CN204956914U - Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding - Google Patents
Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding Download PDFInfo
- Publication number
- CN204956914U CN204956914U CN201520721911.3U CN201520721911U CN204956914U CN 204956914 U CN204956914 U CN 204956914U CN 201520721911 U CN201520721911 U CN 201520721911U CN 204956914 U CN204956914 U CN 204956914U
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- flight
- distance measuring
- unmanned aerial
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides an automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding, it includes: an unmanned aerial vehicle main part, a flight controller, set up in the inside of unmanned aerial vehicle main part, a protective bracket fixes in the unmanned aerial vehicle main part, a plurality of distance measuring sensor, four at least distance measuring sensor equidistance looping -in respectively are in protective bracket's the outside, two at least distance measuring sensor install below in the unmanned aerial vehicle main part respectively, measure the distance of horizontal direction and vertical direction respectively, distance measuring sensor will give flight controller apart from data transmission at any time, the analysis is apart from data, wireless transmission gives the operator simultaneously, make the operator can be in time change unmanned aerial vehicle's flight path according to the direction of obstacle, unmanned aerial vehicle accepts long -range remote sensing signal again and comes control flight, under guarantee unmanned aerial vehicle's the complete prerequisite of safety, more be favorable to passing through the cubical space in clearance between various building door and window or animals and plants.
Description
Technical field
The utility model relates to the unmanned plane that flight was dodged and passed through in a kind of automatic three dimensional space range finding.
Background technology
Existing unmanned plane adopts GPS positioning flight, and gps signal easily by cloud layer and effect on building, and cannot accurately be located, and is also flown by the judgement direction controlling of mistake.Also have operator can only see the situation of the GPS planimetric map of unmanned plane position when operation unmanned plane, and the height of flight objects in front cannot be known, also cannot judge whether unmanned plane can fly over, so that knock the obstacles such as building, damage wing or body, cause air crash or flight out of control, seriously will injure ground people and property by a crashing object.Even if the unmanned plane of band dress camera, uses camera shooting, transmit back live video to operate controlling flight, but wherein have the time difference that figure passes and operates.At this moment in difference, unmanned plane keeps original heading, so that knocks the obstacles such as building.
Be only limitted to the unmanned plane of horizontal direction range finding, obstacle can only be dodged in the horizontal direction, stereoscopic three-dimensional space ranging cannot be realized and dodge, too fast ground of falling when hitting top ceiling or landing of upwards flying during as taken off.Its basic reason lacks distance measuring sensor exactly, to such an extent as to unmanned plane cannot be avoided and penetrate thing, goes to perform next step task.
Utility model content
The purpose of this utility model is the defect overcoming prior art, and provide the unmanned plane that flight was dodged and passed through in a kind of automatic three dimensional space range finding, it has the characteristic avoided with penetrate thing.
The utility model is achieved in that the unmanned plane of flight is dodged and passed through in a kind of automatic three dimensional space range finding, and it comprises:
One unmanned plane main body;
One flight controller, is arranged at the inside of described unmanned plane main body;
One protective stent, is fixed in described unmanned plane main body, and in coated described unmanned plane main body, and described protective stent is made up of the crashproof High molecular material of lightweight or the crashproof metallic material of lightweight;
Multiple distance measuring sensor, at least four distance measuring sensors respectively equidistant ring are arranged on the outside of described protective stent, at least two distance measuring sensors are arranged on the upper and lower of unmanned plane main body respectively, measure the distance of horizontal direction and vertical direction respectively, distance measuring sensor comprises feedway and receiving device, and described distance measuring sensor is connected with flight controller.
Further, distance measuring sensor is one or several in Laser emission and receiving device or super sonic transmitting and receiving device or radar emission and receiving device or Infrared emitting and receiving device.
Further, described unmanned plane is many rotor wing unmanned aerial vehicles or single rotor wing unmanned aerial vehicle or the oblique unmanned plane that verts.
Further, described unmanned plane has four rotary wings, four motors, four pipe links.
The multiple distance measuring sensor of the utility model, at least four distance measuring sensors respectively equidistant ring are arranged on the outside of described protective stent, at least two distance measuring sensors are arranged on the upper and lower of unmanned plane main body respectively, measure the distance of horizontal direction and vertical direction respectively, distance measuring sensor at any time by distance data transmission to flight controller, range data analyzed by flight controller, radio to the operator of unmanned plane simultaneously, make operator can change the flight path of unmanned plane in time according to the direction of obstacle, ensure the range data of unmanned plane safe flight by measuring, also keep object scope flight beyond a certain numerical value of unmanned plane distance all around above-below direction simultaneously, when distance is less than this numerical value, then unmanned plane is first toward opposite sense flight adjustment, to being more than or equal to this numerical value, unmanned plane accepts long-range remote sensing signal to control flight again, under the safe and complete prerequisite ensureing unmanned plane, more be conducive to the solid space passing through gap between various building windows or animals and plants.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The birds-eye view that Fig. 1 provides for the utility model embodiment;
The lateral plan that Fig. 2 provides for the utility model embodiment;
The schematic diagram of the unmanned plane main body that Fig. 3 provides for the utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
As Fig. 1-Fig. 3, the utility model embodiment provides a kind of automatic three dimensional space range finding to dodge and pass through the unmanned plane of flight, it comprises: a unmanned plane main body 1, flight controller 2, protective stent 3, multiple distance measuring sensor 4, and described unmanned plane is many rotor wing unmanned aerial vehicles or single rotor wing unmanned aerial vehicle or the oblique unmanned plane that verts.
Unmanned plane in this enforcement is specifically described as follows, and it comprises:
One unmanned plane main body 1, it has four rotary wings, four motors, four pipe links.
One flight controller 2, is arranged at the inside of described unmanned plane main body 1.
One protective stent 3, is fixed in described unmanned plane main body 1, and in coated described unmanned plane main body 1, and described protective stent 3 is made up of the crashproof High molecular material of lightweight or the crashproof metallic material of lightweight.
Multiple distance measuring sensor 4, at least four distance measuring sensors 4 respectively equidistant ring are arranged on the outside of described protective stent 3, at least two distance measuring sensors 4 are arranged on the upper and lower of unmanned plane main body 1 respectively, measure the distance of horizontal direction and vertical direction respectively, distance measuring sensor 4 comprises feedway and receiving device, and described distance measuring sensor 4 is connected with flight controller 2.
Further, distance measuring sensor 4 is one or several in Laser emission and receiving device or super sonic transmitting and receiving device or radar emission and receiving device or Infrared emitting and receiving device.If described distance measuring sensor 4 is super sonic transmitting and receiving device, ultrasonic transmission device then in distance measuring sensor 4 can constantly to all round the horizon direction and the super sonic of direction transmitting vertically in unmanned plane during flying process, often launch once, just start timing in transmitting simultaneously, when there is obstacle in the driving process of unmanned plane, the super sonic emitted can run into obstacle and reflect, receiving device in distance measuring sensor 4 have received the super sonic reflected, just stop timing, thus the time difference T launching super sonic and receive echo can be measured, then distance L is obtained according to the velocity of sound.The principle of Laser emission and receiving device, radar emission and receiving device, Infrared emitting and receiving device is the same, just no longer describes.
The multiple distance measuring sensor 4 of the utility model, at least four distance measuring sensors 4 respectively equidistant ring are arranged on the outside of described protective stent 3, at least two distance measuring sensors 4 are arranged on the upper and lower of unmanned plane main body 1 respectively, measure the distance of horizontal direction and vertical direction respectively, distance measuring sensor 4 at any time by distance data transmission to flight controller 2, range data analyzed by flight controller 2, radio to the operator of unmanned plane simultaneously, make operator can change the flight path of unmanned plane in time according to the direction of obstacle, ensure the range data of unmanned plane safe flight by measuring, also keep object scope beyond a certain numerical value in unmanned plane distance all round the horizon direction and direction vertically to fly simultaneously, when distance is less than this numerical value, then unmanned plane is first toward opposite sense flight adjustment, to being more than or equal to this numerical value, unmanned plane accepts long-range remote sensing signal to control flight again, under the safe and complete prerequisite ensureing unmanned plane, more be conducive to the solid space passing through gap between various building windows or animals and plants.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (4)
1. a unmanned plane for flight is dodged and is passed through in automatic three dimensional space range finding, it is characterized in that, comprising:
One unmanned plane main body;
One flight controller, is arranged at described unmanned plane body interior;
One protective stent, is fixed in described unmanned plane main body, and in coated described unmanned plane main body, and described protective stent is made up of the crashproof High molecular material of lightweight or the crashproof metallic material of lightweight;
Multiple distance measuring sensor, at least four distance measuring sensors respectively equidistant ring are arranged on the outside of described protective stent, at least two distance measuring sensors are arranged on the upper and lower of unmanned plane main body respectively, distance measuring sensor measures the distance of horizontal direction and vertical direction respectively, distance measuring sensor comprises feedway and receiving device, and described distance measuring sensor is connected with flight controller.
2. the unmanned plane of flight is dodged and is passed through in a kind of automatic three dimensional space range finding as claimed in claim 1, it is characterized in that: distance measuring sensor is one or several in Laser emission and receiving device or super sonic transmitting and receiving device or radar emission and receiving device or Infrared emitting and receiving device.
3. the unmanned plane of flight is dodged and is passed through in a kind of automatic three dimensional space range finding as claimed in claim 1, it is characterized in that: described unmanned plane is many rotor wing unmanned aerial vehicles or single rotor wing unmanned aerial vehicle or the oblique unmanned plane that verts.
4. the unmanned plane of flight is dodged and is passed through in a kind of automatic three dimensional space range finding as claimed in claim 1, it is characterized in that: described unmanned plane main body has four rotary wings, four motors, four pipe links.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520721911.3U CN204956914U (en) | 2015-09-17 | 2015-09-17 | Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520721911.3U CN204956914U (en) | 2015-09-17 | 2015-09-17 | Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204956914U true CN204956914U (en) | 2016-01-13 |
Family
ID=55051995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520721911.3U Active CN204956914U (en) | 2015-09-17 | 2015-09-17 | Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204956914U (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468024A (en) * | 2016-01-29 | 2016-04-06 | 北京臻迪机器人有限公司 | Unmanned plane control method and unmanned plane control device |
| CN105818969A (en) * | 2016-03-29 | 2016-08-03 | 深圳市易飞行科技有限公司 | Safety protection unmanned aerial vehicle |
| CN105818970A (en) * | 2016-04-01 | 2016-08-03 | 国网辽宁省电力有限公司辽阳供电公司 | Upper air unmanned paint sprayer |
| CN105955298A (en) * | 2016-06-03 | 2016-09-21 | 腾讯科技（深圳）有限公司 | Automatic obstacle avoidance method and apparatus for aircraft |
| CN106494610A (en) * | 2016-09-30 | 2017-03-15 | 成都尚智恒达科技有限公司 | A kind of traffic tour unmanned plane |
| CN106628131A (en) * | 2016-12-30 | 2017-05-10 | 苏州曾智沃德智能科技有限公司 | Infrared ray positioning and illuminating type unmanned aerial vehicle for highway surveying |
| CN106774363A (en) * | 2016-12-02 | 2017-05-31 | 河北省自动化研究所 | UAV flight control system and method |
| WO2018018711A1 (en) * | 2016-07-23 | 2018-02-01 | 深圳曼塔智能科技有限公司 | Unmanned aerial vehicle and collision avoidance control method utilized in unmanned aerial vehicle |
| CN107656529A (en) * | 2016-07-23 | 2018-02-02 | 深圳曼塔智能科技有限公司 | Unmanned plane and the fixed high control method of unmanned plane |
| CN107972860A (en) * | 2017-12-03 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of stabilized flight device |
| CN107985569A (en) * | 2017-12-06 | 2018-05-04 | 余姚市荣事特电子有限公司 | A kind of unmanned plane |
| WO2019072009A1 (en) * | 2017-10-13 | 2019-04-18 | 高玉宗 | Multi-purpose guided missile unmanned aerial vehicle |
| CN109696920A (en) * | 2018-12-13 | 2019-04-30 | 广州极飞科技有限公司 | Operating equipment and its control method and device |
| CN110621576A (en) * | 2017-04-06 | 2019-12-27 | 自动化控制系统研究所株式会社 | Unmanned aerial vehicle and method for using same |
| US20200339251A1 (en) * | 2016-09-21 | 2020-10-29 | SZ DJI Technology Co., Ltd. | Systems and methods for uav sensor placement |
| CN112114592A (en) * | 2020-09-10 | 2020-12-22 | 南京大学 | Method for realizing autonomous crossing of movable frame-shaped barrier by unmanned aerial vehicle |
| CN112173096A (en) * | 2016-09-21 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN113581478A (en) * | 2021-07-12 | 2021-11-02 | 贵州电网有限责任公司六盘水供电局 | Scanning unmanned aerial vehicle keeps away barrier device based on power transmission and transformation equipment |
-
2015
- 2015-09-17 CN CN201520721911.3U patent/CN204956914U/en active Active
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105468024A (en) * | 2016-01-29 | 2016-04-06 | 北京臻迪机器人有限公司 | Unmanned plane control method and unmanned plane control device |
| CN105818969A (en) * | 2016-03-29 | 2016-08-03 | 深圳市易飞行科技有限公司 | Safety protection unmanned aerial vehicle |
| CN105818970B (en) * | 2016-04-01 | 2017-09-22 | 国网辽宁省电力有限公司辽阳供电公司 | A kind of unmanned paint spraying machine in high-altitude |
| CN105818970A (en) * | 2016-04-01 | 2016-08-03 | 国网辽宁省电力有限公司辽阳供电公司 | Upper air unmanned paint sprayer |
| CN105955298A (en) * | 2016-06-03 | 2016-09-21 | 腾讯科技（深圳）有限公司 | Automatic obstacle avoidance method and apparatus for aircraft |
| CN105955298B (en) * | 2016-06-03 | 2018-09-07 | 腾讯科技（深圳）有限公司 | A kind of automatic obstacle-avoiding method and device of aircraft |
| CN107656529A (en) * | 2016-07-23 | 2018-02-02 | 深圳曼塔智能科技有限公司 | Unmanned plane and the fixed high control method of unmanned plane |
| WO2018018711A1 (en) * | 2016-07-23 | 2018-02-01 | 深圳曼塔智能科技有限公司 | Unmanned aerial vehicle and collision avoidance control method utilized in unmanned aerial vehicle |
| CN107656535A (en) * | 2016-07-23 | 2018-02-02 | 深圳曼塔智能科技有限公司 | Unmanned plane and unmanned plane avoidance obstacle method |
| CN112173096A (en) * | 2016-09-21 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| US20200339251A1 (en) * | 2016-09-21 | 2020-10-29 | SZ DJI Technology Co., Ltd. | Systems and methods for uav sensor placement |
| CN106494610A (en) * | 2016-09-30 | 2017-03-15 | 成都尚智恒达科技有限公司 | A kind of traffic tour unmanned plane |
| CN106774363A (en) * | 2016-12-02 | 2017-05-31 | 河北省自动化研究所 | UAV flight control system and method |
| CN106628131A (en) * | 2016-12-30 | 2017-05-10 | 苏州曾智沃德智能科技有限公司 | Infrared ray positioning and illuminating type unmanned aerial vehicle for highway surveying |
| CN110621576A (en) * | 2017-04-06 | 2019-12-27 | 自动化控制系统研究所株式会社 | Unmanned aerial vehicle and method for using same |
| WO2019072009A1 (en) * | 2017-10-13 | 2019-04-18 | 高玉宗 | Multi-purpose guided missile unmanned aerial vehicle |
| CN107972860A (en) * | 2017-12-03 | 2018-05-01 | 佛山市神风航空科技有限公司 | A kind of stabilized flight device |
| CN107985569A (en) * | 2017-12-06 | 2018-05-04 | 余姚市荣事特电子有限公司 | A kind of unmanned plane |
| CN109696920A (en) * | 2018-12-13 | 2019-04-30 | 广州极飞科技有限公司 | Operating equipment and its control method and device |
| CN109696920B (en) * | 2018-12-13 | 2021-06-15 | 广州极飞科技股份有限公司 | Work device, and control method and device thereof |
| CN112114592A (en) * | 2020-09-10 | 2020-12-22 | 南京大学 | Method for realizing autonomous crossing of movable frame-shaped barrier by unmanned aerial vehicle |
| CN112114592B (en) * | 2020-09-10 | 2021-12-17 | 南京大学 | Method for realizing autonomous crossing of movable frame-shaped barrier by unmanned aerial vehicle |
| CN113581478A (en) * | 2021-07-12 | 2021-11-02 | 贵州电网有限责任公司六盘水供电局 | Scanning unmanned aerial vehicle keeps away barrier device based on power transmission and transformation equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204956914U (en) | Automatic unmanned aerial vehicle of flight is dodged and passes through in three dimensions range finding | |
| CN105607642B (en) | The method that unmanned plane avoids in three dimensions ranging automatically and passes through flight | |
| CN203950449U (en) | Can automatic range dodge the unmanned plane of obstacle | |
| CN206057974U (en) | A kind of obstacle avoidance system applied on rotor wing unmanned aerial vehicle | |
| WO2018094583A1 (en) | Unmanned aerial vehicle obstacle-avoidance control method, flight controller and unmanned aerial vehicle | |
| CN107783106B (en) | Data fusion method between unmanned aerial vehicle and barrier | |
| KR101664618B1 (en) | The capture device is equipped with unmanned flight system and Capture method using the same | |
| CN107783545B (en) | Obstacle avoidance system of post-disaster rescue rotor unmanned aerial vehicle based on OODA (object oriented data acquisition) ring multi-sensor information fusion | |
| CN107577241B (en) | Fire-fighting unmanned aerial vehicle track planning method based on obstacle avoidance system | |
| CN105518377A (en) | Gas leakage processing method and apparatus, and air vehicle | |
| CN110624189B (en) | Unmanned aerial vehicle-mounted fire extinguishing bomb device, fire-fighting unmanned aerial vehicle and emission control method | |
| KR20130037697A (en) | The conflict prevention system and methods of unmanned aerial vehicle | |
| EP3062123A1 (en) | System and methods of detecting an intruding object in a relative navigation system | |
| CN104851323A (en) | Real-time monitoring system of safe rising and landing of airplane based on Beidou | |
| US11543519B2 (en) | Collision warning using ultra wide band radar | |
| CN107783547A (en) | Post disaster relief rotor wing unmanned aerial vehicle obstacle avoidance system and method | |
| CN105468018A (en) | Unmanned aerial vehicle target characteristic simulation system | |
| CN104267738A (en) | Anti-collision system for unmanned aerial vehicle | |
| CN110673627A (en) | Forest unmanned aerial vehicle searching method | |
| CN103292752A (en) | Measuring method for minimum linear distance between overhead wire and spanning object | |
| CN113820709B (en) | Through-wall radar detection system and detection method based on unmanned aerial vehicle | |
| CN108957481A (en) | A kind of disorder detection method, device and unmanned vehicle | |
| CN204791568U (en) | Flight system is followed to vehicle | |
| CN107884749B (en) | Low-altitude unmanned-machine passive acoustic detection positioning device | |
| CN206892343U (en) | A kind of obstacle detecting device and unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |