveying camera fixedly installed at the end of the four-axis platform mechanism away from the mounting frame, the four-axis platform mechanism comprising a first rotating frame, a second rotating frame, and a third rotating frame, a first rotating frame rotating below the mounting frame, the first rotating frame having an "L" shaped structure, a second rotating frame rotating below the vertical plate of the first rotating frame, a third rotating frame rotating at the end of the second rotating frame away from the first rotating frame, and a surveying camera rotating at the end of the third rotating frame away from the second rotating frame, with reinforcing mechanisms provided inside and outside the first, second, and third rotating frames; A miniature brushless motor is mounted on the top of the mounting frame, and the output shaft of the miniature brushless motor passes through the bottom of the mounting frame and is fixedly connected to the horizontal plate of the first rotating frame. Another miniature brushless motor is installed at one end of the vertical plate of the first rotating frame. The output shaft of the miniature brushless motor passes through the first rotating frame and is fixedly connected to the vertical plate of the second rotating frame. Another miniature brushless motor is installed at one end of the horizontal plate of the second rotating frame. The output shaft of the miniature brushless motor passes through the second rotating frame and is fixedly connected to the third rotating frame. Another miniature brushless motor is installed at one end of the No. 3 rotating frame. The output end of the miniature brushless motor passes through the No. 3 rotating frame and is fixedly connected to one end of the housing of the surveying camera.

[0006] As a further embodiment of this utility model: the reinforcing mechanism includes an inner groove formed inside the first rotating frame, the second rotating frame, and the third rotating frame. The inner wall of the inner groove is integrally formed with multiple hollow hexagonal blocks, and the multiple hollow hexagonal blocks are distributed in a honeycomb structure in the inner cavity of the inner groove.

[0007] As a further embodiment of this utility model: the reinforcing mechanism further includes reinforcing rods fixedly connected to both sides of the first rotating frame, the second rotating frame, and the third rotating frame. The multiple reinforcing rods located on both sides of the first rotating frame, the second rotating frame, and the third rotating frame are respectively arranged along the extension trajectory direction of the first rotating frame, the second rotating frame, and the third rotating frame connected to them. The interior of the reinforcing rod is provided with a hollow groove.

[0008] As a further improvement of this utility model, the reinforcing mechanism also includes a connecting rope located inside the hollow groove, with both ends of the connecting rope knotted into loops outside the reinforcing rod.

[0009] As a further improvement of this utility model, the rope buckle is larger than the inner diameter of the hollow groove.

[0010] Compared with the prior art, the beneficial effects of this utility model are: By setting up a reinforcement mechanism, the service life of each rotating frame can be effectively improved, and in the event of a fracture caused by material fatigue, the two broken parts of the rotating frame can be pulled together, thus preventing the surveying camera from falling directly from a height. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the structure of this utility model from another perspective; Figure 3 This is a schematic diagram of the connection of the reinforcing rod of this utility model; Figure 4 This is a schematic diagram of the installation of the honeycomb structure composed of hollow hexagonal blocks of this utility model; Figure 5 For the present utility model Figure 4 Enlarged view of a portion of point A in the middle.

[0012] In the image: 1. Main body of the drone; 2. Mounting frame; 3. Rotating frame 1; 4. Rotating frame 2; 5. Rotating frame 3; 6. Mapping camera; 7. Miniature brushless motor; 8. Reinforcing rod; 9. Inner groove; 10. Hollow hexagonal block; 11. Hollow groove; 12. Connecting rope; 13. Rope buckle. Detailed Implementation

[0013] 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.

[0014] Please see Figures 1-5 In this embodiment of the present invention, a surveying and mapping drone includes a drone body 1. A mounting frame 2 is fixedly installed on the underside of the drone body 1. A four-axis platform mechanism is installed at the bottom of the mounting frame 2. A surveying camera 6 is fixedly installed at the end of the four-axis platform mechanism away from the mounting frame 2. The four-axis platform mechanism includes a first rotating frame 3, a second rotating frame 4, and a third rotating frame 5. A first rotating frame 3 rotates below the mounting frame 2 and has an "L"-shaped structure. A second rotating frame 4 is rotatably installed below the vertical plate of the first rotating frame 3. A third rotating frame 5 is rotatably installed at the end of the second rotating frame 4 away from the first rotating frame 3. The surveying camera 6 is rotatably installed at the end of the third rotating frame 5 away from the second rotating frame 4. The internal and external parts of the 5 are reinforced; a miniature brushless motor 7 is installed at the top of the mounting frame 2, and the output shaft of the miniature brushless motor 7 passes through the bottom of the mounting frame 2 and is fixedly connected to the horizontal plate of the first rotating frame 3; another miniature brushless motor 7 is installed at one end of the vertical plate of the first rotating frame 3, and the output shaft of the miniature brushless motor 7 passes through the first rotating frame 3 and is fixedly connected to the vertical plate of the second rotating frame 4; another miniature brushless motor 7 is installed at one end of the horizontal plate of the second rotating frame 4, and the output shaft of the miniature brushless motor 7 passes through the second rotating frame 4 and is fixedly connected to the third rotating frame 5; another miniature brushless motor 7 is installed at one end of the third rotating frame 5, and the output end of the miniature brushless motor 7 passes through the third rotating frame 5 and is fixedly connected to one end of the housing of the surveying camera 6.

[0015] In this embodiment: When using the UAV body 1 to carry the mapping camera 6 for aerial surveying, the quadcopter platform and the mapping camera 6 are mounted on the underside of the UAV body 1 via the mounting bracket 2. When the UAV body 1 carries the mapping camera 6 for aerial surveying, the flight vibration of the UAV will be transmitted to the quadcopter platform. At this time, the PID algorithm built into the control chip of the UAV body 1 will calculate the angle to be applied to each micro brushless motor 7 based on the error between the current attitude of the UAV body 1 and the attitude of the target being surveyed. The proportional element responds quickly to the error, the integral element eliminates the steady-state error, and the derivative element predicts the error change trend, so that the gimbal can quickly and stably reach the target attitude. The Ziegler-Nichols method or empirical formula (such as P=Kp, I=Kp / (2T), D=Kp*T / 8, where T is the system response time) can be used. The P value is adjusted first until the system does not oscillate, and then I and D are gradually added. Kalman filtering or complementary filtering can also be used to fuse multi-sensor data to reduce the impact of noise on PID calculation. During the long-term operation of the device, the No. 1 rotating frame 3, No. 2 rotating frame 4, and No. 3 rotating frame 5 of the four-axis platform will experience material fatigue due to the long-term influence of wind resistance during flight. At this time, the reinforcement mechanism can improve the strength of the No. 1 rotating frame 3, No. 2 rotating frame 4, and No. 3 rotating frame 5. At the same time, when material fatigue occurs, the reinforcement mechanism can prevent the surveying camera 6 from falling to the ground. This method can ensure the safety of the surveying camera 6 during long-term surveying.

[0016] Please refer to this carefully. Figure 4 The strengthening mechanism includes an inner groove 9 inside the first rotating frame 3, the second rotating frame 4, and the third rotating frame 5. The inner wall of the inner groove 9 is integrally formed with multiple hollow hexagonal blocks 10, which are distributed in a honeycomb structure in the inner cavity of the inner groove 9.

[0017] In this embodiment, the honeycomb structure formed by multiple hollow hexagonal blocks 10 disposed in the inner groove 9 provides support to the inner wall of the inner groove 9, thereby evenly distributing external pressure to the corresponding rotating frames, reducing the concentration of local stress. Furthermore, the honeycomb structure and the corresponding rotating frames are sandwiched structures, which can effectively resist bending deformation. The stiffness per unit weight is higher than that of solid materials. Since the hollow hexagonal blocks 10 are hexagonal structures, they are stable under shear force and can effectively transfer lateral loads, thereby improving the strength of the first rotating frame 3, the second rotating frame 4, and the third rotating frame 5, and reducing their weight, thus achieving the goals of lightweight design and strength improvement.

[0018] Please refer to this carefully. Figure 3 , 4 and Figure 5The strengthening mechanism also includes reinforcing rods 8 fixedly connected to both sides of the first rotating frame 3, the second rotating frame 4, and the third rotating frame 5. Multiple reinforcing rods 8 located on both sides of the first rotating frame 3, the second rotating frame 4, and the third rotating frame 5 are respectively arranged along the extension trajectory direction of the first rotating frame 3, the second rotating frame 4, and the third rotating frame 5 connected to them. A hollow groove 11 is opened inside the reinforcing rod 8. The strengthening mechanism also includes a connecting rope 12 located in the cavity of the hollow groove 11. The two ends of the connecting rope 12 are knotted into rope buckles 13 outside the reinforcing rod 8.

[0019] In this embodiment, the hollow hexagonal block 10 enhances the strength of each rotating frame and improves its service life. However, the service life is not unlimited and material fatigue still exists. If the first rotating frame 3, the second rotating frame 4, or the third rotating frame 5 breaks, the flexible connecting rope 12 can connect the two broken parts together, preventing them from completely separating. This avoids the problem of the surveying camera 6 falling directly from a height when the first rotating frame 3, the second rotating frame 4, or the third rotating frame 5 breaks.

[0020] Please refer to this carefully. Figure 5 The rope buckle 13 is larger than the inner diameter of the hollow groove 11.

[0021] In this embodiment, this design can effectively prevent the connecting rope 12 from falling off the hollow groove 11.

[0022] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A surveying and mapping drone, comprising a drone body (1), characterized in that, A mounting frame (2) is fixedly installed on the belly of the main body (1) of the UAV. A four-axis platform mechanism is installed at the bottom of the mounting frame (2). A surveying camera (6) is fixedly installed at the end of the four-axis platform mechanism away from the mounting frame (2). The four-axis platform mechanism includes a first rotating frame (3), a second rotating frame (4), and a third rotating frame (5). A first rotating frame (3) rotates below the mounting frame (2). The first rotating frame (3) has an "L" shaped structure. A second rotating frame (4) is rotated below the vertical plate of the first rotating frame (3). A third rotating frame (5) is rotated at the end of the second rotating frame (4) away from the first rotating frame (3). A surveying camera (6) is rotated at the end of the third rotating frame (5) away from the second rotating frame (4). Reinforcing mechanisms are provided inside and outside the first rotating frame (3), the second rotating frame (4), and the third rotating frame (5). A miniature brushless motor (7) is installed at the top of the mounting frame (2). The output shaft of the miniature brushless motor (7) passes through the bottom of the mounting frame (2) and is fixedly connected to the horizontal plate of the first rotating frame (3). Another miniature brushless motor (7) is installed at one end of the vertical plate of the first rotating frame (3). The output shaft of the miniature brushless motor (7) passes through the first rotating frame (3) and is fixedly connected to the vertical plate of the second rotating frame (4). Another miniature brushless motor (7) is installed at one end of the horizontal plate of the second rotating frame (4). The output shaft of the miniature brushless motor (7) passes through the second rotating frame (4) and is fixedly connected to the third rotating frame (5). Another miniature brushless motor (7) is installed at one end of the third rotating frame (5). The output end of the miniature brushless motor (7) passes through the third rotating frame (5) and is fixedly connected to one end of the housing of the surveying camera (6).

2. The drone for surveying and aerial photography according to claim 1, characterized in that, The reinforcing mechanism includes an inner groove (9) inside the first rotating frame (3), the second rotating frame (4), and the third rotating frame (5). The inner wall of the inner groove (9) is integrally formed with a plurality of hollow hexagonal blocks (10), and the plurality of hollow hexagonal blocks (10) are distributed in a honeycomb structure in the inner cavity of the inner groove (9).

3. A surveying and mapping drone according to claim 2, characterized in that, The strengthening mechanism also includes strengthening rods (8) fixedly connected to both sides of the first rotating frame (3), the second rotating frame (4), and the third rotating frame (5). Multiple strengthening rods (8) located on both sides of the first rotating frame (3), the second rotating frame (4), and the third rotating frame (5) are respectively arranged along the extension trajectory direction of the first rotating frame (3), the second rotating frame (4), and the third rotating frame (5) connected to them. A hollow groove (11) is opened inside the strengthening rod (8).

4. A surveying and mapping drone according to claim 3, characterized in that, The reinforcing mechanism also includes a connecting rope (12) located inside the hollow groove (11), with the two ends of the connecting rope (12) knotted into rope buckles (13) outside the reinforcing rod (8).

5. A surveying and mapping drone according to claim 4, characterized in that, The rope buckle (13) is larger than the inner diameter of the hollow groove (11).

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