CN108928460A - A kind of multi-rotor unmanned aerial vehicle applied to mountainous region exploration - Google Patents
A kind of multi-rotor unmanned aerial vehicle applied to mountainous region exploration Download PDFInfo
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- CN108928460A CN108928460A CN201710362946.6A CN201710362946A CN108928460A CN 108928460 A CN108928460 A CN 108928460A CN 201710362946 A CN201710362946 A CN 201710362946A CN 108928460 A CN108928460 A CN 108928460A
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- Prior art keywords
- range sensor
- telescopic outrigger
- unmanned aerial
- aerial vehicle
- rotor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The present invention relates to a kind of multi-rotor unmanned aerial vehicles applied to mountainous region exploration,Including body,Camera and rotor support arm are provided on body,The projecting end of rotor support arm is provided with rotating vane,Multiple telescopic outriggers are additionally provided on body,Secondary range sensor is respectively arranged on telescopic outrigger,It is directed toward ground in the test side of secondary range sensor,At the test side of secondary range sensor in the same plane,The distance signal that secondary range sensor will test, which is sent in flight controller, to be handled,Flight controller issues control signal to driving unit,Driving unit drives telescopic outrigger flexible,And change the length of telescopic outrigger,The distance signal detected by secondary range sensor,It is analyzed and processed using flight controller,Change the length of telescopic outrigger,To adapt to the landing of the roughness pavement,The intelligence multi-rotor unmanned aerial vehicle can ensure the stationarity and horizontal shape that unmanned plane is shut down,Unmanned plane is avoided to damage,Guarantee camera carry out level shooting simultaneously.
Description
Technical field
The present invention relates to unmanned plane prospecting technique fields, and in particular to it is a kind of applied to mountainous region exploration more rotors nobody
Machine.
Background technique
Multi-rotor unmanned aerial vehicle is a kind of by radio robot or the boat driven by process control autopilot facility
Pocket is also widely used in civil field in recent years.Traditional multi-rotor unmanned aerial vehicle include be arranged on body and body it is more
The driving axis connection for the driving mechanism being respectively arranged on a rotor, each rotor and body, driving mechanism drive rotor in air
High speed rotation, constantly pushes air to lower section, to generate upward lift, unmanned plane is driven to fly upwards.While by
Flight controller adjusts the drive shaft speed of driving mechanism, thus the Indirect method propulsive force of each drive shaft, and then realize
Control to unmanned plane during flying posture.
Multi-rotor unmanned aerial vehicle is typically provided with the supporting leg of landing, when flight controller control multi-rotor unmanned aerial vehicle is landed
When, supporting leg realizes the support to body, and the supporting leg of existing multi-rotor unmanned aerial vehicle is mostly fixed bracket structure, supporting leg
Lower end mostly in the same plane, and generally be arranged 3 to 4, for the road surface multi-rotor unmanned aerial vehicle of general comparison level
More can also smoothly land, but rough road surface is generally forced to land, unmanned plane body is easy to occur
Inclination or rough road surface bump to body, to cause the damage of unmanned plane, survey especially for mountainous region,
Due to ground out-of-flatness, and often there is mountain stone etc. and exist, existing unmanned plane is caused to be difficult to land, even if landing reluctantly,
Since body inclination is also difficult to carry out stable shooting.
Summary of the invention
The purpose of the present invention is：A kind of multi-rotor unmanned aerial vehicle applied to mountainous region exploration, can be in rugged mountainous region
Carry out shutdown landing maneuver, it is ensured that the stationarity and horizontal shape that unmanned plane is shut down avoid unmanned plane from damaging, while guaranteeing camera
Carry out horizontal shooting.
To achieve the above object, the technical solution adopted by the present invention is that：
Applied to the multi-rotor unmanned aerial vehicle of mountainous region exploration, including body, camera is equipped at the top of the body, the camera is logical
It crosses shaft to connect with the power device in the power pedestal being located on body, the power device and camera are respectively and set on machine
Intracorporal flight controller electric signal connection, the rotation of the flight controller control power device and the shooting of camera；
Rotor support arm is additionally provided on the body, the projecting end of the rotor support arm is provided with rotating vane；
It is additionally provided with multiple telescopic outriggers on the body, secondary range sensor is respectively arranged on telescopic outrigger, it is described
It is directed toward ground in the test side of secondary range sensor；
At the test side of the pair range sensor in the same plane；
The distance signal that the pair range sensor will test, which is sent in flight controller, to be handled, flight controller hair
For control signal to driving unit, it is flexible that driving unit drives telescopic outrigger, and changes the length of telescopic outrigger out.
Further, the outline perimeter that the telescopic outrigger is located at body is evenly spaced on, on the body also
It is provided with main range sensor, ground is directed toward in the test side of the main range sensor, and main range sensor will test distance
Signal is sent in flight controller and is handled, and flight controller issues control signal to driving unit, driving unit driving
Telescopic outrigger is flexible, and changes the length of telescopic outrigger, the test side of the test side of main range sensor and secondary range sensor
Place is in the same plane.
Further, the telescopic outrigger is located at there are four the spaced sets of body periphery, the lower end line of telescopic outrigger
Rectangular configuration is constituted, the pair range sensor is arranged at the upper end position of telescopic outrigger, the main range sensor setting
On the body where the rectangular area middle position that telescopic outrigger encloses.
Further, the rotor support arm is located on body there are four settings, driving mechanism drive the rotation of rotor support arm and
Pivot center is vertical, is additionally provided with side positioned at the front and back end of body and pushes away rotor, the side pushes away the surfaces of revolution and rotating vane of rotor
The surfaces of revolution is vertical.
Further, the body has extended downwardly support arm, and the telescopic outrigger and support arm constitute the sliding of vertical direction
Guiding cooperation, the length direction of the telescopic outrigger are additionally provided with rack gear, and the rack gear is arranged along telescopic outrigger length direction,
Rack and pinion engagement, motor-driven gear rotation, motor are fixed on the machine body.
Further, the projecting end of the rotor support arm is provided with main shaft, and middle connection structure, the main shaft are provided on main shaft
Upper end be coupled between structure rotary type connection and rotation axis cord horizontal in, rotating vane is coupled structure in and connects, it is described in
The axle body composition for being coupled structure and main shaft is mating, and damping block is provided between middle connection structure and main shaft, is arranged on middle connection structure
There is horizontal axis, one end of horizontal axis is plugged in the groove that one end that paddle presss from both sides opens up, and bearing is provided between horizontal axis and groove, is located at recessed
Plugging block is additionally provided between the notch and horizontal axis of slot, the plugging block and horizontal axis constitute rotary type cooperation, be provided on paddle folder
Oil filler point is connected to the vallecular cavity of groove.
Further, the middle connection structure is mutually fastened by two valve body formula structures and is constituted, and the main shaft is located at two valve body formulas
Between structure, the upper end of main shaft is provided with pin shaft, and the bar length direction of the pin shaft is vertical with main axis length direction and stretches out main shaft
Both ends, the both ends of pin shaft are respectively arranged with rolling bearing, and rolling bearing is constituted with the middle two valve body formula structures for being coupled structure and rotated
Formula cooperation.
Further, the card slot for accommodating damping block, institute are provided between the middle two valve body formula structures for being coupled structure
It states card slot to be located between the middle two valve body formula structures for being coupled structure there are two settings, the notch of card slot is opposite and along the central spindle of main shaft
It is arranged symmetrically, the damping block is made of rubber material, and the flute length direction of the card slot is vertical with the length direction of main shaft, card slot
Cell wall on be provided with mounting hole, installation bolt passes through mounting hole and both ends are connected with the middle two valve body formula structures for being coupled structure.
Further, the shaft end of the horizontal axis is arranged to T-shaped structure, and the bearing is set on the axle body of horizontal axis and outer ring
Vallecular cavity with groove is against the plugging block is cyclic structure, is provided with mounting hole on the paddle folder, peace is provided in mounting hole
Bolt is filled, installation bolt passes through mounting hole and connect with plugging block.
Further, the other end of the paddle folder is provided with opening, and rotating vane is located in the opening, the paddle where being open
Bolt is provided on folder, bolt passes through paddle folder and rotating vane and extension end is provided with nut.
Compared with prior art, the technical effect that the present invention has is：It is arranged on the body of multi-rotor unmanned aerial vehicle multiple
The variable telescopic outrigger of length, and secondary range sensor is respectively set on telescopic outrigger, when unmanned plane needs to land, it is secondary away from
Ground is directed toward in test side from sensor, for detecting telescopic outrigger at a distance from ground, and will test distance signal transmission
Judgement processing is carried out in flight controller, if the distance signal of secondary range sensor detection is consistent, then illustrates the dropping zone
Domain is level land, without changing telescopic outrigger, can stable landing, if range sensor detection distance signal there are larger differences
It is different, then illustrate that the drop zone ground is not smooth enough, by changing the length of telescopic outrigger, to adapt to the drop of the roughness pavement
It falls, which can ensure the stationarity and horizontal shape that unmanned plane is shut down, and avoid unmanned plane from damaging, protect simultaneously
It demonstrate,proves camera and carries out horizontal shooting.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram applied to the multi-rotor unmanned aerial vehicle of mountainous region exploration；
Fig. 2 is the main view applied to the multi-rotor unmanned aerial vehicle of mountainous region exploration；
Fig. 3 is the multi-rotor unmanned aerial vehicle control logic schematic diagram applied to mountainous region exploration；
Fig. 4 is the structural schematic diagram of telescopic outrigger in the multi-rotor unmanned aerial vehicle applied to mountainous region exploration；
Fig. 5 is the structural schematic diagram of rotating vane and rotor support arm junction in the multi-rotor unmanned aerial vehicle applied to mountainous region exploration；
Fig. 6 is the structural front view of rotating vane and rotor support arm junction in the multi-rotor unmanned aerial vehicle applied to mountainous region exploration；
Fig. 7 is the sectional structure chart of rotating vane and rotor support arm junction in the multi-rotor unmanned aerial vehicle applied to mountainous region exploration.
Specific embodiment
With reference to the accompanying drawings of the specification and embodiment, the specific embodiment of invention is described in further detail：
In conjunction with Fig. 1 to Fig. 7, the present invention is further described
A kind of multi-rotor unmanned aerial vehicle applied to mountainous region exploration, including body 10 are equipped with camera 60, institute at the top of the body 10
It states camera 60 to connect by shaft 601 with the power device in the power pedestal 602 being located on body 10, the power device
It is connect respectively with 60 electric signal of flight controller being set in body 10 with camera 60, the flight controller 60 controls power
The rotation of device and the shooting of camera 60, the power device drive camera 60 to rotate by shaft 601.
Rotor support arm 20 is additionally provided on the body 10, the projecting end of the rotor support arm 20 is provided with rotating vane
30；
It is additionally provided with multiple telescopic outriggers 40 on the body 10, secondary range sensor is respectively arranged on telescopic outrigger 40
50, ground is directed toward in the test side of the pair range sensor 50；
At the test side of the pair range sensor 50 in the same plane；
The distance signal that the pair range sensor 50 will test, which is sent in flight controller 60, to be handled, flight control
Device 60 issues control signal to driving unit, and it is flexible that driving unit drives telescopic outrigger 40, and changes the length of telescopic outrigger 40.
Referring to figs. 1 and 2, the variable telescopic outrigger of multiple length is set on the body of multi-rotor unmanned aerial vehicle 10
40, and secondary range sensor 50 is respectively set on telescopic outrigger 40, when unmanned plane needs to land, secondary range sensor 50
Ground is directed toward in test side, for detecting telescopic outrigger 40 at a distance from ground, and will test distance signal and is sent to flight control
Judgement processing is carried out in device 60 processed, if the distance signal that secondary range sensor 50 detects is consistent, then illustrates that the drop zone is
Level land, without changing telescopic outrigger 40, can stable landing, if there are larger for the distance signal that detects of secondary range sensor 50
Difference then illustrates that the drop zone ground is not smooth enough, and secondary range sensor 50 detects the big position of difference in height, then explanation should
The ground of 40 region of telescopic outrigger is excessively high or too low, and flight controller 60 issues control signal and controls driving mechanism, from
And drive telescopic outrigger 40 flexible, so that change the length of telescopic outrigger 40, to adapt to the landing of the roughness pavement, when stretching
When the height of 40 region of contracting supporting leg is lower, so that 40 length of telescopic outrigger, so as to ensure unmanned plane body 10
Always it is in more horizontal posture, when the height of 40 region of telescopic outrigger is higher, so that the length of flexible paper support 40
It shortens, thus to adapt to the landing needs of different terrain；
The intelligence multi-rotor unmanned aerial vehicle can ensure the stationarity that unmanned plane is shut down, and unmanned plane is avoided to damage.
As shown in connection with fig. 3, as a preferred solution of the present invention, the telescopic outrigger 40 is located at the profile week of body 10
While being evenly spaced on, main range sensor 70, the test side of the main range sensor 70 are additionally provided on the body 10
It is directed toward ground, main range sensor 70, which will test distance signal and be sent in flight controller 60, to be handled, flight control
Device 60 issues control signal to driving unit, and it is flexible that driving unit drives telescopic outrigger 40, and changes the length of telescopic outrigger 40,
At the test side of main range sensor 70 and the test side of secondary range sensor 50 in the same plane；
In above-described embodiment, it is provided on body 10 and the main distance at 50 test side of secondary range sensor in a plane
Sensor 70, surrounding low shutdown region high among ground when being directed to, being located at 10 periphery of body setting telescopic outrigger 40 may
During actually detected, difference is not present in the distance that multiple telescopic outriggers 40 detect, but secondary range sensor 50 acquires
The distance values that are acquired with main range sensor 70 of distance values have differences, and the distance that main range sensor 70 acquires
Numerical value is less than the distance values that secondary range sensor 50 acquires, then illustrates that the middle position in UAV Landing region is higher, if
Directly landing, there is the risk of damage body 10, flight controller 60 at this time issues control signal to telescopic outrigger 40, thus
So that 40 length of telescopic outrigger, so that the shutdown height of entire unmanned plane be increased, and then avoids body 10 from damaging；
If the distance values that above-mentioned main range sensor 70 acquires and the distance values difference that secondary range sensor 50 acquires
Less, then illustrate that the shutdown region is more smooth, directly landing, there is no problem；
If the distance values that above-mentioned main range sensor 70 acquires are less than the distance values that secondary range sensor 50 acquires, or
Person's difference is larger, can judge that the shutdown region high both sides of surrounding are low substantially, and flight controller 60 controls the unmanned plane and is transferred to
Next aircraft gate, until the distance values base that the distance values of main range sensor 70 acquisition and secondary range sensor 50 acquire
This coincide or gap is little, can ensure the stability that unmanned plane is shut down, unmanned plane is avoided to damage.
In above-described embodiment, if there are larger differences between the distance values that secondary range sensor 50 acquires, and big
In the threshold range set in flight controller 60, so as to judge that the touchdown area hollow face is larger substantially, be not suitable for nothing
Man-machine landing, flight controller 60 will select other positions to land.
Further, the telescopic outrigger 40 is located at there are four 10 periphery spaced sets of body, under telescopic outrigger 40
Line is held to constitute rectangular configuration, the pair range sensor 50 is arranged at the upper end position of telescopic outrigger 40, the main distance
Sensor 70 be arranged in telescopic outrigger 40 enclosing rectangular area middle position where body 10 on.
Further, for convenience of the upper flight attitude for adjusting unmanned plane, the rotor support arm 20, which is located on body 10, to be set
There are four setting, driving mechanism drives the rotation of rotor support arm 20 and pivot center is vertical, and the front and back end positioned at body 10 is additionally provided with
Side pushes away rotor 12, and the surfaces of revolution that the side pushes away rotor 12 is vertical with 30 surfaces of revolution of rotating vane；
In above-described embodiment, when unmanned plane is shut down in stronger lateral wind, for the accuracy for ensuring stop position, using
The side of 10 front and back end of body setting pushes away rotor 12, to facilitate the control and adjustment realized to 10 flight attitude of body.
Further, as shown in connection with fig. 4, the body 10 has extended downwardly support arm 11, the telescopic outrigger 40 and branch
Arm 11 constitutes the slide-and-guide cooperation of vertical direction, and the length direction of the telescopic outrigger 40 is additionally provided with rack gear 41, the tooth
Item 41 arranges that rack gear 41 is engaged with gear 42 along 40 length direction of telescopic outrigger, and motor 43 drives gear 42 to rotate, motor 43
It is fixed on body 10；
In above-described embodiment, flight controller 60 is according to major and minor range sensor 50,70 collected distance analysis, to control
The positive and negative rotation of motor 43 processed and the turnning circle of motor, so that realizing the adjustment to 40 length of telescopic outrigger.
Further, in conjunction with Fig. 5 to Fig. 7, the projecting end of the rotor support arm 20 is provided with main shaft 21, is arranged on main shaft 21
There is middle connection structure 22, the upper end of the main shaft 21 is coupled rotary type connection and rotation axis cord horizontal, rotation between structure 22 in
Blade 30 is coupled the connection of structure 22 in, the middle axle body for being coupled structure 22 and main shaft 21 constitute it is mating, middle connection structure 22 and
It is provided with damping block 23 between main shaft 21, horizontal axis 24 is provided on middle connection structure 22, one end of horizontal axis 24 is plugged on paddle folder 25
In the groove 251 that one end opens up, bearing 26 is provided between horizontal axis 24 and groove 251, positioned at the notch and horizontal axis 24 of groove 251
Between be additionally provided with plugging block 27, the plugging block 27 constitutes rotary type cooperation with horizontal axis 24, is provided with oil filler point on paddle folder 25
252 are connected to the vallecular cavity of groove 251；
In above-described embodiment, main shaft 21 is coupled the composition rotary type of structure 22 in and connects, and middle connection structure 22 and 21 rotary type of main shaft
Fulcrum of the position as seesaw, the damping block 23 of the lower section of International Liaison Department of the CPC Central Committee's part 22 bear in be coupled the swing impact of structure 22, avoid
The middle lower step for being coupled structure 22 is directly collided with unmanned plane main shaft 21, is effectively extended unmanned plane main shaft 21 and middle is coupled structure 22
Service life, while the buffer function of damping block 223 also reduces the whole mechanical oscillation of unmanned plane rotor head, and paddle is pressed from both sides on 25
Groove 251 is opened up, one end of horizontal axis 25 is plugged in groove 251, bearing 26 is arranged between horizontal axis 25 and groove 251, in groove
Plugging block 27 is arranged in 251 notch, and material is thus formed more closed shoe cream rooms, is provided with oil filler point 252 on paddle folder 25,
Thus facilitate and injects lubricant grease into the vallecular cavity of groove 251, after lubricant grease injects in the vallecular cavity of groove 251, pivoting leaf
For piece 30 during rotation, avoidable lubricant grease throws away paddle folder 25, also assures the lubricant effect of bearing 26.
The middle connection structure 22 is mutually fastened by two valve body formula structures and is constituted, the main shaft 21 be located at two valve body formula structures it
Between, the upper end of main shaft 21 is provided with pin shaft 211, and the bar length direction of the pin shaft 211 is vertical with 21 length direction of main shaft and stretches out
The both ends of main shaft 21, the both ends of pin shaft 211 are respectively arranged with rolling bearing 212, and rolling bearing 211 is coupled the two of structure 22 with middle
Valve body formula structure constitutes rotary type cooperation.Middle connection structure 22 is used into two valve body formula structures, it is convenient in be coupled the installation of structure 22, benefit
The rolling bearing 211 being arranged with pin shaft 211 and its both ends can be further reduced when unmanned plane rotating vane 30 floats and cause main shaft
21 with the middle abrasion for being coupled structure 22, further increase it is middle be coupled structure 22 service life.
Further, it is provided between the middle two valve body formula structures for being coupled structure 22 for accommodating damping block 221
Card slot 222, the card slot 222 are located between the middle two valve body formula structures for being coupled structure 22 there are two settings, the notch phase of card slot 222
Pair and be arranged symmetrically along the central spindle of main shaft 21, the damping block 221 is made of rubber material, the flute length side of the card slot 222
To vertical with the length direction of main shaft 21, mounting hole 2221 is provided on the cell wall of card slot 222, installation bolt passes through mounting hole
2221 and both ends and the middle two valve body formula structures for being coupled structure 22 be connected.
The shaft end of the horizontal axis 24 is arranged to T-shaped structure, the bearing 26 be set on the axle body of horizontal axis 24 and outer ring with
The vallecular cavity of groove 251 is against the plugging block 27 is cyclic structure, is provided with mounting hole on the paddle folder 25, sets in mounting hole
It is equipped with installation bolt 253, installation bolt 253 passes through mounting hole and connect with plugging block 27；
Above-mentioned T shape horizontal axis 24 is that solid forging machine-shaping can bear biggish big paddle rotary centrifugal force, and traditional unmanned plane
Horizontal axis 24 is using cap nut fixing oar folder 25 and bearing 26, because thread contact forced area Limited Phase is revolved to that can bear paddle folder 25
The centrifugal force turned is also than relatively limited.
The other end of the paddle folder 25 is provided with opening 254, and rotating vane 30 is located in the opening 254, where opening 254
Paddle folder 25 on be provided with bolt 255, bolt 255 passes through paddle folder 25 and rotating vane 30 and extension end is provided with nut.
The above is only the preferred embodiment of invention, not makes any restrictions to the technical scope of invention, therefore
All technical spirit any subtle modifications, equivalent variations and modifications to the above embodiments according to invention, still fall within
In the range of the technical solution of invention.
Claims (10)
1. being applied to the multi-rotor unmanned aerial vehicle of mountainous region exploration, it is characterised in that：Including body（10）, the body（10）Top is set
There is camera（60）, the camera（60）Pass through shaft（601）Be located at body（10）On power pedestal（602）Interior is dynamic
The connection of power device, the power device and camera（60）Respectively and set on body（10）Interior flight controller（60）Electric signal
Connection, the flight controller（60）Control rotation and the camera of power device（60）Shooting；
The body（10）On be additionally provided with rotor support arm（20）, the rotor support arm（20）Projecting end be provided with rotating vane
（30）；
The body（10）On be additionally provided with multiple telescopic outriggers（40）, it is located at telescopic outrigger（40）On be respectively arranged with secondary distance
Sensor（50）, the pair range sensor（50）Test side be directed toward ground；
The pair range sensor（50）Test side in the same plane；
The pair range sensor（50）The distance signal that will test is sent to flight controller（60）It is inside handled, is flown
Controller（60）Control signal is issued to driving unit, driving unit drives telescopic outrigger（40）It is flexible, and change telescopic outrigger
（40）Length.
2. the multi-rotor unmanned aerial vehicle according to claim 1 applied to mountainous region exploration, it is characterised in that：The telescopic outrigger
（40）It is located at body（10）Outline perimeter be evenly spaced on, the body（10）On be additionally provided with main range sensor
（70）, the main range sensor（70）Test side be directed toward ground, main range sensor（70）It will test distance signal hair
It send to flight controller（60）It is inside handled, flight controller（60）Control signal is issued to driving unit, driving unit drives
Dynamic telescopic outrigger（40）It is flexible, and change telescopic outrigger（40）Length, main range sensor（70）Test side and secondary distance
Sensor（50）Test side in the same plane.
3. the multi-rotor unmanned aerial vehicle according to claim 2 applied to mountainous region exploration, it is characterised in that：The telescopic outrigger
（40）Positioned at body（10）There are four periphery spaced sets, telescopic outrigger（40）Lower end line constitute rectangular configuration, it is described
Secondary range sensor（50）It is arranged in telescopic outrigger（40）Upper end position at, the main range sensor（70）Setting is flexible
Supporting leg（40）Body where the rectangular area middle position of enclosing（10）On.
4. the multi-rotor unmanned aerial vehicle according to claim 1 or 2 or 3 applied to mountainous region exploration, it is characterised in that：The rotation
Wing support arm（20）Positioned at body（10）There are four upper settings, and driving mechanism drives rotor support arm（20）It rotates and pivot center is perpendicular
Directly, it is located at body（10）Front and back end be additionally provided with side and push away rotor（12）, the side pushes away rotor（12）The surfaces of revolution and pivoting leaf
Piece（30）The surfaces of revolution is vertical.
5. the multi-rotor unmanned aerial vehicle according to claim 3 applied to mountainous region exploration, it is characterised in that：The body（10）
Support arm is extended downwardly（11）, the telescopic outrigger（40）With support arm（11）The slide-and-guide cooperation of vertical direction is constituted, it is described
Telescopic outrigger（40）Length direction be additionally provided with rack gear（41）, the rack gear（41）Along telescopic outrigger（40）Length direction cloth
It sets, rack gear（41）With gear（42）Engagement, motor（43）Drive gear（42）Rotation, motor（43）It is fixed on body（10）On.
6. the multi-rotor unmanned aerial vehicle according to claim 4 applied to mountainous region exploration, it is characterised in that：The rotor support arm
（20）Projecting end be provided with main shaft（21）, main shaft（21）On be provided with middle connection structure（22）, the main shaft（21）Upper end with
Middle connection structure（22）Between rotary type connection and rotation axis cord horizontal, rotating vane（30）It is coupled structure in（22）Connection, institute
State middle connection structure（22）With main shaft（21）Axle body constitute mating, middle connection structure（22）With main shaft（21）Between be provided with resistance
Buddhist nun's block（23）, middle connection structure（22）On be provided with horizontal axis（24）, horizontal axis（24）One end be plugged on paddle folder（25）One end open up
Groove（251）It is interior, horizontal axis（24）With groove（251）Between be provided with bearing（26）, it is located at groove（251）Notch and horizontal
Axis（24）Between be additionally provided with plugging block（27）, the plugging block（27）With horizontal axis（24）Constitute rotary type cooperation, paddle folder（25）
On be provided with oil filler point（252）With groove（251）Vallecular cavity connection.
7. the multi-rotor unmanned aerial vehicle according to claim 6 applied to mountainous region exploration, it is characterised in that：The middle connection structure
（22）It is mutually fastened and is constituted by two valve body formula structures, the main shaft（21）Between two valve body formula structures, main shaft（21）It is upper
End is provided with pin shaft（211）, the pin shaft（211）Bar length direction and main shaft（21）Length direction is vertical and stretches out main shaft（21）
Both ends, pin shaft（211）Both ends be respectively arranged with rolling bearing（212）, rolling bearing（212）It is coupled structure in（22）'s
Two valve body formula structures constitute rotary type cooperation.
8. the multi-rotor unmanned aerial vehicle according to claim 7 applied to mountainous region exploration, it is characterised in that：The middle connection structure
（22）Two valve body formula structures between be provided with for accommodating damping block（221）Card slot（222）, the card slot（222）It is located at
Middle connection structure（22）Two valve body formula structures between setting there are two, card slot（222）Notch it is opposite and along main shaft（21）'s
Central spindle is arranged symmetrically, the damping block（221）It is made of rubber material, the card slot（222）Flute length direction and main shaft（21）
Length direction it is vertical, card slot（222）Cell wall on be provided with mounting hole（2221）, installation bolt is across mounting hole（2221）And
Both ends are coupled structure in（22）Two valve body formula structures be connected.
9. the multi-rotor unmanned aerial vehicle according to claim 6 applied to mountainous region exploration, it is characterised in that：The horizontal axis（24）
Shaft end be arranged to T-shaped structure, the bearing（26）It is set in horizontal axis（24）Axle body on and outer ring and groove（251）Vallecular cavity
Against the plugging block（27）For cyclic structure, the paddle folder（25）On be provided with mounting hole, installation spiral shell is provided in mounting hole
Bolt（253）, bolt is installed（253）Across mounting hole and plugging block（27）Connection.
10. the multi-rotor unmanned aerial vehicle according to claim 9 applied to mountainous region exploration, it is characterised in that：The paddle folder
（25）The other end be provided with opening（254）, rotating vane（30）Positioned at the opening（254）It is interior, opening（254）The paddle at place presss from both sides
（25）On be provided with bolt（255）, bolt（255）It is pressed from both sides across paddle（25）And rotating vane（30）And extension end is provided with nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110823182A (en) * | 2019-11-11 | 2020-02-21 | 山东大学 | System and method for measuring stratum attitude of dangerous zone of unmanned aerial vehicle |
| CN111405247A (en) * | 2020-03-18 | 2020-07-10 | 张猛 | Novel building construction quality control device |
| CN112173105A (en) * | 2020-09-21 | 2021-01-05 | 李宁军 | Mountain rock exploration device |
| JP2021003915A (en) * | 2019-06-25 | 2021-01-14 | 株式会社エアロジーラボ | Multicopter |
| CN114689111A (en) * | 2020-12-29 | 2022-07-01 | 香港理工大学 | Real-time acquisition system, real-time acquisition equipment and real-time acquisition method for three-dimensional fire scene information |
| CN115494060A (en) * | 2022-10-17 | 2022-12-20 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Karst fracture channel surveys device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2021003915A (en) * | 2019-06-25 | 2021-01-14 | 株式会社エアロジーラボ | Multicopter |
| CN110823182A (en) * | 2019-11-11 | 2020-02-21 | 山东大学 | System and method for measuring stratum attitude of dangerous zone of unmanned aerial vehicle |
| CN110823182B (en) * | 2019-11-11 | 2021-07-27 | 山东大学 | System and method for measuring stratum attitude of dangerous zone of unmanned aerial vehicle |
| CN111405247A (en) * | 2020-03-18 | 2020-07-10 | 张猛 | Novel building construction quality control device |
| CN112173105A (en) * | 2020-09-21 | 2021-01-05 | 李宁军 | Mountain rock exploration device |
| CN114689111A (en) * | 2020-12-29 | 2022-07-01 | 香港理工大学 | Real-time acquisition system, real-time acquisition equipment and real-time acquisition method for three-dimensional fire scene information |
| CN114689111B (en) * | 2020-12-29 | 2024-03-22 | 香港理工大学 | Real-time acquisition system, real-time acquisition equipment and real-time acquisition method for three-dimensional fire scene information |
| CN115494060A (en) * | 2022-10-17 | 2022-12-20 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Karst fracture channel surveys device |
| CN115494060B (en) * | 2022-10-17 | 2023-04-11 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Karst fracture channel surveys device |
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Application publication date: 20181204 |