CN105366043B - Double oar damping rotor wing unmanned aerial vehicles - Google Patents
Double oar damping rotor wing unmanned aerial vehicles Download PDFInfo
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- CN105366043B CN105366043B CN201510863505.5A CN201510863505A CN105366043B CN 105366043 B CN105366043 B CN 105366043B CN 201510863505 A CN201510863505 A CN 201510863505A CN 105366043 B CN105366043 B CN 105366043B
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- rotary shaft
- unmanned plane
- motor
- propeller hub
- outer shroud
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- 238000013016 damping Methods 0.000 title claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 32
- 210000000988 bone and bone Anatomy 0.000 claims description 30
- 239000000463 material Substances 0.000 claims description 15
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 6
- 239000004917 carbon fiber Substances 0.000 claims description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 6
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000035939 shock Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 239000013536 elastomeric material Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Vibration Prevention Devices (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
Abstract
The invention discloses a kind of double oar damping rotor wing unmanned aerial vehicles, including fuselage and at least four rotors that are fixedly connected with the fuselage, at least four rotor include：Actuator, including the first motor and it is relatively fixed the second motor being connected with first motor；Rotary shaft, including the first rotary shaft and the second rotary shaft, first rotary shaft and second rotary shaft are respectively with first motor and second motor connection, and first rotary shaft and second rotary shaft can relative its axis rotations respectively；Propeller hub；Blade；Support frame；Solve that unmanned plane during flying in the prior art is unstable, is vulnerable to foreign matter impact and the technical problem lost, reached and make it that unmanned plane during flying is reliable and stable and avoid the technique effect by foreign matter impact.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to double oar damping rotor wing unmanned aerial vehicles.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Without driving cabin on machine, but the equipment such as automatic pilot, presetting apparatus, signal pickup assembly are installed.
On ground, naval vessels or machine tool remote control station personnel are by equipment such as radars, and it is tracked, positioned, is remotely controlled, remote measurement and numeral pass
It is defeated.It can take off as conventional airplane or be launched with booster rocket under wireless remotecontrol, can also be taken to by machine tool in the air
Launch flight.
During unmanned plane flight in the air, unmanned plane rotor wheel hub is fixed on connector in the prior art, and weight is larger, rotation
The wing is easily damaged the blade of rotor when being impacted by larger foreign matter, and security is relatively low during rotor wing rotation, unmanned plane dismounting not side
Just, and unmanned plane connection it is unreliable, be easily damaged unmanned plane, reduce the life-span of unmanned plane.
The content of the invention
The present invention provides a kind of double oar damping rotor wing unmanned aerial vehicles, and it is unstable, easy to solve unmanned plane during flying in the prior art
Lost by foreign matter impact and due to the inaccurate technical problem of gas shock vibration detection module detection, reached and caused nothing
Man-machine flight stability is reliable and avoids being impacted by foreign matter and detection module vibrations reduce the accuracy for improving testing result
Technique effect.
In order to solve the above technical problems, the invention provides a kind of double oar damping rotor wing unmanned aerial vehicles, including fuselage and with institute
At least four rotors and detection module that fuselage is fixedly connected are stated, at least four rotor includes：Actuator, including the first electricity
Machine and it is relatively fixed the second motor being connected with first motor；Rotary shaft, including the first rotary shaft and the second rotary shaft, institute
State the first rotary shaft and second rotary shaft respectively with first motor and second motor connection, and first rotation
Rotating shaft and second rotary shaft can rotate relative to its axis respectively；Propeller hub, including the first propeller hub and the second propeller hub, described first
Propeller hub and second propeller hub are connected in first rotary shaft and second rotary shaft in rotary manner respectively；Oar
Leaf, including two groups of blades, corresponding with first propeller hub and the second propeller hub respectively, two groups of blades difference is in rotary manner
It is connected on first propeller hub and second propeller hub；Support frame, it is arranged between two groups of blades, first motor
It is fixedly connected respectively in the both sides of one end of support frame as described above with second motor, support frame as described above and the fuselage are detachable
Ground is fixedly connected；The unmanned plane also includes a damper, and the damper is removably secured with the detection module and is connected.
Preferably, at least four rotor also includes：Guard portion, it is removably secured and is connected with the fuselage, it is described
Guard portion includes：Front mesh enclosure, the front mesh enclosure include multiple first net bone, the first outer shroud and the first inner ring, and each described first
The both ends of net bone are separately fixed on first outer shroud and first inner ring with certain pretightning force, and the first net bone is band
The material of elasticity；Rear net cover, the rear net cover includes the supporting plate of multiple second net bones, the second outer shroud and circle, each described
One end of second net bone is fixed in the supporting plate, and the other end is fixed on second outer shroud；Multiple tie-beams, Mei Gesuo
The one end for stating tie-beam is fixed on first outer shroud, and the other end is fixed on second outer shroud.
Preferably, first outer shroud, first inner ring, second outer shroud, the material of the supporting plate are carbon
Fiber；And/or the material of the second net bone is carbon fiber.
Preferably, the axis of first inner ring and the supporting plate is collinear；And/or first inner ring and described the
One outer shroud is arranged concentrically；And/or the supporting plate is arranged concentrically with second outer shroud；And/or the first net bone is specific
For nylon wire.
Preferably, the damper includes：Beam, top is removably secured with the detection module and is connected, described
An opening is offered on beam, so that the parts on the detection module are placed in the opening；Fixed plate, lid are located at institute
State in opening, and be removably secured and be connected with the bottom of the beam so that the detection module, the inwall of the opening
And the fixed plate forms a receiving space；The passage connected with the receiving space is further opened with the fixed plate；Its
In, during the unmanned plane during flying, air draught is entered in the receiving space from the passage, so as to the detection module
Detect the air draught.
Preferably, the angle of the reflective surface of first reflective mirror and the reflective surface of second reflective mirror is in 90 degree.
Preferably, first actuator and second actuator drive first rotating seat and described second respectively
Rotating seat is of reciprocating vibration with predeterminated frequency.
Preferably, the angle of reciprocating vibration is ± 40 °.
Preferably, the angle of reciprocating vibration is ± 20 °.
Preferably, the unmanned plane also includes a ranging avoidance instrument, and the ranging avoidance instrument includes：Light barrier transmitter, hair
Grating is penetrated to barrier；Camera is shot, shooting is transmitted into the raster image on the barrier；Raster processor, it is and described
Shoot camera connection, the raster image of the raster processor processing shooting camera shooting；Wherein, at the grating
Distance values between the pixel for the raster image that reason device is shot by measuring the shooting camera, and press the distance values
With the ratio of actual range, the distance of barrier each several part and the ranging avoidance instrument is judged.
The application has the beneficial effect that：
The unmanned plane that the application provides, by setting double oars and two groups of blades reverse rotations so that two groups of blade generation sides
To two opposite torsion, directly cancel out each other.So on the one hand make it that the stability of flight equipment is more preferable, direction is easily controlled
System；On the other hand it is simple in construction, reduce the generation of safety failure；Another further aspect, the power of flight equipment flight is bigger, carrying
Amount is more, it is adaptable wide the characteristics of, and the ranging avoidance instrument set further increases the stabilization of the unmanned plane during flying
Property and avoidance ability.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment.
Fig. 1 is the structural representation of the double oar damping rotor wing unmanned aerial vehicles of the better embodiment of the application one；
Fig. 2 is an example structure schematic diagram of unmanned plane rotor in Fig. 1；
Fig. 3 is the another example structure schematic diagram of unmanned plane rotor in Fig. 1；
Fig. 4 is the structural representation of filming apparatus；
Fig. 5 is the partial schematic diagram of Fig. 4 medium-height trestles；
Fig. 6 is the structural representation of damper；
Fig. 7 is the partial schematic diagram of beam in Fig. 6；
Fig. 8 is the partial schematic diagram of fixed plate in Fig. 6；
Fig. 9 is the structural representation of ranging avoidance instrument；
Figure 10 is the partial schematic diagram of fixed seat in Fig. 9；
Figure 11 is the flow chart of the method for unmanned plane ranging avoidance in Fig. 1；
Figure 12 is an example structure schematic diagram of double blade rotors in Fig. 1；
Brief description of the drawings：
100- rotor wing unmanned aerial vehicles, 1- fuselages, 2- unmanned plane rotors, 21- rotary shafts, the rotary shafts of 21a- first, 21b- second
Rotary shaft, 22- propeller hubs, the propeller hubs of 22a- first, the propeller hubs of 22b- second, 23- blades, the blades of 23a- first, the blades of 23b- second,
24- guards portion, 241- front mesh enclosures, 2411- the first net bones, the outer shrouds of 2412- first, the inner ring of 2413- first, 242- rear net covers,
2421- the second net bones, the outer shrouds of 2422- second, 2423- supporting plates, 243- tie-beams, 25- actuators, the motors of 25a- first,
The motors of 25b- second, 26- support frames, 3- connecting plates, 4- filming apparatus, the reflective mirrors of 41- first, the reflective mirrors of 42- second, 43- branch
Frame, 431- links, the rotating seats of 432- first, the rotating seats of 433- second, 44- shooting cameras, 5- dampers, 51- beams,
511- is open, 52- fixed plates, 521- passages, 53- lugs, 531- spacing holes, 6- detection modules, 7- ranging avoidance instrument, 71-
Light barrier transmitter, 72- shooting cameras, 73- fixed seats, 200- barriers.
Embodiment
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
Technical scheme is stated to be described in detail.
Fig. 1 is the structural representation of the better embodiment rotor wing unmanned aerial vehicle of the application one, and Figure 12 is double blade rotors in Fig. 1
An example structure schematic diagram, please refer to Fig. 1 and Figure 12, this application discloses a kind of double oar damping rotor wing unmanned aerial vehicles,
At least four rotors that the unmanned plane includes fuselage, the fuselage is fixedly connected, solve unmanned plane during flying in the prior art
It is unstable, be vulnerable to foreign matter impact and lose and due to the inaccurate technical problem of gas shock vibration detection module detection, reach
To make it that unmanned plane during flying is reliable and stable and avoid being impacted by foreign matter and detection module vibrations reduce and improve detection knot
The technique effect of the accuracy of fruit.
The technical scheme that the application provides will be elaborated from the overall structure of the unmanned plane below.
For the unmanned plane rotor 2
Embodiment one
Referring to Fig. 2, the unmanned plane rotor 2 includes actuator 25, rotary shaft 21, at least two blades 23 and guard portion
24.The actuator 25 be used for drive the rotary shaft 21 to rotate, the actuator 25 be specially motor, the rotary shaft 21 with
The actuator 25 connects, and the rotary shaft 21 can rotate relative to its axis；The propeller hub 22 is connected in rotary manner
In the rotary shaft 21, the propeller hub 22 is used to be fixedly connected with least two blade 23；The phase of at least two blade 23
The axis of the rotary shaft 21 is connected on the propeller hub 22 in rotary manner.
The guard portion 24 is removably secured with the fuselage 1 and is connected, the guard portion 24 include front mesh enclosure 241, after
Guard 242 and multiple tie-beams 243.The front mesh enclosure 241 is including in multiple first net bones 2411, the first outer shroud 2412 and first
Ring 2413, the both ends of each first net bone 2411 are separately fixed at first outer shroud 2412 and described with certain pretightning force
In first inner ring 2413, the first net bone 2411 is the material with elasticity, in the present embodiment, the first net bone 2411
Specially nylon wire.The both ends of the first net bone 2411 are with default pretightning force respectively at first outer shroud 2412 and described the
One inner ring 2413 is fixed so that at least two blade 23 avoids the impact of extraneous big foreign matter when rotating, and improves safety
Property, on the other hand, the first net bone 2411 is the material with elasticity, flexible, avoids the unmanned plane rotor 2 by firm
Property impact.
The rear net cover 242 includes the supporting plate 2423 of multiple second net bones 2412, the second outer shroud 2422 and circle, each
One end of the second net bone 2412 is fixed in the supporting plate 2423, and the other end is fixed on second outer shroud 2422；
The multiple second net bone 2412, second outer shroud 2422 and the supporting plate 2423 of the rear net cover 242 form larger
Gap, while ensureing to radiate, improve security.First outer shroud 2412, first inner ring 2413, described second
Outer shroud 2422, the material of the supporting plate 2423 are carbon fiber；And/or the material of the second net bone 2412 is carbon fiber,
So that the lighter weight of unmanned plane rotor 2.The axis of first inner ring 2413 and the supporting plate 2423 is collinear.The branch
The size of fagging 2423 is more than or equal to the size of the actuator 25, to facilitate the actuator 25 to be fixed on the supporting plate
On 2423, it instead of traditional use connector and fix the propeller hub 22, reduce further the weight of the unmanned plane rotor 2
Measure, simplify the structure of the unmanned plane rotor 2.First inner ring 2413 is arranged concentrically with first outer shroud 2412；Institute
State supporting plate 2423 to be arranged concentrically with second outer shroud 2422, ensure that the stability in the guard portion 24.
The multiple tie-beam 243 is used to connect the front mesh enclosure 241 and the rear net cover 242, each tie-beam
243 one end is fixed on first outer shroud 2412, and the other end is fixed on second outer shroud 2422, further enhancing
The bonding strength of the front mesh enclosure 241 and the rear net cover 242.
The unmanned plane rotor 2 is by the both ends of the first net bone 2411 to preset pretightning force outside described first
Ring 2412 and first inner ring 2413 are fixed so that at least two blade 23 avoids rushing for extraneous big foreign matter when rotating
Hit, and improve security, on the other hand, the first net bone 2411 is the material with elasticity, flexible, avoids the nothing
Man-machine rotor 2 is by rigid shock.
Referring to Fig. 1, the unmanned plane 100 also includes connecting plate 3, the connecting plate 3 is fixed at least two phase
Between adjacent tie-beam 243, at least four rotor 2 and the fuselage 1 company of being removably secured at the connecting plate 3
Connect.In the present embodiment, the connecting plate 3 is magnetic connecting plate, makes at least four rotor 2 and the magnetic of fuselage 1
Connection；And/or the connecting plate 3 is bolted to connection with the fuselage 1 so that the unmanned plane is easy to disassemble.Using
The connecting plate 3 of magnetic is connected with the fuselage 1 so that the convenient disassembly of unmanned plane 100.
In addition, referring to Fig. 3, the connecting plate 3 can also be L-type connecting plate, the connecting plate 3 by bolt with it is described
Fuselage 1 is fixedly connected, for supporting the rotor 2.
In order to avoid the unmanned plane causes institute in flight course by the normal rotate counterclockwise of the blade 23
The fastening relationships stated between propeller hub 22 and the actuator 25 loosen, and the application is by the propeller hub 22 and the actuator 25
Between rotate the direction that the direction tightened is also configured to rotate counterclockwise, i.e. between the propeller hub 22 and the actuator 25
The direction of rotation of thread rotary orientation and the blade 23 is in the same direction so that when the blade 23 rotates, the propeller hub 22 and the driving
Connection between part 25 more fastens, difficult for drop-off.
Embodiment two
For the unmanned plane rotor 2, the application also provides a kind of double oar rotors 2, refers to Figure 12, the unmanned plane
100, including fuselage 1 and at least four rotors 2 that are fixedly connected with the fuselage 1, at least four rotor 2 include actuator
25th, rotary shaft 21, propeller hub 22, blade 23 and support frame 26.
The actuator includes the first motor 25a and is relatively fixed the second motor being connected with the first motor 25a；Institute
Stating rotary shaft 21 includes the first rotary shaft 21a and the second rotary shaft 21b, the first rotary shaft 21a and second rotary shaft
21b is connected with the first motor 25a and the second motor 25b respectively, and the first rotary shaft 21a and second rotation
Rotating shaft 21b can rotate relative to its axis respectively.The propeller hub 22 includes the first propeller hub 22a and the second propeller hub 22b, first oar
Hub 22a and the second propeller hub 22b are connected to the first rotary shaft 21a and second rotary shaft in rotary manner respectively
On 21b；The blade 23 includes two groups of blades 23, two groups of blades 23 respectively with the first propeller hub 22a and the second propeller hub
22b is corresponding, and two groups of blades 23 are connected to the first propeller hub 22a and the second propeller hub 22b in rotary manner respectively
On；Support frame as described above 26 is arranged between two groups of blades 23, the first motor 25a and the second motor 25b difference
It is fixedly connected in the both sides of one end of support frame as described above 26, the other end of support frame as described above 26 is removably solid with the fuselage 1
Fixed connection.In the present embodiment, support frame as described above 26 is bolted to connection with the fuselage 1.
The first rotary shaft 21a and the second rotary shaft 21b are coaxial, are that double oars are coaxial, and double oars take two phases
Two groups of blades 23 of despining, i.e., it is rotated towards counterclockwise by first group of blade 23a, second group of blade 23b rotates court
Clockwise so that two groups of blades 23 produce two torsion in opposite direction, directly cancel out each other.So on the one hand cause
The stability of flight equipment is more preferable, and direction is easily controlled；On the other hand it is simple in construction, reduce the generation of safety failure；Again
On the one hand, flight equipment flight power it is bigger, bearing capacity is more, it is adaptable wide the characteristics of.
The guard portion 24 difference in embodiment one and embodiment two is, described in embodiment one with net in embodiment one
The structure of cover portion 24 is the same, and supporting plate 2423 described in embodiment one is used to support stress and fix with the actuator 25, with solid
Determine and support the actuator 25；And support of the actuator 25 described in the present embodiment independent of the supporting plate 2423, but
Double oars are supported by the support frame that is fixedly connected with fuselage, the other structures part in the guard portion 24 with embodiment one
It is identical, therefore will not be repeated here.
The unmanned plane 100 also includes filming apparatus 4, and the filming apparatus 4 is fixed on the fuselage 1.Specifically, please
Refering to Fig. 4, the filming apparatus 4 includes the first reflective mirror 41, the second reflective mirror 42, support 43, drive component and shooting camera
44。
Simultaneously referring to Fig. 5, first reflective mirror 41 and second reflective mirror 42 change the circuit of light path, described the
The reflective surface of two reflective mirrors 42 and first reflective mirror 41 is oppositely arranged.The support 43 is used to support first reflective mirror
41 and second reflective mirror 42, the support 43 include link 431, the first rotating seat 432 and the second rotating seat 433, institute
State the first rotating seat 432 and be rotatably fixed with one end of the link 431 and is connected, first rotating seat 432 is used to press from both sides
First reflective mirror 41 is held, with anti-relative to the link 431 rotation drive described first by first rotating seat 432
The rotation of light microscopic 41 changes its position angle.The other end of second rotating seat 433 and the link 431 is rotatably fixed
Connection, second rotating seat 433 are used to clamp second reflective mirror 42, to pass through the relative institute of second rotating seat 433
Stating the rotation of link 431 drives the rotation of the second reflective mirror 42 to change its position angle.First rotating seat 432 with it is described
One end of link 431 is articulated and connected, and the other end of second rotating seat 433 and the link 431 is articulated and connected.At this
In embodiment, first reflective mirror 41 and/or second reflective mirror 42 are completely reflecting mirror.Further, described first
The reflective mirror 42 of reflective mirror 41 and/or second is specially metal coating eyeglass.The reflective surface of first reflective mirror 41 and described the
The angle of the reflective surface of two reflective mirrors 42 is in 90 degree, to ensure to shoot the quality and effect of photograph.
The shooting camera 44 is used to shooting the image that reflexes on second reflective mirror 42, the shooting camera 44 with
The reflective surface of second reflective mirror 42 is oppositely arranged.The size of first reflective mirror 41 and second reflective mirror 42 according to
The chip of the shooting camera determines.During operation, light path reflexes to through first reflective mirror 41, second reflective mirror 42
The camera lens of the shooting camera 44, the shooting camera 44 shoot photograph.
The drive component includes the first actuator and second actuator, for driving first rotating seat 432
Rotated with second rotating seat 433 with adjustment position angle.First actuator drives first rotating seat 432 to revolve
Turn, second actuator drives second rotating seat 433 to rotate.First actuator and/or second actuator
For motor.
In order that the filming apparatus 4 obtains bigger visual angle, first actuator and second actuator difference
Drive first rotating seat 432 and second rotating seat 433 of reciprocating vibration with predeterminated frequency, so as to be separately fixed at described
First reflective mirror 41 and second reflective mirror 42 on first rotating seat 432 and second rotating seat 433 is with default
Frequency is of reciprocating vibration, improves shooting visual angle.The angle of reciprocating vibration is ± 40 °.Preferably, the angle of reciprocating vibration
Spend for ± 20 °.Specifically, the predeterminated frequency can reach 45000 points/second.
The filming apparatus 4 is back and forth shaken by first rotating seat 432 and second rotating seat 433 with predeterminated frequency
It is dynamic, the image quality of unmanned plane shooting is on the one hand ensure that, on the other hand adds shooting visual angle.By setting support 43 to change
Light path, and first reflective mirror 41 and second reflective mirror 42 are vibrated to improve shooting photograph image quality, also improve
The response speed of filming apparatus 4 in unmanned plane, without rotating whole filming apparatus 4.
Referring to Fig. 6, the unmanned plane 100 also includes damper 5 and detection module 6, the damper 5 and the detection
Module 6 is removably secured connection.The damper 5 is used to include damping to the damping of detection module 6, the damper 5
Pad 51 and fixed plate 52.
Referring to Fig. 7, the beam 51 is used to subtract the detection module 6 on connected unmanned plane
Shake, improve testing result.The top of the beam 51 is removably secured with the detection module 6 and is connected, the beam
An opening 511 is offered on 51, so that the parts on the detection module 6 are placed in the opening 511.In present embodiment
In, the beam 51 is bolted with the detection module 6, and the beam 51 is specially elastomeric material.It is in addition, existing
Have because the characteristic of rubber is difficult control in technology, the rubber of generally use is difficult to reach fine in the detection module of unmanned plane
Damping effect, the application use the hardness of beam 51 for 10 degree -60 degree hardness elastomeric material, it is preferred that the beam
51 toughness is more than 16J/m2So that the endurance when damper uses in unmanned plane, anti-time property and restorability all compared with
It is good.Preferably, the elastomeric material hardness is used as 40 degree.
Referring to Fig. 8, the one side of fixed plate 52 is used to make the beam 51 and the detection module 6 form an envelope
Space is closed to carry out shock absorbing；On the other hand the ratio of the fixed plate 52 is great, can further absorb vibration.It is specifically, described
The lid of fixed plate 52 is located in the opening 511, and the fixed plate 52 and the bottom of the beam 51 are removably secured company
Connect so that the detection module 6, the inwall of the opening 511 and the fixed plate 52 form a receiving space；The fixed plate
The passage 521 connected with the receiving space is further opened with 52.In the present embodiment, the beam 51 with it is described solid
Fixed board 52 is bolted, the fixed plate 52 specially metal material, such as metallic copper material.Metal material than great,
Vibration can further be absorbed.During the unmanned plane during flying, air draught enters the receiving sky from the passage 521
Between in, so that the detection module 6 detects the air draught.The passage 521 is set, and air draught is from the passage
521 enter in the receiving space, avoid air draught shakiness and influence the accuracy of detection of the detection module 6.
In addition, the damper 5 also includes at least two lugs 53, at least two lug 53 and the beam 51
Edge connection, and be evenly distributed on the edge of the beam 51, on the one hand ensure that the uniform force of beam 51,
Improve damping effect；On the other hand, at least two lug 53 is fixed on miscellaneous part so that is had on the beam 51
There is pretightning force, improve the damping effect of the beam 51, also improve the restorability after the beam 51 is hit.
At least two lug 53 has the edge that certain pretightning force is arranged on the rubber blanket so that from described at least two
The vibrations that lug 53 is delivered to the middle part of the rubber blanket obtain certain weakening.Opened up at least two lug 53
Limited location hole 531, for fixing the lug 53.In present embodiment, at least two lug 53 and the beam 51
Integration, material is saved, also caused compact-sized.
Fig. 9 and Figure 10 are referred to, the unmanned plane 100 also includes ranging avoidance instrument 7, and the ranging avoidance instrument 7 is fixed on
On the fuselage 1, the ranging avoidance for the unmanned plane 100.Specifically, the ranging avoidance instrument 7 includes light barrier transmitter
71st, camera 72 and raster processor are shot.
The light barrier transmitter 71 is transmitted into described for launching grating to barrier 200, the shooting camera shooting
Raster image on barrier 200.The raster processor is connected with the shooting camera 72, for handling the shooting camera
The raster image of 72 shootings；During operation, the raster processor is by measuring the light for shooting camera 72 and shooting
Distance values between the pixel of grid image, and in the distance values and the ratio of actual range, judge 200 each portion of barrier
Divide the distance with the ranging avoidance instrument 7.In addition, the camera lens filter of the shooting camera 72 is launched with the light barrier transmitter 71
Grating type matching, to ensure that the shooting camera claps 2 definition of raster images taken the photograph.The light barrier transmitter 71 can be with
Launch visible or invisible grating, the camera lens filter of the shooting camera 72 is specially to be selected according to described visible or invisible grating
Select the camera lens filter for described visible or invisible grating specific wavelength.
In order to facilitate the fixation light barrier transmitter 71 and the shooting camera 72, the ranging avoidance instrument 7 also includes one
Fixed seat 73, one end of the fixed seat 73 are fixedly connected with the shooting camera 72, and the other end is launched with the laser grating
Device 71 is removably secured connection.The fixed seat 73 is fixedly connected with the light barrier transmitter 71 by clip or buckle.
Based on same inventive concept, the application also provides a kind of unmanned plane ranging avoidance using above-mentioned ranging avoidance instrument
Method, refer to Figure 11, the method for the unmanned plane ranging avoidance includes：
Step S100, the light barrier transmitter launch grating to barrier.
Step S200, the shooting camera shooting is transmitted into the raster image on the barrier, and raster image is passed
It is defeated by the raster processor.
Step S300, the distance of barrier each several part and the ranging avoidance instrument is calculated according to the raster image.
Wherein, barrier each several part and the ranging avoidance instrument are calculated according to the raster image in the step S300
Distance, specially described raster processor measure the spacing between the pixel of the raster image of the shooting camera shooting
Value, and in the distance values and the ratio of actual range, calculate the distance of barrier each several part and the ranging avoidance instrument.
Step S400, unmanned plane become larger according to the spacing with the barrier each several part, selection with obstacle distance
Direction flight, complete avoidance.
Embodiment three
The method of the unmanned plane ranging avoidance is exemplified below, the grid of grating is launched by presetting light barrier transmitter
Count to illustrate the method for unmanned plane ranging avoidance, such as Fig. 9, the grating of the light barrier transmitter transmitting is 3 × 3 grid.
As can be seen that unmanned plane described in obstacle distance is more remote in Fig. 9, the every lattice raster grid size being transmitted on barrier is bigger,
The same every lattice raster grid size being mapped on the photograph of the shooting camera shooting is bigger.A in Fig. 91、a2、a3And a4Away from
Every lattice raster grid a equal from a distance from the unmanned plane, being mapped on the photograph of the shooting camera shooting1And a2、a2With
a3、a3And a4Distance it is equal, and d1And d1Between spacing be more than a1 and a2Between spacing.According to the grid of the shooting of setting
The ratio of spacing and actual range between table images pixel, to calculate between each several part of barrier and the unmanned plane
Spacing, selection are flown with the direction that obstacle distance becomes larger, and complete avoidance.
The ranging avoidance instrument 7 launches grating to barrier 200 using the characteristic of grating by light barrier transmitter 71, institute
State and shoot the raster image that the shooting of camera 72 is transmitted on the barrier 200, between the pixel for calculating the raster image
Distance values, the direction that selection is become larger with the distance of barrier 200 flies, and completes avoidance, solution measurement result is accurate, anti-interference
Ability is strong.
The application's has the beneficial effect that：
(1) the application by the both ends of the first net bone to preset pretightning force respectively at first outer shroud and described
One inner ring is fixed so that and the impact of extraneous big foreign matter is avoided during at least two blades rotation, and improves security, it is another
Aspect, the first net bone is the material with elasticity, flexible, avoids the unmanned plane rotor by rigid shock.
(2) the application is of reciprocating vibration with predeterminated frequency by first rotating seat and second rotation, on the one hand protects
The image quality of unmanned plane shooting has been demonstrate,proved, has on the other hand added shooting visual angle.By setting support to change light path, and vibrate institute
The first reflective mirror and second reflective mirror are stated to improve shooting photograph image quality, also improves filming apparatus in unmanned plane
Response speed, without rotating whole filming apparatus.
(3) damper that the application is set includes at least two lugs, at least two lug and the beam
Edge connects, and is evenly distributed on the edge of the beam, on the one hand ensure that the beam uniform force, raising subtracts
Shake effect；On the other hand, at least two lug is fixed on miscellaneous part so that there is pretightning force on the beam,
The damping effect of the beam is improved, also improves the restorability after the beam is hit.Described at least two
Lug has the edge that certain pretightning force is arranged on the rubber blanket so that is delivered to from least two lug described
The vibrations of the middle part of rubber blanket obtain certain weakening.
(4) the application launches grating to barrier using the characteristic of grating by light barrier transmitter, the shooting camera
Shooting is transmitted into raster image on the barrier, calculates the distance values between the pixel of the raster image, selection with
The direction flight that obstacle distance becomes larger, completes avoidance, it is accurate to solve ranging avoidance instrument measurement result in the prior art
Rate is low, the technical problem of poor anti jamming capability.
It should be noted last that above embodiment is merely illustrative of the technical solution of the present invention and unrestricted,
Although the present invention is described in detail with reference to example, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention, it all should cover
Among scope of the presently claimed invention.
Claims (4)
1. a kind of double oar damping rotor wing unmanned aerial vehicles, including fuselage and at least four rotors being fixedly connected with the fuselage and detection
Module, it is characterised in that at least four rotor includes：
Actuator, including the first motor and it is relatively fixed the second motor being connected with first motor；
Rotary shaft, including the first rotary shaft and the second rotary shaft, first rotary shaft and second rotary shaft respectively with institute
The first motor and second motor connection are stated, and first rotary shaft and second rotary shaft can be respectively with respect to its axis
Rotation；
Propeller hub, including the first propeller hub and the second propeller hub, first propeller hub and second propeller hub connect in rotary manner respectively
It is connected in first rotary shaft and second rotary shaft；
Blade, including two groups of blades, corresponding with first propeller hub and the second propeller hub respectively, two groups of blades are respectively with rotation
Mode be connected on first propeller hub and second propeller hub；
Support frame, it is arranged between two groups of blades, first motor and second motor are respectively in support frame as described above
The both sides of one end be fixedly connected, support frame as described above is removably secured with the fuselage and is connected；
The unmanned plane also includes a damper, and the damper is removably secured with the detection module and is connected；
Wherein, at least four rotor also includes：
Guard portion, it is removably secured and is connected with the fuselage, the guard portion includes：
Front mesh enclosure, the front mesh enclosure include multiple first net bone, the first outer shroud and the first inner ring, and the two of each first net bone
End is separately fixed on first outer shroud and first inner ring with certain pretightning force, and the first net bone is the material with elasticity
Material；
Rear net cover, the rear net cover include the supporting plate of multiple second net bones, the second outer shroud and circle, each second net bone
One end be fixed in the supporting plate, the other end is fixed on second outer shroud；
Multiple tie-beams, one end of each tie-beam are fixed on first outer shroud, and the other end is fixed on described second
On outer shroud；
Wherein, the damper includes：
Beam, top are removably secured with the detection module and are connected, and an opening is offered on the beam, so that institute
The parts on detection module are stated to be placed in the opening；
Fixed plate, lid is set over said opening, and is removably secured and is connected with the bottom of the beam so that the detection
Module, the inwall of the opening and the fixed plate form a receiving space；It is further opened with the fixed plate and the receiving
The passage of space connection；
Wherein, during the unmanned plane during flying, air draught is entered in the receiving space from the passage, so as to the inspection
Survey module and detect the air draught.
2. unmanned plane as claimed in claim 1, it is characterised in that first outer shroud, first inner ring, outside described second
Ring, the material of the supporting plate are carbon fiber；And/or the material of the second net bone is carbon fiber.
3. unmanned plane as claimed in claim 1, it is characterised in that the axis of first inner ring and the supporting plate is collinear；
And/or first inner ring is arranged concentrically with first outer shroud；And/or the supporting plate with second outer shroud is concentric sets
Put；And/or the first net bone is specially nylon wire.
4. unmanned plane as claimed in claim 1, it is characterised in that the unmanned plane also includes a ranging avoidance instrument, the survey
Include away from avoidance instrument：
Light barrier transmitter, launch grating to barrier；
Camera is shot, shooting is transmitted into the raster image on the barrier；
Raster processor, it is connected with the shooting camera, the light of the raster processor processing shooting camera shooting
Grid image；
Wherein, between the pixel for the raster image that the raster processor is shot by measuring the shooting camera
Away from value, and in the distance values and the ratio of actual range, the distance of barrier each several part and the ranging avoidance instrument is judged.
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| CN201510863505.5A CN105366043B (en) | 2015-11-30 | 2015-11-30 | Double oar damping rotor wing unmanned aerial vehicles |
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| CN106708084B (en) * | 2016-11-24 | 2019-08-02 | 中国科学院自动化研究所 | The automatic detection of obstacles of unmanned plane and barrier-avoiding method under complex environment |
| WO2018102913A1 (en) * | 2016-12-05 | 2018-06-14 | Fulcrum Uav Technology Inc. | Large payload unmanned aerial vehicle |
| CN106986041B (en) * | 2017-04-11 | 2023-10-27 | 歌尔科技有限公司 | Unmanned aerial vehicle mounting structure and unmanned aerial vehicle |
| CN107226192B (en) * | 2017-05-28 | 2020-10-23 | 珠海磐磊智能科技有限公司 | Composite board and aircraft |
| CN107226201B (en) * | 2017-05-28 | 2020-03-31 | 珠海磐磊智能科技有限公司 | Aircraft with a flight control device |
| CN110383998A (en) * | 2018-04-17 | 2019-10-29 | 浙江派尼尔科技股份有限公司 | The automatic pruner of high altitude operation |
| CA3077185C (en) | 2019-04-03 | 2023-08-01 | Ft Holdings Inc. | Rotor head for aerial vehicle |
| CA3077774C (en) | 2019-04-09 | 2023-02-07 | Ft Holdings Inc. | Negative hinge offset rotor head for a helicopter |
| CN116750229A (en) * | 2023-08-21 | 2023-09-15 | 成都金支点科技有限公司 | Miniature unmanned aerial vehicle power system vibration isolation device and miniature unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN86210726U (en) * | 1986-12-24 | 1987-12-12 | 李智武 | Second reflecting device for picture recording in the air |
| IT1394227B1 (en) * | 2009-05-08 | 2012-06-01 | Aermatica S P A | AIR ROBOTIC SYSTEM |
| CN102466883B (en) * | 2010-11-12 | 2014-01-15 | 北京控制工程研究所 | Laser dot matrix device for obstacle avoidance of lunar rover |
| CN102538766A (en) * | 2011-12-21 | 2012-07-04 | 武汉科技大学 | Obstacle test method for active intelligent vehicle |
| CN204433051U (en) * | 2015-03-04 | 2015-07-01 | 于松周 | Can Fast Installation formula eight-rotary wing aircraft |
| CN104743105B (en) * | 2015-03-31 | 2017-03-08 | 马鞍山市赛迪智能科技有限公司 | A kind of rescue run aircraft |
| CN204692419U (en) * | 2015-04-08 | 2015-10-07 | 深圳市大疆创新科技有限公司 | Shock bracket and apply the flight equipment of this shock bracket |
| CN205387194U (en) * | 2015-11-30 | 2016-07-20 | 湖北易瓦特科技股份有限公司 | Double -oar shock attenuation rotor unmanned aerial vehicle |
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