CN107108030A - Unmanned plane - Google Patents
Unmanned plane Download PDFInfo
- Publication number
- CN107108030A CN107108030A CN201680004302.3A CN201680004302A CN107108030A CN 107108030 A CN107108030 A CN 107108030A CN 201680004302 A CN201680004302 A CN 201680004302A CN 107108030 A CN107108030 A CN 107108030A
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- Prior art keywords
- unmanned plane
- rotor
- sensor
- central part
- protective cover
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- 230000001681 protective effect Effects 0.000 claims description 64
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 2
- 206010047571 Visual impairment Diseases 0.000 claims 1
- 238000004891 communication Methods 0.000 description 22
- 238000010586 diagram Methods 0.000 description 17
- 238000012545 processing Methods 0.000 description 17
- 230000000007 visual effect Effects 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000930 thermomechanical effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- 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
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/299—Rotor guards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
A kind of unmanned plane (2), the multiple horns (22) stretched including central part (20), from the central part, an at least power set are provided with each horn, the power set include the power motor of rotor (24) and the driving rotor rotational, the unmanned plane also includes sensor (26), and the sensor is arranged on the interference range (202) of the component of the unmanned plane outside.The unmanned plane is easy to the without hindrance running of sensor.
Description
Technical field
The present invention relates to a kind of unmanned plane, the especially unmanned plane with barrier avoiding function.
Background technology
Unmanned plane is that a kind of manipulated by radio robot or remote control manned is flown with performing the non-of task
Row device.Navigation and flight control, presetting apparatus and power-supply device etc. can be all installed, in recent years on general unmanned plane
Come, unmanned plane is developed and applied in multiple fields, especially the focus of general industry and military field engineering, with great army
Thing meaning and economic status.
Unmanned plane mainly has advantage of lower cost, and the danger without casualties, survival ability is strong, and mobility is good etc.
Advantage.But also because being unmanned, flight control system or ground control centre that unmanned plane can only be by aircraft itself
Instruction flown, then the barriers such as high voltage cable, trees or building are being run into, in particular with unmanned plane to spy
When different environment is patrolled, just probably collided with barrier (such as high voltage cable), bring huge to unmanned plane
Hidden danger, in order to ensure safety of the unmanned plane in the task of implementation, it will usually set sensor (such as avoidance phase on unmanned plane
Machine, ultrasonic sensor, laser range sensor etc.) come sense barrier from unmanned vehicle with a distance from, and adjust nothing accordingly
The course line of people's aircraft is with avoiding obstacles.
The upper sensor shooting environmental picture or would generally send ultrasonic wave or electromagnetic wave etc., pass through picture analyzing and barrier
With a distance from hindering the time difference that thing is reflected to determine barrier from unmanned plane.At present, sensor be typically mounted on horn or
On fuselage, and noise, air-flow that the rotation of propeller is produced can usually disturb the ultrasonic wave or electromagnetic wave sent, thereby increases and it is possible to can hinder
Hinder the visual field of vision sensor.
The content of the invention
In view of this, it is necessary to which providing a kind of can be easy to the unmanned plane of the without hindrance running of sensor.
A kind of unmanned plane, the unmanned plane is included on central part, the multiple horns stretched from the central part, each horn
An at least power set are provided with, the power set include the power motor of rotor and the driving rotor rotational, described
Unmanned plane also includes sensor, and the sensor is arranged on outside the interference range of the component of the unmanned plane.
A kind of unmanned plane, the unmanned plane is included on central part, the multiple horns stretched from the central part, each horn
An at least rotor is provided with, the unmanned plane includes one or more sensors, and the sensor is arranged on the unmanned plane
In one or more assemblies, and its sensing range is not by the component interference of the unmanned plane.
The upper unmanned plane, is easy to the without hindrance running of sensor.
Brief description of the drawings
Fig. 1 is a kind of structural representation for unmanned plane that embodiment of the present invention is provided.
Fig. 2 is a kind of system module figure for unmanned plane that embodiment of the present invention is provided.
Fig. 3 is that a kind of sensor for unmanned plane that embodiment of the present invention is provided sets schematic diagram.
Fig. 4 is that a kind of sensor for unmanned plane that embodiment of the present invention is provided is arranged on the schematic diagram on horn.
Fig. 5 is that a kind of interference region for unmanned plane that embodiment of the present invention is provided determines schematic diagram.
Fig. 6 is that a kind of sensor for unmanned plane that embodiment of the present invention is provided is arranged on the schematic diagram on landing chassis.
Fig. 7 is that a kind of sensor for unmanned plane that embodiment of the present invention is provided is arranged on a kind of folding landing chassis
Schematic diagram.
Fig. 8 is schematic diagram when landing chassis shown in Fig. 7 is in a kind of folded state.
Fig. 9 is that a kind of sensor for unmanned plane that embodiment of the present invention is provided is arranged on showing on a kind of rotor protective cover
It is intended to.
Figure 10 is a kind of sensor for unmanned plane that embodiment of the present invention is provided while the rotor being arranged on shown in Fig. 9 is protected
Schematic diagram on shield and horn.
Figure 11 is that a kind of sensor for unmanned plane that embodiment of the present invention is provided is arranged on another rotor protective cover
Schematic diagram.
Figure 12 is that a kind of sensor for unmanned plane that embodiment of the present invention is provided is arranged on another rotor protective cover
Schematic diagram.
Figure 13 is a kind of schematic diagram of the protective cover of the sensor for unmanned plane that embodiment of the present invention is provided.
Main element symbol description
Unmanned plane 1,2,3,4,5,7
Central part 10,20,30,40,50,70
Horn 22,32,42,52,62,72
Actuating unit 12
Sensing system 13
Transceiver 14
Load 15
Communication network 16
Terminal 17
System 100
Sensing module 1001
Processing unit 1002
Non-volatile computer-readable medium 1003
Control module 1004
Communication module 1005
Interference region 102,202
Non-interference region 104
Sensor 106,26,36,46,56,66,76,86
Rotor 24,34,44,54,64,74
The surfaces of revolution 240,540,640,740
Polygon 241
Landing chassis 38,48
First support 480
Second support 482
Rotating shaft 49
Rotor protective cover 542,642,742
Sensor protective cover 860
Following embodiment will further illustrate the present invention with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or can also have component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " level ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
The present invention provides a kind of unmanned plane, and the unmanned plane can be used for any suitable environment, for example, (for example revolve in the air
The aircraft that rotor aircraft, Fixed Wing AirVehicle or fixed-wing are mixed with rotor), in water (example, ship or submarine), on the ground
(example, motorcycle, automobile, truck, bus, train etc.), in space (example, space shuttle, satellite or detector), or on ground
Under (such as subway), or above-mentioned environment any combination.In the present embodiment, the unmanned plane is rotor craft, wherein institute
It can be single rotor, DCB Specimen, three rotors, four rotors, six rotors and eight rotors etc. to state rotor.For ease of description, following examples
In unmanned plane illustrated by taking quadrotor as an example.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Referring to Fig. 1, Fig. 1 shows that a unmanned plane 1 of the embodiment of the present invention includes a carrier and a load 15.It is alternative
Ground, the load 15 can not need carrier and be assemblied on the unmanned plane 1.The unmanned plane 1 may include fuselage 10, engine
Structure 12, a sensing system 13, and a transceiver 14.The actuating unit 12 may include rotor (propeller), blade, engine, electricity
One or more of machine, wheel group, axle, magnet or nozzle.The unmanned plane 1 may include one, two, three, four or many
Individual actuating unit.The actuating unit can be identical type.Alternately, one or more of actuating units can be difference
The actuating unit of type.In certain embodiments, the actuating unit 12 may be such that the unmanned plane 1 vertically from a surface
Fly or vertically land in a surface, done without the unmanned plane and any move horizontally (example, it is not necessary to sliding on runway
OK).Alternatively, the unmanned plane 1 can be used for being operable so that the unmanned plane 1 in specified position and the hovering of orientation overhead.
For example, the unmanned plane 1 may include the rotor that lifting force and multiple horizontally-guideds of thrust are provided for unmanned plane.Institute
State the rotor of multiple horizontally-guideds can be provided by start take off vertically, vertical landing, hovering ability to the unmanned plane 1.
In some embodiments, the rotor of one or more horizontally-guideds can turn clockwise, while one or more rotors are reversible
Hour hands rotate.For example, the quantity of the rotor turned clockwise can be equal to the rotor of rotate counterclockwise.Each horizontally-guided rotor
Rotating speed can be independently varied to control the lifting force and/or thrust of the rotor generation, so as to adjust the space of the unmanned plane 1
Orientation, speed, and/or acceleration (example, relative to the D translation free degree and the three-dimensional rotation free degree).
The sensing system 13 may include one or more sensors, and one or more of sensors can sense the nothing
Man-machine 1 dimensional orientation, speed and/or acceleration (example, relative dimensional translation freedoms and the three-dimensional rotation free degree).Described one
Individual or multiple sensors may include global positioning system (GPS) sensor, movable sensor, inertial sensor, closely sense
Device or image sensor.The data that the sensing system 13 is sensed can be used for dimensional orientation, the speed for controlling the unmanned plane,
And/or direction (example, with suitable a processing unit and/or control module as described below).Alternately, the sensing system
The close distance of 13 information available for offer on the surrounding enviroment of the unmanned plane, such as weather conditions and potential obstacle,
The position of geographical feature, the position of artificial structure and the like.In this exposure, the sensing system 13 includes being used for avoidance
Sensor, the sensor of the avoidance is used to sense one or more of unmanned plane running environment barrier.It is described
Barrier includes the static or mobile object near the unmanned plane.The sensor can receive acoustic signals from environment
And/or electromagnetic wave signal.Wherein described electromagnetic wave signal may include radio wave, microwave, infrared ray, luminous ray, ultraviolet,
X-ray line, gamma line etc..The sensor may include that (ranging such as infrared ray, ultrasonic wave, laser is sensed Proximity Sensor
Device), image sensor, global positioning system (Global positioning system, GPS) sensor.
The transceiver 14 can be communicated with the terminal 17 with transceiver 14 by communication network 16.In some implementations
In example, the communication includes two-way communication, and the terminal 17 provides control instruction into the unmanned plane 1, carrier and load 15
It is one or more, from the unmanned plane 1, carrier and load one or more of 15 receive informations (example, the unmanned plane,
The position and/or mobile message of carrier or load；The data of the load sensing, for example, load the image data of camera sensing).
In some cases, the control instruction from the terminal may include the unmanned plane, carrier and/or the relative position of load,
Mobile, start or control.For example, the control instruction can change the unmanned plane position and/or direction (example, pass through control
The actuating unit 12), or the load 15 is moved (example, by controlling the carrier) relative to the unmanned plane 1.Come from
The control instruction of the terminal 17 can control the load 15, for example control camera or other video capturing devices operation (example,
Obtain either statically or dynamically image, push away near or push away remote camera lens, be turned on and off, switch image mode, change image analytic degree, adjust
Jiao, changes the depth of field, changes the time for exposure, changes visual angle or the visual field).In some cases, from the unmanned plane 1, carrier and/
Or the communication information of load 15 may include the information (example, from sensing system 13 or load from one or more sensors
15).The communication may include information (example, GPS sensor, mobile biography that one or more different types of sensors are sensed
Sensor, inertial sensor, Proximity Sensor or image sensor).Described information can be on the unmanned plane, carrier and/
Or orientation (example, position, direction), the information of mobile or acceleration, the neighbouring obstacle information of load etc..Described derive from is born
The information of load may include the data of the load sensing or the state of the load sensed.The terminal 17 is provided and transmitted
The control instruction can be used for control the unmanned plane 1, carrier or load one or more of 15 state.Selectively
Or in combination, the carrier and load 15 can also distinguish the transceiver 14 for respectively including communicating with the terminal 17, so that
The terminal 17 separately can be communicated and controlled with the unmanned plane 1, carrier and load 15.
Fig. 2 is the module diagram for being used to control the system 100 of unmanned plane of the embodiment of the present invention.The system 100 can
Including a sensing module 1001, a processing unit 1002, a non-volatile computer-readable medium 1003, control module 1004 and
Communication module 1005.
The sensing module 1001 can be using can gather each of the information that be related to the unmanned plane in a variety of different ways
The sensor of type.Various types of sensor can sense the signal of different types of signal or separate sources.For example,
The sensor may include inertial sensor, GPS sensor, Proximity Sensor (example, laser sensor), or vision/image
Sensor (example, camera).The sensing module 1001 is connected to the processing unit for including multiple processors controllablely
1002.In certain embodiments, the sensing module 1001 is connected to a transport module 1006 (example, a Wi-Fi shadows controllablely
As transport module), the transport module can be used for directly transmitting sensing data to suitable an external device (ED) or system.For example,
The transport module 1006 can be used for the image that the camera for transmitting the sensing module 1001 is sensed to a remote terminal.
The processing unit 1002 may include one or more processors, a such as programmable processor (example, a centre
Manage device (CPU).The processing unit 1002 is connected to a non-volatile computer-readable medium 1003 controllablely.So non-easy
The property lost computer-readable medium 1003 can store logic, code and/or one or many can performed by the processing unit 1002
The programming of individual step.The non-volatile computer-readable medium may include that (example can be removed one or more memory cell
The external memory storage of formula medium or similar SD card or random access memory (RAM)).In certain embodiments, from the sensing mould
The data of block 1001 can be directly delivered to and be stored in the memory cell of the non-volatile computer-readable medium 1003.
The memory cell of the non-volatile computer-readable medium 1003 can store logic, code and/or can be by the processing unit
State the programming of the method for any suitable embodiment in 1002 this place performed.For example, the processing unit 1002 is available
In execute instruction so that the one or more processors of the processing unit 1002 analyze the sensing number that the sensing module is produced
According to.The memory cell can store the sensing data for the sensing module that will be analyzed by the processing unit 1002.One
In a little embodiments, the memory cell of the non-volatile computer-readable medium 1003 can be used for storing the processing unit 1002
The result of generation.
In certain embodiments, the processing unit 1002 can be used for being connected to a control module 1004, the control mould
Block 1004 is used for the state for controlling the unmanned plane.For example, the control module 1004 can be used for the institute for controlling the unmanned plane
Actuating unit is stated to adjust the orientation, speed and/or the acceleration of the sextuple free degree of the mobile object.Selectively or its
Combination, the control module 1004 can control one or more of state of carrier, load or sensing module.
The processing unit 1002 is connected to a communication module 1005 controllablely, and the communication module 1005 is used to transmit
And/or receive the data for coming from one or more external device (ED)s (example, a terminal, display device, or other remote controllers).
Any suitable communication mode can be used, such as wire communication or radio communication.For example, the communication module 1005 can utilize office
Domain net (LAN), wide area network (WAN), infrared ray, radio frequency, WiFi, point-to-point (P2P) network, communication network, cloud communicate and other
One or more of similar communication network.Alternatively, trunk desk, such as tower, satellite or mobile workstation may be utilized.Wirelessly
Communication may be based on distance or with apart from unrelated.In certain embodiments, communication needs visual can also not need can
Depending on.The communication module 1005 can transmit and/or receive sensing system institute sensing data, the processing unit 1002 and be produced
One in raw result, predetermined control data, the user instruction for coming self terminal or remote controllers, and its class likelihood data
It is individual or multiple.
The element of the system 100 can deploying in any form.For example, one or more elements of the system 100 can
Positioned at the unmanned plane, carrier, load, terminal, sensing system or with it is one or more of above-mentioned communicated it is additional
On external equipment.In addition, although shown in Fig. 2 is single processing unit 1002 and readable Jie of single non-volatile computer
Matter 1003, but those skilled in the art should it is contemplated that this is not limited to, and the system 100 may include it is many
Individual processor unit and/or non-volatile computer-readable medium.In certain embodiments, the multiple processor unit and/
Or one or more of non-volatile computer-readable medium can be located at different places, such as in mobile device, carrier, bear
Load, terminal, sensing module, with one or more of the above-mentioned additional external equipment communicated, it is or above-mentioned suitable
Combination.Can for example be occurred in place mentioned above by any processing performed by the system 100 and/or store function
It is one or more.
Refer to shown in Fig. 3, be that the unmanned plane of the present invention sets the schematic diagram of sensor.The unmanned plane 1 includes one
Interference region 102, the interference region 102 refer to the region setting sensor may by unmanned thermomechanical components influence or
Interference.The influence or interference may include vision or noise jamming.The horn of such as described unmanned plane 1, fuselage, rotor, landing
Interference of the component such as frame, rotor protective cover to the visual field of avoidance camera, the noise of the rotation generation of rotor and/or interference in air flow,
Electromagnetic Interference that power motor is produced etc..The periphery of interference region 102 includes a non-interference region 104, and sensor 106 can
The non-interference region 104 is arranged on, so that from the influence and interference of unmanned thermomechanical components.Wherein described non-interference region can be located at
In horn distal portion, the miscellaneous part of unmanned plane (for example, landing chassis, containment vessel, rotor protective cover etc.).Following examples will be entered
One step describes the setting in non-interference region in detail.
Refer to shown in Fig. 4, be that the sensor of the unmanned plane of the present invention is arranged on the schematic diagram on horn.The unmanned plane
2 may include central part 20, the horn 22 that four are stretched from the central part 20 and four rotors being arranged on each horn 22
24.Wherein described interference region is 202, and the sensor 26 is arranged on outside the interference region 202.Wherein, the sensor
Sensor as described above, the sensor may include the sensor of avoidance as described above or the sensing of other purposes
Device, such as the sensor of target following or target identification, the classification of the sensor may include vision sensor (for example
Camera), ultrasonic wave, distance measuring sensor, the GPS sensor such as laser etc..The sensor being previously mentioned in embodiment as described below is all
For sensor as described above, repeat no more.Specifically, the sensor 26 is arranged on the distal portion of the horn 22, i.e. institute
One end away from the central part 20 on horn 22 is stated, and back to the central part 20.The rotor 24 is located at the sensor
Between 26 and the fuselage 20.
Please refer to shown in Fig. 5, the interference region 202 can be determined by the surfaces of revolution of the rotor 24.It is described
The region that its rotor blade is scanned when the surfaces of revolution is the rotor wing rotation.Each rotor 24 includes a surfaces of revolution 240, described
The setting of interference region 202 need to meet and the surfaces of revolution 240 of all rotors can be included.That is, described pass
Sensor 26 is arranged on the horn 22 and outside the surfaces of revolution 240 of the rotor 24.So, when the rotor 24 rotates
When, be arranged on sensor 26 on the horn 22 can from the rotor 24 interference.Although it is understood that in figure
The each rotor 24 shown is all to be located at position roughly the same on each horn, i.e., the center of each rotor 24 is from the center
The distance at the center in portion 20 is all roughly the same, but the example only for purposes of illustration only, the rotor 24 can be arranged on it is each
Different position on horn 22, i.e., the center of each rotor 24 is now, each from that can be differed with a distance from the central part 20
As long as the scope that sensor 26 can be arranged on the surfaces of revolution 240 of the rotor 24 is outer.
In other embodiments, the interference region 202 can also be by the company between the center of multiple rotors 24
The polygon 241 of line formation is determined.Although it is understood that the polygon shown in figure for rule polygon,
If the distance of the luxuriant central part 20 in the center of each rotor 24 is differed, the polygon is irregular polygon
Shape.The sensor 26 need to be arranged on outside the polygon 241.In certain embodiments, the interference region 202 can also be same
When including the surfaces of revolution 240 determine region and the polygon 241 determine region.The sensor 26 is arranged on described
Outside interference region 202.
Processor (not shown) in the sensor 26 and the central part 20 is communicated to connect, so as to by the letter sensed
Number send the processor to.In certain embodiments, the horn 22 can be hollow structure, the sensor 26 and the place
Transmission line between reason device is arranged in the hollow structure of the horn 22, by described between the sensor 26 and processor
Transmission line carries out signal transmission.In further embodiments, the horn 22 can be non-hollow structure, and the transmission line is arranged on
The outside of horn 22, the processor is connected to around the outside of horn 22.
Refer to shown in Fig. 6, be that the sensor of the unmanned plane of one embodiment of the invention is arranged on the schematic diagram on landing chassis.
Unmanned plane 3 includes central part 30, the horn 32 stretched from the central part 30, and the rotor 34 being arranged on the horn 32.
The unmanned plane 3 also includes the landing chassis 38 for being connected to the lower section of horn 36.The sensor 36 is arranged on the horn 32
In distal portion and/or the landing chassis 38, and back to the central part 30.It is understood that the sensor 36 can only be set
Put on landing chassis or on the horn 32, can also both set.The quantity of the sensor 36 can for one, two or
It is multiple, it is arranged as required in the distal portion of horn 32 and/or the landing chassis 38.
The landing chassis 38 is arranged on outside the interference region.Specifically, in the present embodiment, the landing chassis 38 is connected
On the horn outside the interference range of the component of the unmanned plane (such as outside the surfaces of revolution of described rotor 34), close to institute
State the distal portion of horn 34.
Refer to shown in Fig. 7, be that the sensor of the unmanned plane of another embodiment of the present invention is arranged on the signal on landing chassis
Figure.Unmanned plane 4 includes central part 40, the horn 42 stretched from the central part 40, the rotor 44 being arranged on the horn, and
It is connected to the landing chassis 48 on the central part 40.The landing chassis 48 is rotationally connected to the central part 40 by rotating shaft 49
On, it can be rotated around the central part 40 between a landing state and a state of flight.Wherein, in the landing state, institute
The unmanned plane 4 can be supported in a surface by stating landing chassis 48, such as ground, desktop.In the state of flight, the landing
Frame 48 can be folded so as to fly state as shown in Figure 8 in the state shown in Fig. 8, the landing chassis 48 and the horn
42 is almost parallel, and sensor 46 is located at outer (such as surfaces of revolution of described rotor 44 of interference range of the component of the unmanned plane
Outside), and back to the central part 40.
Further, the landing chassis 48 may include the first support 480 for being rotatably connected on the central part 40 and setting
Close to the second support 482 of its end in the first support 480.The second support 482 and the first support 480 are big
Cause vertically, when the landing chassis 48 is in folded state, the second support 482 is located at close in the first support 480
The side of the horn 42, and outside the interference range of the rotor 44.The sensor 46 is arranged on the second support
On 482.It is understood that the second support 482 can also be not orthogonal to the first support 480, it can be with described
One support 480 is into other proper angles, the angle of on-right angle such as 70 degree, 80 degree, 100 degree.
The sensor 46 is arranged on the direction that the rotor 44 is faced away from the second support 482, can so protect
The sensing range for demonstrate,proving the sensor 46 is not obstructed.
In the above-described embodiments, on the landing chassis it is logical between the processor set in sensor and the central part
Letter connection can pass through landing chassis and horn cabling.For example, the landing chassis can be part hollow structure, the horn can be hollow
Structure, cabling between the sensor and the processor is hollow by the hollow cavity of the landing chassis and the horn
Cavity and cabling.In other embodiments, the cabling can also on the outside of the landing chassis and/or the horn cabling.
Refer to shown in Fig. 9, be that the sensor of the unmanned plane of one embodiment of the invention is arranged on propeller protective cover
Schematic diagram.Unmanned plane 5 includes central part 50, the horn 52 stretched from the central part 50, the rotation being arranged on the horn 52
The wing 54.The each rotor 54 of correspondence is provided with a rotor protective cover 542, and the rotor protective cover 542 is arranged on the rotation of the rotor
Outside the region for turning face 540.In the present embodiment, the rotor protective cover 542 substantially semicircular in shape, is arranged on the rotor 54 remote
From the side of the central part 50.The setting of the rotor protective cover 542 is when being in order to avoid rotor accidental falling by accident
Hit, such as rotor is damaged when encountering barrier or people or rotor hurts people.Sensor 56 is arranged on the rotor and protected
On the outer surface of shield 542 and back to the central part 50.
Refer to shown in Figure 10, sensor 56 is also equipped with the horn 52, set with the outside of rotor protective cover 542
Sensor 56 is cooperatively used for sensing barrier.In order to avoid being arranged on the sensor 56 on the horn 52 by the rotor
Protective cover 542 is blocked, and the sensor 56 set on the horn 52 is located on the horn and in the rotor protective cover 542
Semi arch enclose outside the scope set.
Refer to shown in Figure 11, be the schematic diagram of the propeller protective cover of another embodiment of the present invention.Set on horn 62
There is rotor 64, the rotor 64 has the surfaces of revolution 640.Substantially in major arc shape, (i.e. central angle is more than 180 degree to rotor protective cover 642
Arc), set around the surfaces of revolution 640 of the rotor 64.Preferably, the rotor protective cover 642 and the rotor 64
The surfaces of revolution 640 is coaxial.Sensor 66 is arranged on the rotor protective cover 642 back on the outer surface of the rotor 64, and back to
The rotor 64.Preferably, the sensor 66 that the terminal part of the horn 62 is also equipped with sensor 66, and the horn is set
The circular arc put in the rotor protective cover 642 is enclosed outside the scope set.
Refer to shown in Figure 11, be that the sensor of the unmanned plane of another embodiment of the present invention is arranged on propeller protective cover
Schematic diagram.Unmanned plane 7 includes central part 70, the horn 72 extended from the central part 70, is arranged on the horn 72
Rotor 74.Each rotor 74 has a surfaces of revolution 740.The each rotor 74 of correspondence, is provided with a rotor protective cover 742, the rotation
Wing protective cover 742 is generally circular, is arranged on the lower section of rotor 74.The surfaces of revolution 740 of the rotor 74 is protected in the rotor
Frontal projected area on shield 742 falls on the rotor protective cover.Preferably, the rotor protective cover 742 and the rotor
The 74 concyclic heart of the surfaces of revolution 740.The radius of the rotor protective cover 742 is more than the radius of the surfaces of revolution 740 of the rotor 74.Pass
Sensor 76 is arranged on the rotor protective cover 742 on the outer surface of the rotor 74 and the central part 70, and back to
The central part 70.
In the above-described embodiments, the sensor set on the rotor protective cover and the processor set in the central part
Between connecting line be able to can also be looped around on the outside of the horn by cabling inside hollow horn.In other embodiments,
Connection can also be in communication with each other between each rotor protective cover, the sensor being arranged on each rotor protective cover is protected also by each rotor
Connection between shield and communicate to connect, in such cases, it is only necessary to which one of sensor is connected with the processor communication
, other sensors can be connected by the sensor with the processor communication.
In other embodiments, the horn can be provided with containment vessel, and the sensor may be provided at the protection of the horn
On shell, and outside the interference range of the rotor.In certain embodiments, the fuselage can also be provided with containment vessel, described
Sensor can also be arranged on the containment vessel of the fuselage, and outside the interference range of the rotor.In some embodiments
In, the rotor can also be provided with containment vessel, and the sensor may be provided on the outside of the rotor containment vessel.
In the above-described embodiments, for sensing range (such as visual field of avoidance camera, sound wave of sensor described in without prejudice to
Or the transmission of electromagnetic wave etc.), the sensor is arranged at the outside of each component of the unmanned plane (such as outside rotor protective cover
On the outside of side, containment vessel, on the outside of landing chassis, on the outside of horn etc.).In certain embodiments, in order to avoid the sensor receives damage
Evil, can also put protective cover, to protect the sensor, and in the covers disposed on sensor at the sensing range of the sensor then
Set with through hole, in order to avoid hinder the sensing range of the sensor.As shown in figure 13, it is a kind of sensor protective cover of illustration
860.The sensor protective cover 860 is generally curved, and sensor 86 is arranged on the medial surface of sensor protective cover 860.Institute
State sensor protective cover 860 and may be provided at the rotor protective cover medial surface, and described pass is corresponded on the rotor protective cover
Through hole is opened up at the sensing range of sensor 86, to expose the sensor.In such cases, the sensor protective cover 860
Material selection need to consider that the interference produced by the rotor wing rotation can be hindered, such as noise jamming.In other embodiments,
The sensor protective cover can also be other shapes, if can protect the sensor without damage and without prejudice to described in sensing
The sensing of device.For example, when being arranged on the horn or landing chassis, the sensor protective cover can be arcuate structure,
The sensor is packaged between the horn or the lateral surface and the sensor protective cover of landing chassis.Now, it is described to pass
To that through hole should can be set with the exposure sensor at the sensing range of sensor on sensor protective cover.In other embodiment
In, it is above-mentioned to open up the material covering that through hole also can use the sensing for not hindering the sensor, for example can thoroughly electromagnetic wave, sound wave
Glass.
In upper described embodiment, the sensor may be provided on one in multiple components of the unmanned plane,
The component can be horn, landing chassis, containment vessel, rotor protective cover etc..The sensor can be one or more, the sensing
The set location of device may be selected from the combination of a component or multiple components, for example can be simultaneously on the horn and the landing chassis
The sensor is set, the sensing can also be set on the horn, landing chassis, rotor protective cover or containment vessel simultaneously
Device, can also set the sensor on one only in the horn, landing chassis, containment vessel, rotor protective cover.
In addition, for the person of ordinary skill of the art, can make other each with technique according to the invention design
It is kind corresponding change with deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention.
Claims (33)
1. a kind of unmanned plane, the unmanned plane includes setting on central part, the multiple horns stretched from the central part, each horn
An at least power set are equipped with, the power set include the power motor of rotor and the driving rotor rotational, its feature
It is：The unmanned plane also includes sensor, and the sensor is in its running positioned at the component in the unmanned plane
Outside interference range.
2. unmanned plane as claimed in claim 1, it is characterised in that：The interference of the component of the unmanned plane includes following at least one
Kind：
The dysopia that horn, rotor and/or fuselage are caused；
Noise and/or interference in air flow that rotor wing rotation is produced；
The Electromagnetic Interference that power motor is produced.
3. unmanned plane as claimed in claim 1, it is characterised in that：The sensor is used to sense the nothing in flight course
Barrier near man-machine, including range sensor, image sensor and/or GPS sensor.
4. unmanned plane as claimed in claim 3, it is characterised in that：The barrier includes static near the unmanned plane
Or mobile object.
5. unmanned plane as claimed in claim 1, it is characterised in that：The sensor can be from the environment around the unmanned plane
Middle reception acoustic signals and/or electromagnetic wave signal.
6. unmanned plane as claimed in claim 1, it is characterised in that：The electromagnetic wave signal is selected from following one or more of：Nothing
Line electric wave, microwave, infrared ray, luminous ray, ultraviolet, X-ray line and gamma line.
7. unmanned plane as claimed in claim 1, it is characterised in that：The interference range of the rotor includes following at least one：
The scope that the surfaces of revolution of the rotor is determined, wherein its rotor blade scanning when the surfaces of revolution is the rotor wing rotation
Region；
The power set are multiple, and the power motor of the multiple power set is the polygonal region that summit is formed.
8. unmanned plane as claimed in claim 1, it is characterised in that：The sensor is arranged on outside the surfaces of revolution of the rotor,
And side of the rotor away from the central part is arranged on, back to the central part.
9. unmanned plane as claimed in claim 1, it is characterised in that：The sensor is arranged on the horn end, and sets
Outside the surfaces of revolution of the rotor, the rotor is located between the sensor and the central part.
10. unmanned plane as claimed in claim 1, it is characterised in that：The unmanned plane also includes landing chassis, and the sensor is set
Put on the landing chassis, and in the state of flight of the unmanned plane outside the surfaces of revolution of the rotor, back in described
Center portion.
11. unmanned plane as claimed in claim 10, it is characterised in that：The landing chassis is connected to the horn terminal part, and
Below the horn, the landing chassis compares the rotor further from the central part.
12. unmanned plane as claimed in claim 10, it is characterised in that：The landing chassis can compare the central part and fold.
13. unmanned plane as claimed in claim 12, it is characterised in that：The landing chassis is connected to below the central part, and
It can be rotated around the central part between a landing state and a state of flight.
14. unmanned plane as claimed in claim 13, it is characterised in that：In the state of flight, the landing chassis is almost parallel
The horn, the sensor is located at side of the rotor away from the central part.
15. unmanned plane as claimed in claim 14, it is characterised in that：In the landing state, the landing chassis can be supported
The unmanned plane is in a surface.
16. unmanned plane as claimed in claim 14, it is characterised in that：The landing chassis includes being rotatably connected on the central part
The first support of lower section, and the first support is connected to away from described central part one end and with the first support in certain angle
The second support of degree, the sensor is arranged in the second support.
17. unmanned plane as claimed in claim 16, it is characterised in that：The second support is substantially hung down with the first support
Directly.
18. unmanned plane as claimed in claim 1, it is characterised in that：The unmanned plane also includes rotor protective cover, the rotor
Protective cover is arranged near the rotor, for avoiding the rotor from being accidentally impacted.
19. unmanned plane as claimed in claim 18, it is characterised in that：The sensor, which is arranged on the rotor protective cover, to deviate from
The outside of the rotor and the central part, and back to the central part.
20. unmanned plane as claimed in claim 19, it is characterised in that：The rotor protective cover is set around the rotor, and greatly
Cause to be in semicircular arc, the rotor protective cover is arranged on side of the rotor away from the central part.
21. unmanned plane as claimed in claim 19, it is characterised in that：The rotor protective cover is set around the rotor, and greatly
It is in major arc shape to cause.
22. unmanned plane as claimed in claim 19, it is characterised in that：The rotor protective cover is arranged on below the rotor,
Orthographic projection of the rotor on the rotor protective cover falls on the rotor protective cover.
23. unmanned plane as claimed in claim 18, it is characterised in that：The sensor is arranged on the outer of the rotor protective cover
Side surface, and do not blocked by the horn, fuselage or rotor of the unmanned plane.
24. unmanned plane as claimed in claim 18, it is characterised in that：The sensor is arranged on the inside of the rotor protective cover
Surface, and the sensor covers by a sensor protective cover and sets, the sensor protective cover can completely cut off the rotor wing rotation
On produced interference, the inner surface of the rotor protective cover through hole is offered at the sensing range of the correspondence sensor.
25. unmanned plane as claimed in claim 1, it is characterised in that：The unmanned plane also includes containment vessel, and the sensor is set
Put on the containment vessel and outside the interference range of the unmanned plane.
26. unmanned plane as claimed in claim 25, it is characterised in that：The containment vessel is horn containment vessel, rotor containment vessel
Or fuselage containment vessel.
27. unmanned plane as claimed in claim 1, it is characterised in that：The quantity of the sensor is one or more, is arranged on
In the one or more assemblies of the unmanned plane, the component includes horn, landing chassis, rotor protective cover, containment vessel.
28. unmanned plane as claimed in claim 1, it is characterised in that：The one or more assemblies of the unmanned plane are hollow knot
The cabling between processor in structure, the sensor and the central part is arranged in the hollow structure.
29. unmanned plane as claimed in claim 1, it is characterised in that：Processor in the sensor and the central part it
Between cabling be arranged on the outside of the component of the unmanned plane.
30. unmanned plane as claimed in claim 1, it is characterised in that：The sensor is covered by a sensor protective cover to be set, institute
State super covered with that can transmit to through hole or the through hole should be offered at the sensing range of sensor on sensor protective cover
The material of sound wave or electromagnetic wave.
31. a kind of unmanned plane, the unmanned plane is included on central part, the multiple horns stretched from the central part, each horn
It is provided with an at least rotor, it is characterised in that：The unmanned plane includes one or more sensors, and the sensor is arranged on institute
State in the one or more assemblies of unmanned plane, the unmanned plane be in state of flight when the sensor sensing range not by
The component interference of the unmanned plane.
32. unmanned plane as claimed in claim 31, it is characterised in that：The component of the unmanned plane is selected from：Horn, rotor protection
Cover, landing chassis, containment vessel.
33. unmanned plane as claimed in claim 31, it is characterised in that：The interference of the component of the unmanned plane include it is described nobody
The interference of vision that the component of machine is caused to the sensor, and/or the noise that causes of rotation of the rotor and interference in air flow, institute
State the Electromagnetic Interference that the power set of unmanned plane are produced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011096213.0A CN112173096A (en) | 2016-09-21 | 2016-09-21 | Unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/099600 WO2018053715A1 (en) | 2016-09-21 | 2016-09-21 | Unmanned aerial vehicle |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011096213.0A Division CN112173096A (en) | 2016-09-21 | 2016-09-21 | Unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107108030A true CN107108030A (en) | 2017-08-29 |
Family
ID=59676461
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011096213.0A Pending CN112173096A (en) | 2016-09-21 | 2016-09-21 | Unmanned plane |
| CN201680004302.3A Pending CN107108030A (en) | 2016-09-21 | 2016-09-21 | Unmanned plane |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011096213.0A Pending CN112173096A (en) | 2016-09-21 | 2016-09-21 | Unmanned plane |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN112173096A (en) |
| WO (1) | WO2018053715A1 (en) |
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| CN108181631A (en) * | 2017-12-28 | 2018-06-19 | 南京航空航天大学 | The mobile ad-hoc network local positioning system and method for a kind of multi-machine collaborative |
| CN108445524A (en) * | 2018-05-11 | 2018-08-24 | 山东大学 | Radioactivity monitoring system and method in tunnel based on unmanned aerial vehicle platform |
| JP2019220058A (en) * | 2018-06-22 | 2019-12-26 | キヤノンマーケティングジャパン株式会社 | Unmanned aircraft, control method therefor, and program |
| CN111077910A (en) * | 2020-01-07 | 2020-04-28 | 西安理工大学 | Unmanned aerial vehicle swarm anti-collision system, device and method based on ultraviolet light guidance |
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| CN108454869B (en) * | 2018-04-10 | 2023-11-21 | 杭州启飞智能科技有限公司 | Unmanned aerial vehicle carries rotatory ranging module of ultrasonic wave |
| KR102258389B1 (en) * | 2019-05-29 | 2021-05-31 | 레드원테크놀러지 주식회사 | Drone for photographing image |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018053715A1 (en) | 2018-03-29 |
| CN112173096A (en) | 2021-01-05 |
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Application publication date: 20170829 |