The invention provides a long-endurance underground tunnel three-dimensional modeling unmanned aerial vehicle system. The system comprises a six-rotor long-endurance unmanned aerial vehicle carrying module, an unmanned aerial vehicle flight control module, an airborne laser radar module, an airborne computer module and a ground station module. Split-level six-rotor layout of three vehicle arms onan upper layer and a lower layer is adopted, a size of the unmanned aerial vehicle is reduced so that the unmanned aerial vehicle can work in a narrower environment, and the more space is saved when the vehicle arms are folded in a transportation process; according to the airborne laser radar module, a technical requirement of three-dimensional point cloud modeling is ensured while weight is greatly reduced, and the airborne laser radar is enabled to continuously rotate and scan by using a mounting holder so that obstacle avoidance, blind area scanning and one-time flight can be performed to acquire all data; the airborne computer module can guarantee stable and accurate control of the unmanned aerial vehicle in the whole operation process; and when manual remote control operation is replaced, people do not need to enter a flight field, communication with an airplane is performed through a ground station, and a certain obstacle avoidance capacity is achieved.

    本发明提供了一种长航时地下隧洞三维建模无人机系统,该系统包括六旋翼长航时无人机载机模块、无人机飞控模块、机载激光雷达模块、机载计算机模块以及地面站模块。本发明采用上下层三个机臂的错层六旋翼布局,减小无人机的尺寸使得其可以工作在更加狭窄的环境,在运输过程中机臂折叠起来更加节省空间;机载激光雷达模块在大幅减轻重量的同时,保证三维点云建模的技术要求,使用挂载云台让机载激光雷达不断旋转扫描,可进行避障、扫描盲区,一次飞行即可获取所有数据;机载计算机模块能够保障无人机在整个作业过程中的控制稳定准确;并且本发明在代替人工遥控作业时,无需人员进入飞行场地,通过地面站与飞机进行通讯,具备一定的绕障能力。


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    Title :

    Long-endurance underground tunnel three-dimensional modeling unmanned aerial vehicle system


    Additional title:

    一种长航时地下隧洞三维建模无人机系统


    Contributors:

    Publication date :

    2020-10-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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