CN108513617B - Distance measuring sensor and plant protection unmanned aerial vehicle with same - Google Patents
Distance measuring sensor and plant protection unmanned aerial vehicle with same Download PDFInfo
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- CN108513617B CN108513617B CN201780004710.3A CN201780004710A CN108513617B CN 108513617 B CN108513617 B CN 108513617B CN 201780004710 A CN201780004710 A CN 201780004710A CN 108513617 B CN108513617 B CN 108513617B
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- 239000000428 dust Substances 0.000 claims abstract description 82
- 238000007664 blowing Methods 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims description 40
- 238000004140 cleaning Methods 0.000 claims description 11
- 238000005192 partition Methods 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 26
- 238000012360 testing method Methods 0.000 abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 21
- 239000003595 mist Substances 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 5
- 230000002265 prevention Effects 0.000 description 5
- 239000000779 smoke Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A distance measuring sensor (1) and a plant protection unmanned aerial vehicle with the distance measuring sensor (1), wherein the distance measuring sensor (1) comprises a shell (10), a distance measuring module (20) arranged in the shell (10) and a blower device (30) arranged in the shell (10); a signal pickup window (100) used for detecting signals of the ranging module (20) is arranged on the shell (10), an air guide channel (300) communicated with the signal pickup window (100) is arranged on the air blowing device (30), and the air guide channel (300) guides air flow generated by the air blowing device (30) in the shell (10) to be discharged out of the shell (10) from the signal pickup window (100). The air blowing device (30) blows air in the shell (10) to form air flow, the air flow is guided through the air guide channel (300) to be discharged out of the shell (10) from the signal pickup window (100), an air curtain which circulates outwards is formed, and external dust or water mist can be effectively prevented from entering the shell (10) to influence and interfere the testing range and the testing effect of the ranging module (20).
Description
Technical Field
The invention relates to the technical field of distance detection, in particular to a distance measuring sensor and a plant protection unmanned aerial vehicle with the distance measuring sensor.
Background
The traditional height-fixing scheme adopts devices such as a GPS (Global Positioning System), a barometer, ultrasonic waves, a laser radar and the like, but the GPS and the barometer have deviation in height data acquisition and lower precision, while the ultrasonic waves are simple in principle and low in cost, but easily penetrate through vegetation and short in action distance, and the laser radar can solve the problems, but is high in cost and large in technical difficulty. Compare the mainstream on the above-mentioned present market and decide high scheme, TOF (Time of Flight), range unit has the precision height, and it is fast to refresh the frequency, and anti outdoor highlight, can survey advantages such as aircraft place ahead topography, can have multiple detection distance, can be used to various occasions such as scientific research, industry, for example can use TOF range unit to range finding often in the plant protection unmanned aerial vehicle field.
But TOF range unit has certain requirement to operational environment, and it is comparatively obvious to receive external environment interference, especially receives external light source interference, and dust and water smoke influence are received in the light source interference, if by dust or water smoke cover the lens then can influence the test accuracy, and sheltering from of foreign object also can influence its test range. For example, plant protection unmanned aerial vehicle during operation is that the dust is many to the environment characteristics of farming, and water smoke is concentrated during the water spray pesticide, and this kind all can cause very big influence to TOF range unit's work, causes measured data to produce great deviation.
Disclosure of Invention
The invention provides a distance measuring sensor and a plant protection unmanned aerial vehicle with the same.
According to a first aspect of embodiments of the present invention, there is provided a ranging sensor including: the device comprises a shell, a ranging module arranged in the shell and a blower device arranged in the shell; the shell is provided with a signal pickup window used for detecting signals of the ranging module, the air blowing device is provided with an air guide channel communicated with the signal pickup window, and the air guide channel guides air flow generated by the air blowing device in the shell to be discharged out of the shell from the signal pickup window.
According to a second aspect of the embodiment of the invention, a plant protection unmanned aerial vehicle is provided, which comprises a vehicle body, a vehicle arm connected with the vehicle body, and a power assembly arranged on the vehicle arm, and further comprises a distance measuring sensor, wherein the distance measuring sensor is arranged on the vehicle body or/and the vehicle arm;
wherein the ranging sensor comprises: the device comprises a shell, a ranging module arranged in the shell and a blower device arranged in the shell; the shell is provided with a signal pickup window used for detecting signals of the ranging module, the air blowing device is provided with an air guide channel communicated with the signal pickup window, and the air guide channel guides air flow generated by the air blowing device in the shell to be discharged out of the shell from the signal pickup window.
According to the ranging sensor, the air blowing device blows air in the shell to form air flow, and then the air flow is guided to be discharged out of the shell from the signal pickup window through the air guide channel arranged on the air blowing device, so that an air curtain which flows outwards is formed in the shell, external dust or water mist can be effectively prevented from entering the shell to cause images and interference on the testing range and the testing effect of the ranging module, and the testing accuracy of the ranging sensor is guaranteed.
According to the plant protection unmanned aerial vehicle, the air blowing device of the ranging sensor blows air in the shell to form air flow, then the air flow is guided to be discharged out of the shell from the signal pickup window through the air guide channel arranged on the air blowing device, so that an air curtain which circulates outwards is formed in the shell, external dust or water mist can be effectively prevented from entering the shell to cause images and interference on the testing range and the testing effect of the ranging module, the testing accuracy of the ranging sensor is ensured, the phenomenon that the plant protection unmanned aerial vehicle is re-sprayed, leaked or dropped due to terrain change or terrain fluctuation is avoided, and the operation effect of the plant protection unmanned aerial vehicle is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is an exploded view of a ranging sensor according to an embodiment of the present invention.
Fig. 2 is a front view of a ranging sensor according to an embodiment of the present invention.
Fig. 3 is a top view of a ranging sensor according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
The distance measuring sensor and the plant protection unmanned aerial vehicle with the distance measuring sensor are described in detail below with reference to the attached drawings. The features of the following examples and embodiments may be combined with each other without conflict.
Referring to fig. 1 to 3, a distance measuring sensor 1 according to an embodiment of the present invention includes a housing 10 and a distance measuring module 20 disposed in the housing 10, wherein a signal pickup window 100 for detecting a signal by the distance measuring module 20 is disposed on the housing 10, and light emitted by the distance measuring module 20 is emitted through the signal pickup window 100, that is, the distance measuring module 20 detects the signal through the signal pickup window 100, so as to determine a distance between the distance measuring sensor 1 and a target object, thereby achieving a distance measuring function. Wherein, ranging module 20 includes lens 210 for see through the measuring light that ranging module 20 sent, depend on lens 210 in order to prevent that outside dust or water smoke from getting into casing 10 and lead to causing influence and interference to ranging module 20's range finding effect, still be provided with blower device 30 in the casing 10, be equipped with on blower device 30 with the wind-guiding passageway 300 that signal pickup window 100 is linked together, wind-guiding passageway 300 guides blower device 30 is in the air current that produces in the casing 10 is followed signal pickup window 100 discharges casing 10.
Next, the air blowing device 30 of the distance measuring sensor 1 according to the embodiment of the present invention will be further described.
In one embodiment, the air blowing device 30 may include a fan 310, and the fan 310 is used for generating the air flow, but the structure of the device for generating the air flow is not limited to the fan structure. Alternatively, the fan 310 may directly extract air by using an air extracting fan to form an air flow, and then the air flow is guided by the air guiding channel 300 to form an air curtain circulating from inside to outside in the housing 10, so as to achieve the effects of preventing dust and water mist.
Further, in order to fix the fan 310, the air blowing device 30 further includes an air guide 320 connected to the fan 310, and the air guide channel 300 is disposed on the air guide 320. Optionally, the air guide 320 is an air guide block structure with a certain thickness, so that the air guide channel 300 can extend along the thickness direction of the air guide block structure, and an air curtain formed by guiding the air flow by the air guide channel 300 has a corresponding buffer distance, thereby achieving better dustproof and waterproof effects.
In an embodiment, the air guiding channel 300 includes an air inlet 301 disposed on the air guiding member 320, and a signal pickup through hole 302, wherein the air inlet 301 is disposed opposite to the fan 310, and the signal pickup through hole 302 is disposed opposite to the signal pickup window 100 and has a shape and a size matching each other. The air inlet 301 is communicated with the signal pickup through hole 302, and the extending direction of the air inlet 301 is obliquely intersected with the extending direction of the signal pickup through hole 302. Optionally, the signal pickup through hole 302 is arranged coaxially with the signal pickup window 100.
Through the above structure, the air guide channel 300 can not only realize that the air guide channel 300 guides the air flow generated by the fan 310 to form an air curtain circulating from inside to outside in the casing 10, but also prevent the fan 310 from being connected to the air guide member 320 and then blocking the air guide channel 300, and does not influence the detection light emitted by the ranging module 20 to penetrate through the air guide channel 300. For example, in order to prevent the fan 310 from being blocked by the air guide channel 300 after being connected to the air guide 320, the fan 310 may be connected to a side portion of the air guide 320, so that the fan 310 is located outside a through hole range of the signal pickup through hole 302, thereby ensuring that the fan 310 does not block the air guide channel 300. Because the air inlet 301 is communicated with the signal pickup through hole 302 and the extending direction of the air inlet 301 and the signal pickup through hole 302 intersect obliquely, it can be ensured that the air flow generated by the fan 310 can circulate from the air inlet 301 to the signal pickup through hole 302, and an air curtain circulating from inside to outside is formed in the housing 10 after being guided by the air guiding channel 300.
It should be noted that, in the embodiment shown in fig. 1, the extending direction of the air inlet 301 is perpendicular to the extending direction of the signal pickup through hole 302, so that the fan 310 can be disposed on the air guide 320 along the radial direction of the signal pickup through hole 302, the fan 310 is more conveniently mounted on the air guide 320, the mounting space of the fan 310 can be saved, and the size of the distance measuring sensor 1 is reduced.
In an embodiment, the air guide 320 is provided with a mounting groove 321 communicated with the air guide channel 300, the fan 310 is mounted in the mounting groove 321, and the air inlet 301 is formed at the bottom of the mounting groove 321. In the embodiment shown in fig. 1, the mounting groove 321 is a rectangular groove structure and is disposed at a side portion of the air guide 320. The fan 310 is a rectangular box structure corresponding to the mounting groove 321, the fan 310 is clamped in the mounting groove 321 and is arranged corresponding to the air inlet 301, so that generated air flows from the air inlet 301 to the signal pickup through hole 302, and an air curtain flowing from inside to outside is formed in the housing 10 after being guided by the air guide channel 300.
In one embodiment, the blower device 30 further includes an adapter plate 330 for supplying power to the fan 310, and the adapter plate 330 is connected to the fan 310.
As can be seen from the above embodiments, in the distance measuring sensor 1 provided in the embodiments of the present invention, when the distance measuring module 20 works, the air blowing device 30 blows air in the casing 10 to form an air flow, and then the air flow is guided by the air guiding channel 300 to be discharged from the signal pickup window 100 out of the casing 10, so that an air curtain circulating from inside to outside is formed in the casing 10, thereby effectively preventing external dust or water mist from entering the casing 10 to cause images and interference on the test range and the test effect of the distance measuring module 20, and ensuring the test accuracy of the distance measuring sensor 1.
In one embodiment, the ranging module 20 is a TOF ranging module, and light emitted from the ranging module 20 is emitted through the signal pickup window 100. TOF range finding module has the precision height, and it is fast to refresh the frequency, and anti outdoor highlight, can survey advantages such as aircraft place ahead topography can have multiple detection distance, can be used to various occasions such as scientific research, industry, for example plant protection unmanned aerial vehicle field. But also for home, entertainment applications, such as TOF cameras.
Indeed, the distance measuring sensor 1 provided in the embodiment of the present invention can prevent external dust or water mist from entering the housing 10 to cause images and interference on the test range and the test effect of the distance measuring module 20 when the distance measuring module 20 works. When the ranging module 20 is closed, external dust or water mist can be prevented from entering the housing 10 to cause image and interference to the testing range and testing effect of the ranging module 20. Next, a scheme of the distance measuring sensor 1 according to the embodiment of the present invention, when the distance measuring module 20 is closed, for preventing external dust or water mist from entering the housing 10 to cause images and interference to the test range and the test effect of the distance measuring module 20, will be described in detail.
In an embodiment, the distance measuring sensor 1 according to the embodiment of the present invention further includes a dust-proof plate 40 for shielding the air guiding channel 300 and the signal pickup window 100, and the dust-proof plate 40 is movably disposed on the housing 10. When the distance measuring module 20 works, the dust-proof plate 40 moves to a first set position, and does not shield the air guide channel 300 and the signal pickup window 100, so that the air guide channel 300 is communicated with the signal pickup window 100, and an air curtain circulating from inside to outside is formed in the housing 10 after air flow generated by the air blowing device 30 is guided by the air guide channel 300, thereby achieving the effects of dust prevention and water mist prevention. When the distance measuring module 20 is closed, the dust-proof plate 40 moves to a second set position to shield the air guide channel 300 and the signal pickup window 100, thereby achieving the effect of dust and water mist prevention. The first setting position may be a position where the dust-proof plate 40 does not block the air-guiding duct 300 and the signal pickup window 100, and the second setting position may be a position where the dust-proof plate 40 blocks the air-guiding duct 300 and the signal pickup window 100. Alternatively, the dust-proof plate 40 may be disposed on the housing 10 at a position corresponding to the signal pickup window 100.
Further, the dust-proof plate 40 is provided with an air guiding opening 400 adapted to both the air guiding channel 300 and the signal pickup window 100. When the distance measuring module 20 works, the dust-proof plate 40 moves to a first setting position, so that the air guide opening 400 is communicated with the air guide channel 300 and the signal pickup window 100, and an air curtain circulating from inside to outside is formed in the housing 10 after air flow generated by the air blowing device 30 is guided by the air guide channel 300, thereby achieving the effects of dust and water mist prevention. When the ranging module 20 is closed, the dust-proof plate 40 moves to a second set position, so that the air guide opening 400 is staggered with the air guide channel 300 and the signal pickup window 100, and the air guide channel 300 and the signal pickup window 100 are shielded, thereby achieving the effects of dust and water mist prevention. The first setting position may be a position where the air guide channel 300 and the signal pickup window 100 are not covered by any dust-proof plate 40 and the air guide opening 400 is communicated with the air guide channel 300 and the signal pickup window 100, and the second setting position may be a position where the air guide channel 300 and the signal pickup window 100 are covered by any dust-proof plate 40 and the air guide opening 400 is staggered with respect to the air guide channel 300 and the signal pickup window 100. Alternatively, the dust-proof plate 40 may be disposed between the air guide channel 300 and the signal pickup window 100.
In an embodiment, the distance measuring sensor 1 provided by the embodiment of the present invention further includes a driving device for driving the dust-proof plate 40 to move. The driving device can drive the dust-proof plate 40 to switch between the first setting position and the second setting position in a rotating, sliding or linear motion manner. Two structural forms of the driving device are described below, but it should be noted that the structural form of the driving device is not limited to the two structural forms described below, and any other structural form of the driving device that can switch the dust-proof plate 40 between the first setting position and the second setting position should fall within the scope of the present invention.
Referring to fig. 1, a first structural form of the driving device is as follows: the driving device comprises a driving motor 510 and a driving shaft 520 penetrating through the driving motor 510, wherein the driving end of the driving shaft 520 protrudes out of the driving motor 510 and is fixedly connected with the dust-proof plate 40. The drive motor 510 rotationally drives the dust-proof plate 40 via the drive shaft 520 to switch between the first setting position and the second setting position.
Further, the driving device further includes a flange 530 engaged with the driving shaft 520. The dust-proof plate 40 is provided with a connecting hole 430, and the driving end of the driving shaft 520 passes through the connecting hole 430 from one side of the dust-proof plate 40 and is fixedly connected with the flange 530 positioned at the other side of the dust-proof plate 40, so that the driving shaft 520 is fixedly connected with the dust-proof plate 40. Optionally, the driving motor 510 is a steering engine, which can increase the detection function and can more accurately drive the dust-proof plate 40 to move. The second setting position may be a position where the dust-proof plate 40 is located as shown in fig. 1. The first setting position may be a position where the air guiding opening 400 communicates with the air guiding channel 300 and the signal pickup window 100 after the dust guard 40 is rotated counterclockwise around the axial direction of the connection hole 430 by a certain angle from the position shown in fig. 1.
A second form of construction of the drive device: the driving device comprises a driving cylinder, and the driving end of the driving cylinder is fixedly connected with the dust guard 40. The driving cylinder drives the dust-proof plate 40 to switch between the first setting position and the second setting position in a linear motion manner.
In an embodiment, the distance measuring sensor 1 provided in the embodiment of the present invention further includes a driving device and a transmission device connected to the dust-proof plate 40, and the driving device drives the dust-proof plate 40 to move through the transmission device. The driving device can drive the dust-proof plate 40 to switch between the first setting position and the second setting position in a rotating, sliding or linear motion manner through the transmission device. Five structural forms of the transmission device are described below, but it should be noted that the structural form of the transmission device is not limited to the five structural forms described below, and any other structural form of the transmission device that can realize the switching of the dust-proof plate 40 between the first setting position and the second setting position should fall within the scope of the present invention.
The first structure form of the transmission device is as follows: the transmission device comprises a belt and two belt pulleys matched with the belt. One of the pulleys is fixedly connected with the dust guard 40, and the other pulley is in transmission connection with the driving device. The driving device drives the belt pulley connected with the driving device to rotate, and the belt drives the other belt pulley to rotate, so that the two belt pulleys synchronously move under the driving of the belt, and the dust-proof plate 40 is driven to be switched between the first set position and the second set position.
The second structure form of the transmission device is as follows: the transmission device comprises a screw rod and a screw rod sleeve matched with the screw rod, and the screw rod sleeve is fixedly connected with the dust guard 40. The driving device is in transmission connection with the screw rod and is used for driving the screw rod to rotate. The driving device drives the screw rod to rotate, and drives the screw rod sleeve to move along the length direction of the screw rod, so that the screw rod sleeve drives the dust guard 40 to switch between the first setting position and the second setting position under the driving of the screw rod.
The third structural form of the transmission device is as follows: the transmission device comprises a worm wheel and a worm matched with the worm wheel, and the worm wheel is fixedly connected with the dust guard 40. The driving device is in transmission connection with the worm and is used for driving the worm to rotate. The driving device drives the worm to rotate, so as to drive the worm wheel to rotate, and therefore the worm wheel drives the dust-proof plate 40 to switch between the first set position and the second set position under the driving of the worm.
A fourth form of construction of the transmission: the transmission device comprises two gears which are meshed with each other, wherein one gear is fixedly connected with the dust-proof plate 40, and the other gear is fixedly connected with a driving shaft of the driving device. The driving shaft of the driving device drives the gear fixedly connected with the driving shaft to rotate, so as to drive the other gear connected with the dust-proof plate 40 to rotate, and thus the dust-proof plate 40 is driven to switch between the first setting position and the second setting position.
A fifth form of construction of the transmission: the transmission device comprises a rack and a gear matched with the rack, and the rack is fixedly connected with the dust guard 40. The driving device is in transmission connection with the gear and is used for driving the gear to rotate. The driving device drives the gear to rotate, and drives the rack to move along the length direction, so that the rack drives the dust-proof plate 40 to switch between the first setting position and the second setting position under the driving of the gear.
In one embodiment, the dust guard 40 is a fan-shaped dust guard. When the driving device drives the dust-proof plate 40 to be switched between the first setting position and the second setting position in a rotating manner, or the driving device drives the dust-proof plate 40 to be switched between the first setting position and the second setting position in a rotating manner through the transmission device, the rotation angle of the dust-proof plate 40 can be in the range of 10 degrees to 60 degrees, so that the dust-proof plate 40 is set to be a fan-shaped dust-proof plate, the dust-proof plate 40 can be installed in a smaller space, and the size of the distance measuring sensor 1 can be further saved. Optionally, the dust-proof plate 40 is made of acrylic material.
In one embodiment, the distance measuring sensor 1 according to the embodiment of the present invention further includes a control device for controlling the on/off of the blower device 30. The control device can cooperate with the dust-proof plate 40 to realize the effect of preventing dust and water mist on the distance measuring sensor 1 no matter whether the distance measuring module 20 is in an open state or a closed state.
When the ranging module 20 is opened, the dust-proof plate 40 is moved to the first set position, and the control device controls the blowing device 30 to be opened. The dust-proof plate 40 does not shield the air guide channel 300 and the signal pickup window 100, and the air flow generated by the air blowing device 30 can form an air curtain circulating from inside to outside in the housing 10 after being guided by the air guide channel 300, so that the dust-proof and water-proof effects are achieved. When the ranging module 20 is turned off, the dust-proof plate 40 moves to the second setting position, and the control device controls the blowing device 30 to be turned off. The air blowing device 30 stops blowing air to generate air flow, and the air guide channel 300 and the signal pickup window 100 are shielded by the dust-proof plate 40, so that the dust-proof and water-proof effects are achieved.
In one embodiment, the distance measuring sensor 1 of the embodiment of the present invention further includes a driving device for driving the dust-proof plate 40 to move. The control device can be matched with the driving device to realize the effect of preventing dust and water fog on the distance measuring sensor 1 no matter the distance measuring module 20 is in an open state or a closed state.
When the ranging module 20 is opened, the driving device drives the dust-proof plate 40 to move to the first setting position, and the control device controls the blowing device 30 to be opened. The dust-proof plate 40 does not shield the air guide channel 300 and the signal pickup window 100, and the air flow generated by the air blowing device 30 can form an air curtain circulating from inside to outside in the housing 10 after being guided by the air guide channel 300, so that the dust-proof and water-proof effects are achieved. When the distance measuring module 20 is turned off, the driving device drives the dust-proof plate 40 to move to the second setting position, and the control device controls the blowing device 30 to turn off. The air blowing device 30 stops blowing air to generate air flow, and the air guide channel 300 and the signal pickup window 100 are shielded by the dust-proof plate 40, so that the dust-proof and water-proof effects are achieved.
In one embodiment, a first sealing ring 410 is disposed between the dust-proof plate 40 and the signal pickup window 100, and a second sealing ring 420 is disposed between the dust-proof plate 40 and the air guide channel 300. The air flow generated by the air blowing device 30 can be guided by the air guide channel 300 to form an air curtain circulating from inside to outside in the shell 10, so that a better sealing effect is achieved, and a better dustproof and waterproof fog effect is achieved.
In an embodiment, the distance measuring sensor 1 according to the embodiment of the present invention further includes a cleaning device for cleaning the dust-proof plate 40, and the cleaning device is disposed on the dust-proof plate 40. When ranging module 20 closes, shelter from through dust guard 40 wind-guiding passageway 300 and signal pickup window 100 realizes the effect of dustproof and waterproof fog, can adsorb some dust or water smoke on the dust guard 40, and the live time has been of a specified duration probably to fall into in the casing 10, consequently passes through cleaning device cleans dust guard 40, can guarantee dust guard 40's cleanliness factor. Optionally, the cleaning device comprises a brush arrangement.
In one embodiment, the housing 10 includes a first cavity and a second cavity separated by a partition, the ranging module 20 is disposed in the first cavity, and the blowing device 30 is disposed in the second cavity. Optionally, the driving device is disposed in the first cavity, and the dust-proof plate 40 is disposed in the second cavity and is matched with the air blowing device 30.
Further, the distance measuring sensor 1 of the embodiment of the present invention further includes a partition plate 110 disposed in the housing 10, and the partition plate 110 divides the housing 10 into the first cavity and the second cavity. Optionally, as shown in fig. 1, a through hole 111 is formed in the partition plate 110, and the driving device includes a driving shaft 520, and the driving shaft 520 passes through the through hole 111 and is in transmission connection with the baffle 40.
In an embodiment, the housing 10 includes a first housing cover 101, a second housing cover 102, and an intermediate housing 103 connected between the first housing cover 101 and the second housing cover 102, the signal pickup window 100 is disposed on the first housing cover 101, and the partition 110 divides the intermediate housing 103 into the first cavity and the second cavity. After the distance measuring module 20 and the driving device are installed in the first cavity and the blower device 30 and the dust-proof plate 40 are installed in the second cavity, the first housing cover 101 and the second housing cover 102 are installed on the middle housing 103 by fasteners 104 (shown as screws), so as to complete the installation of the distance measuring sensor 1.
The embodiment of the invention also provides a plant protection unmanned aerial vehicle which comprises a machine body, a machine arm connected with the machine body, and a power assembly arranged on the machine arm, and the plant protection unmanned aerial vehicle also comprises the distance measuring sensor 1, wherein the distance measuring sensor 1 is arranged on the machine body or/and the machine arm. Optionally, the plant protection drone is a multi-rotor aircraft. It should be noted that the above description of the distance measuring sensor 1 in the embodiments and examples is also applicable to the plant protection unmanned aerial vehicle of the present invention.
According to the plant protection unmanned aerial vehicle, the air blowing device of the ranging sensor blows air in the shell to form air flow, the air flow is guided to be discharged out of the shell from the signal pickup window through the air guide channel arranged on the air blowing device, so that an air curtain which circulates outwards is formed in the shell, external dust or water mist can be effectively prevented from entering the shell to cause images and interference on the testing range and the testing effect of the ranging module, the testing accuracy of the ranging sensor is ensured, the phenomenon that the plant protection unmanned aerial vehicle is re-sprayed, leaked or dropped due to terrain change or terrain fluctuation is avoided, and the operation effect of the plant protection unmanned aerial vehicle is effectively improved.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.
Claims (51)
1. A ranging sensor, comprising: the device comprises a shell, a distance measuring module arranged in the shell and a blower device arranged in the shell; the shell is provided with a signal pickup window for detecting signals by the ranging module, the air blowing device is provided with an air guide channel communicated with the signal pickup window, and the air guide channel guides air flow generated by the air blowing device in the shell to be discharged out of the shell from the signal pickup window;
the air blowing device comprises a device structure for generating air flow and an air guide component connected with the device structure for generating air flow, the air guide channel is arranged on the air guide component and comprises an air inlet and a signal pickup through hole, the air inlet and the device structure for generating air flow are arranged oppositely, the signal pickup through hole and the signal pickup window are arranged oppositely, the air inlet is communicated with the signal pickup through hole, and the extending direction of the air inlet is obliquely intersected with the extending direction of the signal pickup through hole.
2. A ranging sensor as claimed in claim 1 wherein the means for generating an airflow comprises a fan for generating the airflow.
3. The range finding sensor of claim 1 wherein the air guide member has a mounting groove communicating with the air guide channel, the device for generating air flow is mounted in the mounting groove, and the air inlet is provided at the bottom of the mounting groove.
4. A ranging sensor as claimed in claim 1, characterized in that the signal pick-up through hole is arranged coaxially with the signal pick-up window.
5. A ranging sensor as claimed in claim 1 wherein the blower means further comprises an adapter plate for powering the means for generating air flow, the adapter plate being connected to the means for generating air flow.
6. The range finding sensor of claim 1, further comprising a dust guard movably disposed in the housing, wherein the dust guard is located between the air guiding channel and the signal pickup window, and the dust guard is provided with an air guiding opening adapted to both the air guiding channel and the signal pickup window;
when the dust guard moves to a first set position, the air guide opening is communicated with the air guide channel and the signal pickup window;
when the dustproof plate moves to a second set position, the air guide channel and the signal pickup window can be shielded.
7. The range sensor of claim 6, further comprising a drive device for driving movement of the dust guard.
8. The distance measuring sensor according to claim 7, wherein the driving device comprises a driving motor and a driving shaft penetrating into the driving motor, and the driving end of the driving shaft protrudes out of the driving motor and is fixedly connected with the dust guard; the driving motor drives the dust-proof plate to rotate to the first set position or the second set position through the driving shaft.
9. A ranging sensor as claimed in claim 8 wherein the drive means further comprises a flange cooperating with the drive shaft; the dustproof plate is provided with a connecting hole, and the driving end of the driving shaft penetrates through the connecting hole from one side of the dustproof plate and is fixedly connected with the flange positioned on the other side of the dustproof plate.
10. The range sensor of claim 8, wherein the drive motor is a steering engine.
11. The distance measuring sensor of claim 7, wherein the driving device comprises a driving cylinder, and a driving end of the driving cylinder is fixedly connected with the dust guard; the driving cylinder drives the dust guard to move to the first set position or the second set position.
12. A ranging sensor as claimed in claim 6, further comprising a driving means and a transmission means connected to the dust guard, wherein the driving means drives the dust guard to move through the transmission means.
13. A ranging sensor as claimed in claim 12, characterized in that the transmission means comprise a belt and two pulleys cooperating with the belt;
one of the belt pulleys is fixedly connected with the dust guard, and the other belt pulley is in transmission connection with the driving device; the two belt pulleys synchronously move under the driving of the belt, so that the dust guard is driven to move to the first set position or the second set position.
14. A ranging sensor as claimed in claim 12, characterized in that the transmission means comprises a screw rod and a screw rod sleeve cooperating with the screw rod, the screw rod sleeve being fixedly connected to the dust guard; the driving device is in transmission connection with the screw rod and is used for driving the screw rod to rotate; the screw rod sleeve drives the dust guard to move to the first set position or the second set position under the driving of the screw rod.
15. The range sensor of claim 12, wherein the transmission comprises a worm wheel and a worm engaged with the worm wheel, and the worm wheel is fixedly connected with the dust guard; the driving device is in transmission connection with the worm and is used for driving the worm to rotate; the worm wheel drives the dust guard to move to the first set position or the second set position under the driving of the worm.
16. A ranging sensor as claimed in claim 12, characterized in that the transmission means comprises two mutually engaging gear wheels, one of which is fixedly connected to the dust guard and the other of which is fixedly connected to a drive shaft of the drive means;
wherein, the driving shaft of the driving device drives the gear fixedly connected with the driving shaft to rotate.
17. The range sensor of claim 6, wherein the dust guard is a fan-shaped dust guard.
18. The range sensor of claim 6, further comprising a control device for controlling the opening and closing of the blower device; when the distance measuring module is opened, the dustproof plate moves to the first set position, and the control device controls the air blowing device to be opened; when the ranging module is closed, the dustproof plate moves to the second set position, and the control device controls the blowing device to be closed.
19. A ranging sensor as claimed in claim 18 further comprising drive means for driving movement of the dust guard; when the distance measuring module is opened, the driving device drives the dust-proof plate to move to the first set position; when the distance measuring module is closed, the driving device drives the dust-proof plate to move to the second set position.
20. A ranging sensor as claimed in claim 6, characterized in that a first sealing ring is arranged between the dust guard and the signal pickup window, and a second sealing ring is arranged between the dust guard and the air guiding channel.
21. A ranging sensor as claimed in claim 6, further comprising cleaning means for sweeping the dust guard, the cleaning means being provided on the dust guard.
22. A ranging sensor as claimed in claim 21 wherein the cleaning means comprises a brush arrangement.
23. A ranging sensor as claimed in claim 1 wherein the housing comprises a first chamber and a second chamber separated by a partition, the ranging module being disposed within the first chamber and the blower means being disposed within the second chamber.
24. A ranging sensor as claimed in claim 23 further comprising a partition disposed within the housing, the partition dividing the housing into the first and second chambers.
25. A ranging sensor as claimed in claim 1 wherein the housing comprises a first housing cover, a second housing cover and an intermediate housing connected between the first and second housing covers, the first housing cover being provided with the signal pick-up window.
26. The plant protection unmanned aerial vehicle comprises a machine body, a machine arm connected with the machine body and a power assembly arranged on the machine arm, and is characterized by further comprising a distance measuring sensor, wherein the distance measuring sensor is mounted on the machine body or/and the machine arm;
wherein the ranging sensor comprises: the device comprises a shell, a ranging module arranged in the shell and a blower device arranged in the shell; the shell is provided with a signal pickup window for detecting signals by the ranging module, the air blowing device is provided with an air guide channel communicated with the signal pickup window, and the air guide channel guides air flow generated by the air blowing device in the shell to be discharged out of the shell from the signal pickup window;
the air blowing device comprises a device structure for generating air flow and an air guide part connected with the device structure for generating air flow, the air guide channel is arranged on the air guide part and comprises an air inlet and a signal pickup through hole, the air inlet and the device structure for generating air flow are oppositely arranged, the signal pickup through hole and the signal pickup window are oppositely arranged, the air inlet is communicated with the signal pickup through hole, and the extending direction of the air inlet is obliquely intersected with the extending direction of the signal pickup through hole.
27. The plant protection drone of claim 26, wherein the means for generating an airflow comprises a fan for generating the airflow.
28. The unmanned aerial vehicle for plant protection as claimed in claim 26, wherein the air guide is provided with an installation groove communicated with the air guide channel, the device structure for generating air flow is installed in the installation groove, and the air inlet is opened at the bottom of the installation groove.
29. The plant protection unmanned aerial vehicle of claim 26, wherein the signal pickup through-hole is disposed coaxially with the signal pickup window.
30. The plant protection drone of claim 26, wherein the blower device further comprises an adapter plate to power the device structure for generating airflow, the adapter plate being connected to the device structure for generating airflow.
31. The plant protection unmanned aerial vehicle of claim 26, further comprising a dust guard movably disposed in the housing, the dust guard being located between the air guide channel and the signal pickup window, and the dust guard being provided with an air guide opening adapted to both the air guide channel and the signal pickup window;
when the dust guard moves to a first set position, the air guide opening is communicated with the air guide channel and the signal pickup window;
when the dust guard moves to a second set position, the air guide channel and the signal pickup window can be shielded.
32. The plant protection unmanned aerial vehicle of claim 31, further comprising a drive device for driving the dust guard to move.
33. The unmanned aerial vehicle for plant protection according to claim 32, wherein the driving device includes a driving motor and a driving shaft passing through the driving motor, and a driving end of the driving shaft protrudes from the driving motor and is fixedly connected to the dust guard; the driving motor drives the dust guard to rotate to the first setting position or the second setting position through the driving shaft.
34. The plant protection drone of claim 33, wherein the drive device further comprises a flange that mates with the drive shaft; the dustproof plate is provided with a connecting hole, and the driving end of the driving shaft penetrates through the connecting hole from one side of the dustproof plate and is fixedly connected with the flange positioned on the other side of the dustproof plate.
35. The plant protection unmanned aerial vehicle of claim 33, wherein the drive motor is a steering engine.
36. The unmanned aerial vehicle for plant protection as claimed in claim 32, wherein the driving device comprises a driving cylinder, and a driving end of the driving cylinder is fixedly connected with the dust guard; the driving cylinder drives the dust-proof plate to move to the first set position or the second set position.
37. The unmanned aerial vehicle for plant protection of claim 31, further comprising a driving device and a transmission device connected with the dust guard, wherein the driving device drives the dust guard to move through the transmission device.
38. The plant protection unmanned aerial vehicle of claim 37, wherein the transmission comprises a belt and two pulleys engaged with the belt;
one of the belt pulleys is fixedly connected with the dust guard, and the other belt pulley is in transmission connection with the driving device; the two belt pulleys synchronously move under the driving of the belt, so that the dust guard is driven to move to the first set position or the second set position.
39. The unmanned aerial vehicle for plant protection of claim 37, wherein the transmission comprises a screw rod and a screw rod sleeve engaged with the screw rod, the screw rod sleeve being fixedly connected with the dust guard; the driving device is in transmission connection with the screw rod and is used for driving the screw rod to rotate; the screw rod sleeve drives the dust guard to move to the first set position or the second set position under the driving of the screw rod.
40. The unmanned aerial vehicle for plant protection according to claim 37, wherein the transmission device comprises a worm wheel and a worm matching with the worm wheel, and the worm wheel is fixedly connected with the dust guard; the driving device is in transmission connection with the worm and is used for driving the worm to rotate; the worm wheel drives the dust guard to move to the first set position or the second set position under the driving of the worm.
41. The unmanned aerial vehicle for plant protection of claim 37, wherein the transmission comprises two gears engaged with each other, one of the gears is fixedly connected with the dust guard, and the other gear is fixedly connected with a driving shaft of the driving device;
wherein, the driving shaft of the driving device drives the gear fixedly connected with the driving shaft to rotate.
42. The plant protection unmanned aerial vehicle of claim 31, wherein the dust guard is a fan-shaped dust guard.
43. The unmanned aerial vehicle for plant protection of claim 31, further comprising a control device for controlling the blower device to open and close; when the distance measuring module is opened, the dust-proof plate moves to the first set position, and the control device controls the blowing device to be opened; when the ranging module is closed, the dustproof plate moves to the second set position, and the control device controls the blowing device to be closed.
44. The unmanned aerial vehicle for plant protection of claim 43, further comprising a drive device for driving the dust guard to move; when the distance measuring module is opened, the driving device drives the dust-proof plate to move to the first set position; when the distance measuring module is closed, the driving device drives the dust-proof plate to move to the second set position.
45. The unmanned aerial vehicle for plant protection as claimed in claim 31, wherein a first sealing ring is disposed between the dust guard and the signal pickup window, and a second sealing ring is disposed between the dust guard and the air guide channel.
46. The unmanned aerial vehicle for plant protection of claim 31, further comprising a cleaning device for sweeping the dust guard, the cleaning device being disposed on the dust guard.
47. The plant protection drone of claim 46, wherein the cleaning device includes a brush structure.
48. The plant protection unmanned aerial vehicle of claim 26, wherein the housing comprises a first cavity and a second cavity separated by a partition, the ranging module is disposed within the first cavity, and the blower device is disposed within the second cavity.
49. The plant protection unmanned aerial vehicle of claim 48, further comprising a partition disposed within the housing, the partition separating the housing into the first cavity and the second cavity.
50. A plant protection unmanned aerial vehicle according to claim 26, wherein the housing comprises a first housing cover, a second housing cover, and an intermediate housing connected between the first housing cover and the second housing cover, the first housing cover being provided with the signal pickup window.
51. The plant protection drone of claim 26, wherein the plant protection drone is a multi-rotor craft.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/076889 WO2018165937A1 (en) | 2017-03-16 | 2017-03-16 | Distance-measuring sensor and plant protection unmanned aerial vehicle having distance-measuring sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108513617A CN108513617A (en) | 2018-09-07 |
| CN108513617B true CN108513617B (en) | 2022-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780004710.3A Expired - Fee Related CN108513617B (en) | 2017-03-16 | 2017-03-16 | Distance measuring sensor and plant protection unmanned aerial vehicle with same |
Country Status (2)
| Country | Link |
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| CN (1) | CN108513617B (en) |
| WO (1) | WO2018165937A1 (en) |
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| CN209396031U (en) * | 2018-11-30 | 2019-09-17 | 深圳市大疆创新科技有限公司 | Moveable platform and its steering engine |
| CN109622229B (en) * | 2018-12-26 | 2023-07-04 | 武汉万集信息技术有限公司 | Laser radar dust collector and laser radar |
| JP6726814B1 (en) * | 2019-10-09 | 2020-07-22 | 楽天株式会社 | Processing system, unmanned aerial vehicle, and flight path determination method |
| CN112986960A (en) * | 2021-04-01 | 2021-06-18 | 江苏师范大学 | Laser ranging sensor with dustproof mechanism for coal bunker |
| WO2022266869A1 (en) * | 2021-06-22 | 2022-12-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| CN114812494B (en) * | 2022-06-24 | 2022-09-02 | 潍坊市规划设计研究院 | Optical distance measuring instrument for urban construction planning |
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| WO2018165937A1 (en) | 2018-09-20 |
| CN108513617A (en) | 2018-09-07 |
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