CN110626500A - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110626500A CN110626500A CN201910755996.XA CN201910755996A CN110626500A CN 110626500 A CN110626500 A CN 110626500A CN 201910755996 A CN201910755996 A CN 201910755996A CN 110626500 A CN110626500 A CN 110626500A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- central control
- control device
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 48
- 238000012545 processing Methods 0.000 claims description 14
- 239000002131 composite material Substances 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 239000011359 shock absorbing material Substances 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 12
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000007726 management method Methods 0.000 description 26
- 238000000034 method Methods 0.000 description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000000758 substrate Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- 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
-
- 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 invention relates to the technical field of aircrafts, and discloses an unmanned aerial vehicle which comprises a body in communication connection with a ground station, wherein the body comprises a body and two wings symmetrically arranged on two sides of the body, a central control device is arranged in the body, the body is in communication connection with the ground station through the central control device, a first camera used for shooting a flying environment and a second camera used for shooting the ground condition are arranged at the bottom of the body, a radome is detachably connected to the bottom of the body, a laser radar is arranged in the radome, a laser scanning port through which a laser beam emitted by the laser radar passes is formed in the bottom of the radome, the first camera, the second camera and the laser radar are all electrically connected with the central control device, and the aspect ratio of the wings is not less than 12. The unmanned aerial vehicle provided by the invention can improve the inspection efficiency of the laser radar, improve the quality of data acquired by the radar, and reduce the crash probability of the unmanned aerial vehicle and the laser radar, thereby enhancing the safety of the body and reducing the inspection cost.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to an unmanned aerial vehicle.
Background
In order to master the operation conditions of the power transmission and distribution line and equipment, workers need to regularly patrol the conditions of the power transmission and distribution line and timely find the defects of the line and the equipment so as to carry out targeted maintenance and treatment and eliminate potential safety hazards.
The manual inspection mode is adopted to inspect the power transmission and distribution line with low efficiency, and the inspection quality is difficult to ensure, so that the data quality collected by the traditional inspection mode is not high. Moreover, the current personnel cost is increased continuously, the requirements on the related work of workers are higher and higher, the cost is higher by adopting a manual inspection mode, and the inspection efficiency is lower.
In recent years, unmanned aerial vehicle technology has begun to be popularized, and the line patrol industry has begun to adopt unmanned aerial vehicles equipped with cameras and laser radars to replace workers to patrol power transmission lines, wherein the laser radars acquire three-dimensional coordinates of electric lines, power facilities, vegetation and earth surface structures by measuring multiple echoes through lasers, and acquire the conditions of the power transmission lines under the combination of high-resolution images shot by the cameras. In order to keep enough lift, the existing unmanned aerial vehicle has higher flying speed. Known by P ═ hn/fv formula, under the condition of equal radar power and flight altitude, the flying speed is in inverse proportion with laser radar's scanning frequency, therefore faster flying speed can make the detection quality of radar discount greatly, leads to that current unmanned aerial vehicle patrols and examines the data quality of collecting relatively poor, and unmanned aerial vehicle need fly many times in order to obtain accurate data, has reduced and has patrolled and examined efficiency.
Disclosure of Invention
The purpose of the invention is: the utility model provides an unmanned aerial vehicle, its quality that can improve data collection improves the efficiency of patrolling and examining, reduces and patrols and examines the cost.
In order to achieve the purpose, the invention provides an unmanned aerial vehicle, which comprises a body in communication connection with a ground station, wherein the body comprises a body and two wings symmetrically arranged on two sides of the body, a central control device is arranged in the body, the body is in communication connection with the ground station through the central control device,
the bottom of the machine body is provided with a first camera for shooting a flying environment and a second camera for shooting a ground condition, the bottom of the machine body is detachably connected with a radar cover, a laser radar is arranged in the radar cover, the bottom of the radar cover is provided with a laser scanning port for laser beams emitted by the laser radar to pass through, and the first camera, the second camera and the laser radar are all electrically connected with the central control device,
the aspect ratio of the wing is not less than 12.
Preferably, a layer of shock absorbing material is adhered to the inner wall of the radome.
As a preferred scheme, an obstacle avoidance sensor is installed at the bottom of the machine body and is electrically connected with the central control device.
As preferred scheme, be equipped with the range sensor who is used for monitoring the distance of unmanned aerial vehicle and ground on the fuselage, range sensor with central control device electricity is connected.
Preferably, a power management module and a battery are arranged in the fuselage, a solar panel covers the upper surface of the wing, and the power management module is electrically connected with the solar panel, the battery and the central control device respectively.
Preferably, the fuselage includes a front fuselage and a rear fuselage, the front fuselage and the rear fuselage are detachably connected, and the central control device, the first camera, the second camera, the radome, the power management module, the battery, and each of the wings are mounted on the front fuselage.
Preferably, the material of the fuselage is a carbon fiber composite material.
Preferably, an indicator light is installed at the bottom of the machine body and electrically connected with the central control device.
Preferably, the central control device comprises a central processing module, an image transmission module and a data transmission module, the image transmission module and the data transmission module are electrically connected with the central processing module, the image transmission module is used for transmitting the image of the first camera to the ground station, and the body transmits data to the ground station through the data transmission module.
Compared with the prior art, the unmanned aerial vehicle has the beneficial effects that:
1. the aspect ratio of the wings is not less than 12, the unmanned aerial vehicle has a larger wing area, and under the same wing parameters, the large-area wings can obtain the same lift force at a smaller flying speed, so that the body can fly at a low speed. The range and the scanning frequency of the long-range laser radar are inversely proportional, and the laser radar has higher scanning frequency under the same radar power and height and lower flying speed, so that higher data density and data quality can be obtained, and the inspection efficiency is further improved;
2. the organism is including the first camera that is used for shooing flight environment, and first camera is connected with central control device electricity, can feed back the flight image who shoots to the ground station through central control device, and the staff is according to image information at the ground station, through the airspeed, direction and the height of central control device in time control organism, and the barrier is avoided to the in time control organism, can reduce the organism and take laser radar's risk of crashing. And laser radar passes through the radome installation on the fuselage, and the radome has certain effect of protecting to laser radar, further prevents that laser radar from being hit and ruined to reduce and patrol and examine the cost.
Drawings
FIG. 1 is a perspective view of the front and right sides of a housing provided in an embodiment of the present invention;
FIG. 2 is a perspective view of the body from a bottom view according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a housing provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a power supply system provided by an embodiment of the invention;
FIG. 5 is a flowchart illustrating operation of a range sensor according to an embodiment of the present invention;
fig. 6 is a flowchart of the operation of the drone provided by the embodiment of the present invention.
In the figure, 1, a first camera; 2. a second camera; 3. a central control device; 31. a central processing module; 32. a graph transmission module; 321. a graph transmission device; 322. a pattern transmission antenna; 33. a data transmission module; 331. a data transmission device; 332. a data transmission antenna; 4. a radome; 5. a laser radar; 6. A laser scanning port; 7. a layer of shock absorbing material; 8. a body; 81. a body; 811. a front body; 812. A rear body; 82. an airfoil; 821. a first airfoil; 822. a second airfoil; 9. an obstacle avoidance sensor; 10. a ranging sensor; 11. a solar panel; 12. a power management module; 13. A battery; 14. a rudder; 15. an elevator; 16. an indicator light; 17. a propeller; 18. a brushless motor; 19. electrically adjusting; 20. a parachute; 21. a card slot; 22. a GPS; 23. a landing gear; 24. a bolt; 25. an aviation connector.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "horizontal", "bottom", "inner", "outer", etc., used herein to indicate the orientation or positional relationship, are based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 6, an unmanned aerial vehicle according to a preferred embodiment of the present invention includes a body 8 communicatively connected to a ground station, where the body 8 includes a body 81 and wings 82 symmetrically disposed on both sides of the body 81, a central control device 3 is disposed in the body 81, the body 81 is communicatively connected to the ground station through the central control device 3, a first camera 1 for shooting a flight environment and a second camera 2 for shooting a ground condition are disposed at the bottom of the body 81, a radome 4 is detachably connected to the bottom of the body 81, a laser radar 5 is disposed in the radome 4, a laser scanning port 6 for passing a laser beam emitted by the laser radar 5 is disposed at the bottom of the radome 4, the first camera 1, the second camera 2, and the laser radar 5 are all electrically connected to the central control device 3, and an aspect ratio of the wings 82 is not less than 12.
Based on the above technical solution, the body 8 includes a fuselage 81 and two wings 82, and the bottom of the wings 82 is provided with a landing gear 23. The second camera 2 is high in resolution, is perpendicular to the machine body 8, shoots the ground condition at an overlooking angle, can be used for patrolling the power transmission line, has the functions of shooting at a route waypoint and shooting at a fixed point, and transmits image data to the central control device 3 after shooting images by the second camera 2. The laser radar 5 is an advanced long-range laser radar sensor, is a carrier for directly acquiring target data by relying on an unmanned aerial vehicle as a space moving platform and data interaction, and acquires visual laser point cloud through automatic fusion and calculation of each data. The laser radar 5 is electrically connected and in communication connection with the central control device 3 through the aviation connector 25, and instant communication is achieved. The laser radar 5 emits a laser beam to pass through the laser scanning port 6 to detect a target on the ground, so that parameters such as the distance from the ground and the shape of a power transmission line can be obtained, and the parameters are fed back to the central control device 3. The central control device 3 combines the image data transmitted by the second camera 2 with the high-density point cloud data transmitted by the laser radar 5, fits the three-dimensional data into high-precision real scene through later software, enables the image to be visual and real, and transmits the image data to the ground station to complete the inspection work. First camera 1 sets up the front portion of leaning on at fuselage 81 for shoot the flight environment, and transmit image for central control unit 3, central control unit 3 can transmit image for the ground satellite station, the staff that supplies the ground satellite station looks over, the staff of being convenient for knows the flight developments of organism 8 at any time, the staff can control organism 8's flight route through central control unit 3, make organism 8 can avoid the barrier, reduce the risk of crashing, improve the security of patrolling. Radome 4 has the effect of certain protection to laser radar 5, radome 4 including the cover body and with cover body detachable lid, the staff can open lid installation or dismantle laser radar 5. Radome 4 is installed on organism 8, realizes detachably through the draw-in groove 21 of organism 8 bottom and connects, and the staff of being convenient for is with trading and maintenance laser radar 5.
The aspect ratio of the wing 82 is not less than 12, and the area of the wing 82 is large. Under the same parameters of the wing 82, the wing 82 with large area can obtain the same lift force at a lower flying speed. A smaller flight speed can result in a higher scanning frequency at the same radar power and altitude. That is to say, the body 8 with the large aspect ratio flies more stably and has uniform speed, the acquired data has higher quality, and the data collection density is also higher. Therefore, the unmanned aerial vehicle does not need to go back and forth for multiple times, images are shot repeatedly for multiple times, inspection efficiency can be improved, and the problems that the existing unmanned aerial vehicle is low in operation efficiency and poor in data quality are solved. In the embodiment, the routing inspection efficiency of the unmanned aerial vehicle is about 5 times that of the existing unmanned aerial vehicle, the wing has 82 chord lengths of 410mm, and the flying speed is between 12m/s and 24m/s and is 30% -100% of that of the unmanned aerial vehicle with the same size and specification.
The ground station is a movable ground comprehensive management system of the unmanned aerial vehicle, comprises an explosion-proof box, a microcomputer, a display screen, a lithium battery, a data transmission terminal, a picture transmission receiving end, a control panel, an equipment interface and the like, is used for air route planning, system setting, state supervision, real-time control and image transmission of the unmanned aerial vehicle, and is the same as the structure and the principle of the existing ground station.
The central control device 3 is a central control system of the machine body 8. The central control device 3 comprises a central processing module 31, a picture transmission module 32 and a number transmission module 33, wherein the picture transmission module 32 and the number transmission module 33 are electrically connected with the central processing module 31, the picture transmission module 32 is used for transmitting the image of the first camera 1 to the ground station, and the body 81 mutually transmits data with the ground station through the number transmission module 33. The central processing module 31 can be used for flight control, load control, state supervision, safety management, human-computer interaction and the like of the unmanned aerial vehicle. The hardware devices of the central processing module 31 include sensors such as an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS), a barometer, a magnetic compass, a three-axis attitude instrument, and a three-axis accelerometer. The mapping module 32 includes a mapping device 321 and a mapping antenna 322, and the mapping antenna 322 may be an antenna with publication number CN 204885450U. The map transmission antenna 322 transmits the image of the first camera 1 to the ground station, and the definition of the image transmission is set through the map transmission setting window of the ground station. The data transmission module 33 comprises a data transmission device 331 and a data transmission antenna 332, wherein the data transmission device 331 is located above the image transmission module 32 and used for data transmission between the body 8 and the ground station, and data can be transmitted within a range of five kilometers from the ground station to the unmanned aerial vehicle body. Data transmission antenna 332 sets up in unmanned aerial vehicle's bottom, and is located the position that leans on the back, can reduce the interference to other electronic systems. The body 81 is also provided with a GPS22, the body 8 and the laser radar 5 share a set of GPS22, unified system control and integrated software operation management are adopted, and higher system integration level is achieved.
Further, a layer 7 of damping material is adhered to the inner wall of radome 4. The space inside the radome 4 conforms to the outer shape of the laser radar 5. In this embodiment, the shock absorbing material layer 7 is a sponge layer in an L-shape for fixing the position of the laser radar 5 and has a shock absorbing function.
Preferably, the obstacle avoidance sensor 9 is installed at the bottom of the body 81, and the obstacle avoidance sensor 9 is electrically connected with the central control device 3. The number of the obstacle avoidance sensors 9 is two, and the two obstacle avoidance sensors are respectively positioned in front of the two wings 82. The installation of the obstacle avoidance sensor 9 on the body 81 is a safety protection measure for avoiding the collision of the body 8 with other objects in the cruising state. Keep away obstacle sensor 9 discernment unmanned aerial vehicle the place ahead object, feed back data to central control unit 3. The central control device 3 comprises an automatic flight control management module, an existing flight control program is arranged in the automatic flight control management module, and the central control device 3 adjusts the flight direction or height according to data to achieve the purpose of actively avoiding obstacles. The obstacle avoidance sensor 9 may be an infrared sensor or other type of sensor. In this embodiment, the upper surface of organism 8 has still been equipped with unmanned aerial vehicle parachute system, but parachute 20 autonomous working, but automatic parachute opening under unmanned aerial vehicle out of control situation reduces the risk of unmanned aerial vehicle out of control or accident. The connection and control relationship between the parachute 20 and the body 8 is a common technique, and specific reference may be made to patents with publication numbers CN206494112U or CN 107444661A.
The central control device 3 also includes a Geographic Information System (GIS). Be equipped with the range sensor 10 that is used for monitoring the distance of unmanned aerial vehicle and ground on the fuselage 81, range sensor 10 is connected with central control unit 3 electricity. The ranging sensor 10 may be a laser ranging sensor 10 or other type of sensor. Ground data is surveyed to range sensor 10 to with data transmission to central control unit 3, central control unit 3 adopts GIS terrain algorithm analysis contrast data, adjusts unmanned aerial vehicle's altitude through automatic flight control management module, can carry out the automatic high accuracy measurement in mountain mausoleum fluctuation area, keeps the relative altitude on unmanned aerial vehicle and ground through adjustment altitude, has ensured 5 data acquisition's of laser radar comprehensive. In this embodiment, the distance measuring sensor 10 is located at the bottom of the body 81.
The power supply system of the invention comprises the following components: the upper surface of the wing 82 is covered with a solar panel 11, the fuselage 81 is internally provided with a power management module 12 and a battery 13, and the power management module 12 is electrically connected with the solar panel 11, the battery 13 and the central control device 3 respectively. In the present embodiment, the battery 13 is preferably a lithium battery or a secondary battery. The upper surface of the wing 82 is covered with a solar cell panel 11 with the area exceeding 90%, the battery 13 plate is in zero radian fit with the wing 82 and the body 81, the solar cell panel 11 is composed of a plurality of small square cell panels with the side length of 12cm, and the stainless steel bars are connected with the electrodes of the solar cell panels 11 so as to transmit electric energy to the power management module 12. The power management module 12 is installed at the front end of the fuselage 81, and effectively adjusts the balance between the power generation of the solar panel 11 and the power distribution of the battery 13 during flight. Solar cell panel 11 can obtain the organism 8 when illumination is sufficient and cruise and the required electric energy of laser radar 5, improves organism 8's duration, and duration is current unmanned aerial vehicle's 2 ~ 4 times, has green energy-conserving effect. The solar cell panel 11 and the battery 13 cooperatively supply power, when the power generated by the solar cell panel 11 is greater than the total power of the machine body 8, the power management module 12 charges the battery 13 with the residual energy of the solar cell panel 11, and the battery 13 is consumed through the power tube in a full-charge state. When the power generated by the solar cell panel 11 is smaller than the total power of the unmanned aerial vehicle, the power management system controls the solar cell panel 11 to supply power completely, and the battery 13 supplies power. When the power generated by the solar panel 11 is less than 50W, the power management system supplies the power of the solar panel 11 to the battery 13 for charging, and the full power of the battery 13 supplies power to the body 8.
Because the power supply output capacity of the unit of a single battery substrate is very low, the number of the battery substrates is often required to be adjusted according to actual requirements in practical application, and a plurality of unit solar battery substrates are combined together in a parallel or serial mode to form a battery substrate array with huge number, so that the ideal power output requirement can be finally met. The power management module 12 adopts MPPT algorithm, and uses the maximum output power of the system as a control standard. The maximum power point tracking of the solar cell panel 11 is performed by using an output parameter control method based on a DC/DC module (i.e., a DC/DC converter). The power management module 12 includes a control module, a charge-discharge module, and a voltage boost module, which are electrically connected to each other. The control module monitors the whole power supply system by using the embedded control board, including parameters of output energy, charge and discharge states of the battery 13, charging current and the like. The charge-discharge module mainly aims to prevent the occurrence of an overcharge phenomenon in a circuit, and plays roles in protecting the safety of the circuit and improving the stability of the circuit. In the discharging process, the excessive discharging of the battery 13 can be prevented, so that the service life of the battery 13 is protected, and the stable operation of the system is also ensured. The boost module utilizes the DC-DC boost chip to realize effectively boosting the input voltage and simultaneously realize multi-path voltage output, and the output voltage is dynamically changed by changing the value of the feedback quantity, thereby meeting the actual requirement. Specifically, the power management module 12 may include resistors, capacitors, inductors, potentiometers, transformers, relays, diodes, transistors, fets, SMC401 power management chips, and the like.
More preferably, the body 81 includes a front body 811 and a rear body 812, the front body 811 and the rear body 812 are detachably coupled, and the central control apparatus 3, the first camera 1, the second camera 2, the radome 4, the power management module 12, the battery 13, and each wing 82 are mounted on the front body 811. The rear body 812 is a tail portion, and the rudder 14 and the elevator 15 are provided on the rear body 812. The body 81 is divided into two sections which are detachably connected for convenient transportation. In this embodiment, the front body 811 and the rear body 812 are detachably connected by a pin 24, and the pin 24 may be a carbon tube. In addition, the wing 82 may also be divided into two sections, which are denoted as a first wing 821 and a second wing 822, the length of the first wing 821 is about half of that of the second wing 822, and the cables are detachably connected through a multicore square aerospace joint. The second wing 822 is detachably connected to the first wing 821 at one end and is connected to the fuselage 81 at the other end. First wing 821 is located the outside of second wing 822, and first wing 821 upwards perks, and is certain contained angle with the water flat line, can make organism 8 possess higher lift-drag ratio for organism 8 possesses good low-speed flight performance. The material of fuselage 81 is carbon-fibre composite, and carbon-fibre composite has advantages such as high strength, proportion are little, the heat resistance is good, corrosion resisting capability is strong, can reduce organism 8's complete machine weight for the unmanned aerial vehicle body obtains bigger lift.
Further, an indicator lamp 16 is mounted on the bottom of the body 81, and the indicator lamp 16 is electrically connected to the central control device 3. Indicator light 16 installs in organism 8's tail department, and indicator light 16 possesses and shows red, yellow, blue three kinds of colours to feedback unmanned aerial vehicle's state information through time control, through current flight mode information of different light frequency and colour feedback organism 8, safe condition information, fault information feedback, satellite quantity information etc..
It should be noted that the machine body 8 further includes a power system, and the power system is installed at the foremost end of the machine body 81, i.e. the head position. The power system comprises a propeller 17, a brushless motor 18 and an electric speed regulator 19. The propeller 17 is rotatably connected to the handpiece, and the brushless motor 18 is used to drive the propeller 17 to rotate. The electronic controller 19 is electrically connected with the central control device 3 and the power management module 12, and adjusts the rotating speed of the brushless motor 18 according to the signal of the central processing module 31, so as to control the rotating speed and start and stop of the propeller 17. Brushless motor 18 and electric motor 19 are mounted in front body 811.
As shown in fig. 6, the working process of the present invention is: the body 8 transmits data with the ground station through the data transmission module 33, and the worker can output instructions through the ground station and transmit the instructions to the central processing module 31 through the data transmission module 33. The central processing module 31 controls the rotation of the propeller 17 through the electric regulator 19 and the brushless motor 18, so that the flying speed and the course of the unmanned aerial vehicle body 8 are controlled, and the flying attitude management of the unmanned aerial vehicle body is realized. First camera 1 shoots the flight environment when organism 8 flies to give central control unit 3 image data feedback, central control unit 3 can transmit the image for the ground satellite station, but makes the staff real time monitoring unmanned aerial vehicle's flight state, and the staff can control organism 8 and avoid the barrier, reduces the risk of crashing. The second camera 2 is used for shooting the line condition, the laser beam is emitted by the laser radar 5, the central processing module 31 combines the image information fed back by the second camera 2 with the data transmitted by the laser radar 5 to form high-precision three-dimensional color data, and then the three-dimensional color data is transmitted to the ground station through the image transmission module 32. The wings 82 are covered with the solar cell panels 11 in a large area, a power system is arranged in the body 8 and comprises a power management module 12 and a battery 13, the power management module 12 can control the solar cell panels 11 to supply power or the battery 13 to supply power according to real-time information, and the balance of power distribution between the solar cell panels 11 and the battery 13 is effectively adjusted in the flight process. The indicator light 16 can feed back the real-time situation of the body 8 according to the information of the central processing module 31. Central control unit 3 can also realize controlling power system to realize unmanned aerial vehicle's automatic flight control. When the unmanned aerial vehicle encounters an obstacle in the flying process, the obstacle avoidance sensor 9 feeds information back to the central control device 3, and a flight control program in the central control device 3 controls the rudder 14 or the elevator 15 to change the course or flying height of the unmanned aerial vehicle, so that the purpose of avoiding the obstacle is achieved. If the crash happens unfortunately, the central control device 3 controls the parachute 20 on the machine body 3 to pop up, so that the economic loss is reduced to the maximum extent.
To sum up, compared with the prior art, the unmanned aerial vehicle provided by the embodiment of the invention has the beneficial effects that:
the aspect ratio of the wings is not less than 12, the unmanned aerial vehicle has a larger wing area, and under the same wing parameters, the large-area wings can obtain the same lift force at a smaller flying speed, so that the body can fly at a low speed. The range and the scanning frequency of the long-range laser radar are inversely proportional, and the laser radar has higher scanning frequency under the same radar power and height and lower flying speed, so that higher data density and data quality can be obtained, and the inspection efficiency is further improved;
the organism is including the first camera that is used for shooing flight environment, and first camera is connected with central control device electricity, can feed back the flight image who shoots to the ground station through central control device, and the staff is according to image information at the ground station, through the airspeed, direction and the height of central control device in time control organism, and the barrier is avoided to the in time control organism, can reduce the organism and take laser radar's risk of crashing. And laser radar passes through the radome installation on the fuselage, and the radome has certain effect of protecting to laser radar, further prevents that laser radar from being hit and ruined to reduce and patrol and examine the cost.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle is characterized by comprising a machine body in communication connection with a ground station, wherein the machine body comprises a machine body and two wings symmetrically arranged on two sides of the machine body, a central control device is arranged in the machine body, the machine body is in communication connection with the ground station through the central control device,
the bottom of the machine body is provided with a first camera for shooting a flying environment and a second camera for shooting a ground condition, the bottom of the machine body is detachably connected with a radar cover, a laser radar is arranged in the radar cover, the bottom of the radar cover is provided with a laser scanning port for laser beams emitted by the laser radar to pass through, and the first camera, the second camera and the laser radar are all electrically connected with the central control device,
the aspect ratio of the wing is not less than 12.
2. A drone according to claim 1, characterised in that the inner wall of the radome is adhered with a layer of shock absorbing material.
3. An unmanned aerial vehicle as claimed in claim 1, wherein the fuselage is provided with an obstacle avoidance sensor at a bottom thereof, and the obstacle avoidance sensor is electrically connected with the central control device.
4. The unmanned aerial vehicle of claim 1, wherein a distance measuring sensor for monitoring the distance between the unmanned aerial vehicle and the ground is arranged on the body, and the distance measuring sensor is electrically connected with the central control device.
5. The unmanned aerial vehicle of claim 1, wherein the fuselage is internally provided with a power management module and a battery, the upper surface of the wing is covered with a solar panel, and the power management module is electrically connected with the solar panel, the battery and the central control device respectively.
6. The unmanned aerial vehicle of claim 5, wherein the fuselage comprises a front fuselage and a rear fuselage, the front fuselage and the rear fuselage being removably connected, the central control device, the first camera, the second camera, the radome, the power management module, the battery, each of the wings being mounted on the front fuselage.
7. The unmanned aerial vehicle of claim 5, wherein the fuselage is made of carbon fiber composite.
8. An unmanned aerial vehicle as claimed in claim 7, wherein an indicator light is mounted to the bottom of the fuselage, the indicator light being electrically connected to the central control device.
9. An unmanned aerial vehicle as claimed in any one of claims 1-8, wherein the central control device comprises a central processing module, a map transmission module and a data transmission module, the map transmission module and the data transmission module are both electrically connected to the central processing module, the map transmission module is configured to transmit the image of the first camera to the ground station, and the fuselage transmits data to and from the ground station through the data transmission module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910755996.XA CN110626500A (en) | 2019-08-15 | 2019-08-15 | Unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910755996.XA CN110626500A (en) | 2019-08-15 | 2019-08-15 | Unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110626500A true CN110626500A (en) | 2019-12-31 |
Family
ID=68970198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910755996.XA Pending CN110626500A (en) | 2019-08-15 | 2019-08-15 | Unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110626500A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021232753A1 (en) * | 2020-05-22 | 2021-11-25 | 深圳市大疆创新科技有限公司 | Aircraft and aircraft control system |
| CN113978693A (en) * | 2021-10-22 | 2022-01-28 | 中国电子科技集团公司第十八研究所 | Solar unmanned aerial vehicle with drawable surface power generation skin and power supply method |
| CN114715395A (en) * | 2022-05-23 | 2022-07-08 | 北京航空航天大学 | Servo type batwing aircraft |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102060107A (en) * | 2010-11-26 | 2011-05-18 | 北京航空航天大学 | Energy supply system for stratosphere electricity-electricity hybrid solar airship |
| CN102774490A (en) * | 2012-04-10 | 2012-11-14 | 北京航空航天大学 | Novel long-endurance solar unmanned aerial vehicle |
| CN105438483A (en) * | 2015-12-03 | 2016-03-30 | 上海奥科赛飞机有限公司 | Power assembly suitable for solar aircraft and output control method thereof |
| CN105739517A (en) * | 2016-05-17 | 2016-07-06 | 苏州华天国科电力科技有限公司 | Guide device and method for enabling unmanned gyroplane to automatically get on and off production line for insulating operation |
| CN107600383A (en) * | 2017-08-23 | 2018-01-19 | 西北工业大学 | A kind of solar energy WiFi is tethered at ship |
| CN107972887A (en) * | 2017-11-22 | 2018-05-01 | 北京航空航天大学 | The monitoring method and device of PM2.5 |
| CN109725315A (en) * | 2018-12-26 | 2019-05-07 | 成都优艾维智能科技有限责任公司 | A kind of avoidance detection device for power patrol unmanned machine |
| CN109927903A (en) * | 2019-03-29 | 2019-06-25 | 芜湖市极星航空科技有限公司 | A kind of power patrol unmanned machine |
-
2019
- 2019-08-15 CN CN201910755996.XA patent/CN110626500A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102060107A (en) * | 2010-11-26 | 2011-05-18 | 北京航空航天大学 | Energy supply system for stratosphere electricity-electricity hybrid solar airship |
| CN102774490A (en) * | 2012-04-10 | 2012-11-14 | 北京航空航天大学 | Novel long-endurance solar unmanned aerial vehicle |
| CN105438483A (en) * | 2015-12-03 | 2016-03-30 | 上海奥科赛飞机有限公司 | Power assembly suitable for solar aircraft and output control method thereof |
| CN105739517A (en) * | 2016-05-17 | 2016-07-06 | 苏州华天国科电力科技有限公司 | Guide device and method for enabling unmanned gyroplane to automatically get on and off production line for insulating operation |
| CN107600383A (en) * | 2017-08-23 | 2018-01-19 | 西北工业大学 | A kind of solar energy WiFi is tethered at ship |
| CN107972887A (en) * | 2017-11-22 | 2018-05-01 | 北京航空航天大学 | The monitoring method and device of PM2.5 |
| CN109725315A (en) * | 2018-12-26 | 2019-05-07 | 成都优艾维智能科技有限责任公司 | A kind of avoidance detection device for power patrol unmanned machine |
| CN109927903A (en) * | 2019-03-29 | 2019-06-25 | 芜湖市极星航空科技有限公司 | A kind of power patrol unmanned machine |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021232753A1 (en) * | 2020-05-22 | 2021-11-25 | 深圳市大疆创新科技有限公司 | Aircraft and aircraft control system |
| CN113978693A (en) * | 2021-10-22 | 2022-01-28 | 中国电子科技集团公司第十八研究所 | Solar unmanned aerial vehicle with drawable surface power generation skin and power supply method |
| CN114715395A (en) * | 2022-05-23 | 2022-07-08 | 北京航空航天大学 | Servo type batwing aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109885083A (en) | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar | |
| CN202929383U (en) | Unmanned plane and automatic charging system thereof | |
| EP3104184B1 (en) | Method and apparatus for locating faults in overhead power transmission lines | |
| CN201348739Y (en) | Automatic pilot for aeromodelling | |
| CN1305194C (en) | Power circuit scanning test robot airplane and controlling system | |
| CN110626500A (en) | Unmanned aerial vehicle | |
| CN101811578B (en) | Special photoelectric nacelle of power patrol unmanned helicopter | |
| CN103025609A (en) | Reconfigurable battery-operated vehicle system | |
| CN103770947A (en) | Investigation irradiation system and method for unmanned helicopter | |
| CN110075462A (en) | Fire-fighting system | |
| CN110155350B (en) | Control method of unmanned aerial vehicle landing device | |
| CN206862937U (en) | Photovoltaic plant unmanned plane detector | |
| CN104316901A (en) | Aerial intelligent robot used for radio monitoring | |
| CN115202376A (en) | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes | |
| CN109835473A (en) | A kind of micro-unmanned airborne real time monitoring reconnaissance system | |
| CN204203456U (en) | For the aerial intelligent robot of radio monitoring | |
| CN107765706A (en) | Ship unmanned engine room fire inspection quadrotor and its control method | |
| CN113110534A (en) | Unmanned aerial vehicle control and perception system | |
| CN205942444U (en) | Multi -functional power equipment tours unmanned aerial vehicle | |
| CN115309182A (en) | Unmanned aerial vehicle automatic cruise system applied to forest fire prevention scene | |
| CN114062202A (en) | High anti-interference hydrophobicity detection device for double-holder visible light | |
| RU225258U1 (en) | Vertical take-off and landing unmanned aerial vehicle "InfraScan" | |
| Wang | Inspection technology of remote transmission towers based on a vertical take-off and landing fixed-wing uav | |
| CN211014639U (en) | Unmanned aerial vehicle machine carries range unit | |
| CN218806669U (en) | Low-slow small target reconnaissance countercheck system based on multi-rotor unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191231 |