CN112046733B - Unmanned aerial vehicle landing leg convenient to dismouting - Google Patents
Unmanned aerial vehicle landing leg convenient to dismouting Download PDFInfo
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- CN112046733B CN112046733B CN202010981551.6A CN202010981551A CN112046733B CN 112046733 B CN112046733 B CN 112046733B CN 202010981551 A CN202010981551 A CN 202010981551A CN 112046733 B CN112046733 B CN 112046733B
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000003780 insertion Methods 0.000 description 8
- 230000037431 insertion Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 238000005457 optimization Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000004576 sand Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
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- 238000004891 communication Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/04—Arrangement or disposition on aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- 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
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Abstract
The invention discloses an unmanned aerial vehicle landing leg convenient to disassemble and assemble, which comprises an unmanned aerial vehicle body, wherein supporting legs are arranged at four corners of the bottom of the unmanned aerial vehicle body, inserting plates are fixedly connected to the left side and the right side of the bottom of the unmanned aerial vehicle body, reinforcing plates located at the bottoms of the inserting plates are fixedly connected to the inner sides of the supporting legs, connecting plates are fixedly connected to the inner sides of the reinforcing plates, and inserting mechanisms are arranged on the left side and the right side of the top of each connecting plate. According to the unmanned aerial vehicle support leg, the unmanned aerial vehicle body, the support legs, the plug boards, the reinforcing plates, the connecting plates, the plug mechanisms, the first rubber pads and the second rubber pads are matched for use, so that the problems that the existing unmanned aerial vehicle support leg is inconvenient to disassemble and assemble, the carrying efficiency is reduced, the convenience in moving and carrying is influenced, and meanwhile, the use convenience is influenced due to the fact that the mounting speed is low, more time is required to be spent in assembly every time, and the unmanned aerial vehicle support leg has the advantage of convenience in disassembling and assembling.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle supporting leg convenient to disassemble and assemble.
Background
The unmanned aerial vehicle and the communication station, take-off (launching) recovery device and transportation, storage and detection device of the unmanned aerial vehicle which are matched with the unmanned aerial vehicle are collectively called, in fact, the unmanned aerial vehicle needs to complete tasks, besides the aircraft and task equipment carried by the aircraft, ground control equipment, data communication equipment, maintenance equipment, command control, necessary operation and maintenance personnel and the like are needed, and the larger unmanned aerial vehicle also needs a special launching/recovery device.
The problem that current unmanned aerial vehicle landing leg exists is: unable dismouting influences the convenience that the removal was carried.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to provide the unmanned aerial vehicle supporting leg convenient to disassemble and assemble, which has the advantage of convenience in disassembling and assembling the supporting leg, solves the problem that the existing unmanned aerial vehicle supporting leg cannot be disassembled and assembled, reduces the carrying efficiency, and influences the convenience in moving and carrying.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned aerial vehicle landing leg convenient to dismouting, includes the unmanned aerial vehicle body, the four corners of unmanned aerial vehicle body bottom all is provided with the supporting leg, the left side and the equal fixedly connected with plugboard in right side of unmanned aerial vehicle body bottom, the inboard fixedly connected with of supporting leg is located the gusset plate of plugboard bottom, the inboard fixedly connected with connecting plate of gusset plate, the left side and the right side at connecting plate top all are provided with grafting mechanism, the first rubber pad of bottom fixedly connected with of supporting leg, the top fixedly connected with second rubber pad of supporting leg.
Preferably, the grafting mechanism includes the inserted bar, the inboard fixedly connected with fixed plate of inserted bar, the positive bottom fixedly connected with of fixed plate is held between the fingers the board, the jack has been seted up to the inside of inserted bar, the outer end of inserted bar runs through the gusset plate and extends to the inside and the jack cooperation of pegging graft of jack, the outer end of inserted bar is the setting of hemisphere head, the first spring of inboard fixedly connected with of inserted bar, the front of gusset plate is seted up and is held between the fingers board sliding connection's spout, the surface cover of holding between the fingers the board is equipped with the antiskid cover.
Preferably, the top of the reinforcing plate is provided with a slot, and the slot is in inserting fit with the inserting plate.
Preferably, the bottom of the inner wall of the slot is fixedly connected with a second spring, and the top of the second spring is fixedly connected with a first top plate.
Preferably, the surface of the pinching plate is fixedly connected with limiting rings positioned on the front surface and the back surface of the connecting plate, and one side of each limiting ring close to the connecting plate is connected with the connecting plate in a sliding manner.
Preferably, the bottom of connecting plate fixedly connected with buffer board, the bottom fixedly connected with third rubber pad of buffer board.
Preferably, an adjustable camera device is further included, the adjustable camera device comprising: the device comprises a fixed seat, a connecting shaft, a second top plate, a plurality of flexible rods, a supporting plate, a plurality of elastic connecting pieces, a plurality of cameras, a motor, an electric reel, a pull wire, a shield, a limiting clamping block and a fixed rod;
one end of the fixing seat is detachably connected to the top of the unmanned aerial vehicle body, a first opening is formed in the top of the fixing seat, the connecting shaft is located in the first opening, the connecting shaft is vertically arranged, one end of the connecting shaft is connected to the bottom of the fixing seat, the other end of the connecting shaft is fixedly connected with a second top plate, the bottom of the second top plate is connected with one end of a plurality of flexible rods, the other end of the plurality of flexible rods is connected with the top end of the supporting plate, and the plurality of flexible rods are uniformly distributed around the connecting shaft;
the supporting plate is horizontally arranged, a connecting hole with the diameter matched with that of the connecting shaft is formed in the middle of the supporting plate, the supporting plate is connected to the connecting shaft in a sliding mode through the connecting hole, one ends of a plurality of elastic connecting pieces are uniformly distributed and connected to the bottom of the supporting plate by taking the connecting shaft as the center, and the other ends of the elastic connecting pieces are fixedly connected to the bottom of the first opening;
the cameras are different in type and are arranged on the supporting plate;
the motor is fixed on the second top plate, the motor is in transmission connection with the electric reel, a pull wire is wound on the electric reel, one end of the pull wire is wound on the electric reel, the other end of the pull wire is connected with one end of the shield, the other end of the shield is rotatably connected with one end of a fixing rod, the other end of the fixing rod is fixedly connected to the supporting plate, and a limiting clamping block is arranged at the joint of the shield and the fixing rod;
the protective cover is made of transparent waterproof material;
the weather detection device is arranged at the top end of the unmanned aerial vehicle body and used for detecting and judging weather of the environment where the unmanned aerial vehicle body is located;
the distance detection device is arranged at the bottom of the unmanned aerial vehicle body and used for detecting the distance between the unmanned aerial vehicle body and a shooting target;
the controller, the controller with motor, a plurality of the camera weather detection device electricity is connected for control motor and a plurality of the camera work.
Preferably, the unmanned aerial vehicle body is powered by a power supply device, the unmanned aerial vehicle support leg further comprises an electric quantity detection device, and the electric quantity detection device comprises a controller, an alarm, a current sensor, a voltage sensor and a temperature sensor;
a current sensor for detecting an output current of the power supply device;
a voltage sensor for detecting an output voltage of the power supply device;
the temperature sensor is used for detecting the temperature of the real-time environment where the unmanned aerial vehicle body is located;
the controller and the alarm are respectively arranged on the supporting legs or the connecting plate, and the controller is respectively electrically connected with the current sensor, the voltage sensor and the temperature sensor;
the controller controls the alarm to alarm based on the current sensor, the voltage sensor and the temperature sensor.
Preferably, the controller controls the alarm to alarm based on the current sensor, the voltage sensor and the temperature sensor, and comprises:
step 1: the controller is based on [ t ]1，t2]The detected values of the temperature sensor and the current sensor in the time period are calculated by the formula (1) to obtain t1，t2]End of time period t2Estimating the electric quantity coefficient;
Yt2is the end time t2Estimating the electric quantity coefficient;
T0is the standard ambient temperature;
Tt2detecting at t for said temperature sensor2A detection value of a time;
q is the electric quantity of the power supply device in a full-power state;
i is [ t1，t2]An average value of the detection values of the current sensors over a period of time;
Ut2for the voltage sensor at t2A detection value of a time;
U0rated output voltage of the power supply device;
dt represents the differential over time t;
step 2: the controller calculates the current sensor for a time period t based on the calculation result of equation (1)1，t2]The t is calculated by the formula (2)2The remaining power supply duration T at that moment;
i (t) is over a time period [ t ]1，t2]The detection value of the current sensor;
a is the power consumption of the unmanned aerial vehicle body in unit time;
alpha is a charge-discharge proportional coefficient of the power supply device, and the value of alpha is different according to different types of the power supply device, and the value range is 0.95-1;
and step 3: when the t is2And the controller controls the alarm to give an alarm when the remaining power supply time at the moment is less than the set minimum power supply time.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention is convenient for a user to move inwards by pinching the pinch plate inwards through the matched use of the unmanned aerial vehicle body, the supporting leg, the inserting plate, the reinforcing plate, the connecting plate, the inserting mechanism, the first rubber pad and the second rubber pad, the pinch plate is driven by the fixing plate to move inwards, the inserting rod is driven by the fixing plate to move inwards to be separated from the inserting hole, the supporting leg is convenient for the user to dismantle, when the user needs to install, the reinforcing plate is inserted at the bottom of the inserting plate, then the inserting rod is bounced outwards through the elasticity of the first spring, the inserting rod moves outwards to be in clearance fit with the inserting hole for positioning and installation, the pinch plate slides stably through the sliding groove, the anti-slip sleeve can improve the pinching stability of the pinch plate, the phenomenon of hand slip is avoided, the problem that the existing unmanned aerial vehicle supporting leg is inconvenient to disassemble and assemble is solved, the carrying efficiency is reduced, the convenience of moving and carrying is influenced by the slow installation speed, and more time is needed for each use, influence the problem of using the convenience, possess the convenient advantage of landing leg dismouting.
2. According to the invention, by arranging the inserting rod, the fixing plate, the pinch plate, the inserting hole, the first spring, the sliding groove and the anti-slip sleeve, a user can conveniently bounce the inserting rod outwards through the elastic force of the first spring, the inserting rod moves outwards to be in clearance fit with the inserting hole for positioning and mounting, the pinch plate slides stably through the sliding groove, and the anti-slip sleeve can improve the pinching stability of the pinch plate and avoid the phenomenon of hand slip.
3. The insertion groove is arranged, so that a user can conveniently install the insertion plate through the insertion groove, and the support leg cannot shake after insertion.
4. According to the invention, the second spring and the top plate are arranged, so that a user can conveniently jack the top plate upwards through the elastic force of the second spring, the installation gap between the plug board and the reinforcing board is eliminated by the upward movement of the top plate, and the instability caused by shaking is reduced.
5. The limiting ring is arranged, so that a user can conveniently ensure that the pinching plate cannot shake when pinching inwards through the limiting ring, and meanwhile, the pinching plate is prevented from sliding forwards and backwards and falling off.
6. According to the unmanned aerial vehicle, the buffer plate and the third rubber pad are arranged, so that a user can reduce the impact force at the bottom of the unmanned aerial vehicle body through the buffer plate conveniently, and the third rubber pad can eliminate the knocking and damaging force of rigid contact.
7. According to the invention, the detachable adjustable camera device is arranged, the plurality of cameras are cameras with different focal lengths, and in the flying process of the unmanned aerial vehicle body, the controller selects the camera which is suitable for being used currently from the plurality of cameras according to the detection value of the distance detection device to carry out shooting work. The weather detection device analyzes and judges the weather condition of the environment where the unmanned aerial vehicle body is located, when the environment is rainy, hailstone or the concentration of sand exceeds a preset sand concentration threshold value, the controller controls the motor to work, the motor drives the electric reel to rotate, meanwhile, the stay wire is loosened, the protective cover falls under the action of gravity and surrounds the outside of the camera, and the problems that raindrops, hailstones and the like damage the camera and the quality of a shot picture is influenced by the wetting of the camera by the raindrops are solved; the protective cover is in an open state under normal conditions, is limited by the limiting clamping block and fixes the open position.
8. According to the invention, by arranging the electric quantity detection device, the controller firstly calculates the estimated electric quantity coefficient of the power supply device at the time of the end point of the time period in a certain time period based on the set standard environment temperature, the detection value of the temperature sensor, the detection value of the current sensor and the detection value of the voltage sensor, and calculates the residual power supply time length by combining the calculation result with the detection value of the current sensor in a certain time period and the power consumption of the unmanned aerial vehicle body in unit flight distance in unit time.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top view of the support leg of the present invention;
FIG. 3 is a schematic perspective view of the insert rod of the present invention;
FIG. 4 is an enlarged view of the invention shown at A in FIG. 1;
FIG. 5 is a schematic view of an adjustable camera device according to the present invention.
In the figure: 1. an unmanned aerial vehicle body; 2. supporting legs; 3. a plugboard; 4. a reinforcing plate; 5. a connecting plate; 6. a plug-in mechanism; 61. inserting a rod; 62. a fixing plate; 63. kneading the plate; 64. a jack; 65. a first spring; 66. a chute; 67. an anti-slip sleeve; 7. a first rubber pad; 8. a second rubber pad; 9. a slot; 10. a second spring; 11. a first top plate; 12. a limiting ring; 13. a buffer plate; 14. a third rubber pad; 15. an adjustable camera device; 151. a fixed seat; 152. a connecting shaft; 153. a second top plate; 154. a flexible rod; 155. a support plate; 156. an elastic connecting member; 157. a first opening; 158. a camera; 1591. a motor; 1592. an electric reel; 1593. a pull wire; 1594. a shield; 1595. a limiting clamping block; 1596. and (5) fixing the rod.
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.
As shown in fig. 1 to 4, the unmanned aerial vehicle support leg convenient to disassemble and assemble provided by the invention comprises an unmanned aerial vehicle body 1, support legs 2 are arranged at four corners of the bottom of the unmanned aerial vehicle body 1, plug boards 3 are fixedly connected to the left side and the right side of the bottom of the unmanned aerial vehicle body 1, reinforcing plates 4 located at the bottoms of the plug boards 3 are fixedly connected to the inner sides of the support legs 2, connecting plates 5 are fixedly connected to the inner sides of the reinforcing plates 4, plug mechanisms 6 are arranged on the left sides and the right sides of the tops of the connecting plates 5, first rubber pads 7 are fixedly connected to the bottoms of the support legs 2, and second rubber pads 8 are fixedly connected to the tops of the support legs 2.
Referring to fig. 1, the inserting mechanism 6 includes an inserting rod 61, an inner side fixedly connected with fixing plate 62 of the inserting rod 61, a bottom fixedly connected with of the front of the fixing plate 62 holds between the fingers a board 63, a jack 64 has been seted up inside the inserting board 3, the outer end of the inserting rod 61 runs through the reinforcing plate 4 and extends to the inside of the jack 64 and the jack 64 is inserted and matched, the outer end of the inserting rod 61 is a hemispherical head, a first spring 65 of the inner side fixedly connected with of the inserting rod 61, a chute 66 slidably connected with the holding between the fingers board 63 has been seted up on the front of the reinforcing plate 4, and an anti-slip sleeve 67 is sleeved on the surface of the holding between the fingers board 63.
As a technical optimization scheme of the invention, by arranging the inserting rod 61, the fixing plate 62, the pinching plate 63, the inserting hole 64, the first spring 65, the sliding groove 66 and the anti-slip sleeve 67, a user can conveniently bounce the inserting rod 61 outwards through the elastic force of the first spring 65, the inserting rod 61 moves outwards to be in clearance fit with the inserting hole 64 for positioning and installation, the pinching plate 63 slides stably through the sliding groove 66, and the anti-slip sleeve 67 can improve the pinching stability of the pinching plate 63 and avoid the phenomenon of hand slip.
Referring to fig. 4, the top of the reinforcing plate 4 is provided with a slot 9, and the slot 9 is inserted and matched with the inserting plate 3.
As a technical optimization scheme of the invention, the insertion slot 9 is arranged, so that a user can conveniently install the insertion plate 3 through the insertion slot 9, and the support leg 2 cannot shake after insertion.
Referring to fig. 4, a second spring 10 is fixedly connected to the bottom of the inner wall of the slot 9, and a first top plate 11 is fixedly connected to the top of the second spring 10.
As a technical optimization scheme of the invention, by arranging the second spring 10 and the top plate 11, a user can conveniently jack up the top plate 11 upwards through the elastic force of the second spring 10, the top plate 11 upwards eliminates the installation gap between the inserting plate 3 and the reinforcing plate 4, and the instability caused by shaking is reduced.
Referring to fig. 2, the surface of the pinch plate 63 is fixedly connected with the limiting rings 12 positioned on the front and back surfaces of the connecting plate 5, and one side of the limiting ring 12 close to the connecting plate 5 is connected with the connecting plate 5 in a sliding manner.
As a technical optimization scheme of the invention, the limiting ring 12 is arranged, so that a user can conveniently ensure that the pinching plate 63 cannot shake when pinching inwards through the limiting ring 12, and meanwhile, the pinching plate 63 is prevented from sliding forwards and backwards and falling off.
Referring to fig. 1, a buffer plate 13 is fixedly connected to the bottom of the connecting plate 5, and a third rubber pad 14 is fixedly connected to the bottom of the buffer plate 13.
As a technical optimization scheme of the invention, by arranging the buffer plate 13 and the third rubber pad 14, a user can reduce the impact force at the bottom of the unmanned aerial vehicle body 1 through the buffer plate 13 conveniently, and the third rubber pad 14 can eliminate the knocking and damaging force of rigid contact.
The working principle and the using process of the invention are as follows: when using, the user is through pinching inboard the board 63 and is removed to the inboard side of holding between the fingers, hold between the fingers board 63 and drive fixed plate 62 and remove to the inboard side, fixed plate 62 drives inserted bar 61 and removes to the inboard side and the separation of jack 64, convenient to use person demolishs supporting leg 2, when the user needs the installation, peg graft reinforcing plate 4 in the bottom of plugboard 3, then bounce the inserted bar 61 to the outboard side through the elasticity of first spring 65, inserted bar 61 moves to the outboard side and carries out the location installation with jack 64 clearance fit, it is stable to make through spout 66 holding between the fingers board 63 slip, antiskid cover 67 can improve the stability of holding between the fingers board 63, avoid the smooth phenomenon of hand.
In summary, the following steps: this unmanned aerial vehicle landing leg convenient to dismouting, through setting up unmanned aerial vehicle body 1, supporting leg 2, plugboard 3, gusset plate 4, connecting plate 5, grafting mechanism 6, first rubber pad 7 and second rubber pad 8's cooperation use, it is inconvenient to have solved current unmanned aerial vehicle landing leg dismouting, has reduced the efficiency of carrying, the convenience that the influence was removed and is carried, the installation rate can lead to using at every turn to spend more time on the equipment slowly simultaneously, influence the problem of using the convenience.
As shown in fig. 5, as a technical optimization of the present invention, the present invention further includes an adjustable imaging device 15, where the adjustable imaging device 15 includes: the device comprises a fixed seat 151, a connecting shaft 152, a second top plate 153, a plurality of flexible rods 154, a supporting plate 155, a plurality of elastic connecting pieces 156, a plurality of cameras 158, a motor 1591, an electric reel 1592, a pull wire 1593, a shield 1594, a limiting clamping block 1595 and a fixing rod 1596;
one end of the fixed seat 151 is detachably connected to the top of the unmanned aerial vehicle body, a first opening 157 is formed in the top of the fixed seat 151, the connecting shaft 152 is located in the first opening 157, the connecting shaft 152 is vertically arranged, one end of the connecting shaft 152 is connected to the bottom of the fixed seat 151, the other end of the connecting shaft 152 is fixedly connected with a second top plate 153, the bottom of the second top plate 153 is connected with one end of a plurality of flexible rods 154, the other end of the plurality of flexible rods 154 is connected to the top end of the supporting plate 155, and the plurality of flexible rods 154 are uniformly distributed around the connecting shaft 152;
the supporting plate 155 is horizontally arranged, a connecting hole with a diameter matched with that of the connecting shaft 152 is formed in the middle of the supporting plate 155, the supporting plate 155 and the connecting shaft 152 are connected and slidably connected to the connecting shaft 152 through the connecting hole, the bottom of the supporting plate 155 is uniformly distributed and connected with one ends of a plurality of elastic connecting pieces 156 by taking the connecting shaft 152 as a center, and the other ends of the elastic connecting pieces 156 are fixedly connected to the bottom of the first opening 157;
a plurality of the cameras 158 are of different types and are disposed on the support plate 155;
the motor 1591 is fixed on the top plate two 153, the motor 1591 is in transmission connection with an electric reel 1592, a pull wire 1593 is wound on the electric reel 1592, one end of the pull wire 1593 is wound on the electric reel 1592, the other end of the pull wire 1593 is connected with one end of a shield 1594, the other end of the shield 1594 is rotatably connected with one end of a fixing rod 1596, the other end of the fixing rod 1596 is fixedly connected on the supporting plate 155, and a limit block 1595 is arranged at the connection position of the shield 1594 and the fixing rod 1596;
the housing 1594 is made of a transparent waterproof material;
the weather detection device is used for detecting and judging the weather of the environment where the unmanned aerial vehicle body 1 is located;
the distance detection device is used for detecting the distance between the unmanned aerial vehicle body 1 and a shooting target;
the angle detection device is used for detecting an angle between the unmanned aerial vehicle body 1 and a shooting target;
the image quality analysis device is used for analyzing the image quality of the image shot by the camera 158 used at present;
and the controller is electrically connected with the motor 1591, the plurality of cameras 158 and the weather detection device and is used for controlling the motor 1591 and the plurality of cameras 158 to work.
The working principle and the beneficial effects of the technical scheme are as follows:
through the setting of the adjustable camera device 15 of detachable, at the unmanned aerial vehicle body 1 in-process of flying, the controller basis be fit for the camera 158 of current use among a plurality of camera 158 and shoot the work according to apart from detection value selection of detection device, a plurality of camera 158 is the camera 158 of different focuses.
The weather detection device analyzes and judges the weather condition of the environment where the unmanned aerial vehicle body 1 is located, when the environment is rainy, hail or the concentration of sand exceeds a preset sand concentration threshold value, the controller controls the motor 1591 to work, the motor 1591 drives the electric reel 1592 to rotate, meanwhile, the pull wire 1593 is loosened, the shield 1594 falls under the action of gravity and surrounds the outside of the camera 158, and the problems that raindrops, hail and the like damage the camera 158 and the quality of a shot picture is affected by the fact that the camera 158 is wetted by the raindrops are solved; the hood 1594 is normally open and retained in the open position by the retention latch 1595.
As a technical optimization scheme of the invention, the unmanned aerial vehicle body is powered by a power supply device, the unmanned aerial vehicle supporting leg further comprises an electric quantity detection device, and the electric quantity detection device comprises a controller, an alarm, a current sensor, a voltage sensor and a temperature sensor;
a current sensor for detecting an output current of the power supply device;
a voltage sensor for detecting an output voltage of the power supply device;
the temperature sensor is used for detecting the temperature of the real-time environment where the unmanned aerial vehicle body 1 is located;
the controller and the alarm are respectively arranged on the supporting legs 2 or the connecting plate 5, and the controller is respectively electrically connected with the current sensor, the voltage sensor and the temperature sensor;
the controller is based on current sensor, voltage sensor, temperature sensor control the alarm is reported to the police, includes:
step 1: the controller is based on [ t ]1，t2]The [ t ] is calculated by the formula (1) according to the detection values of the temperature sensor and the current sensor in the time period (any time period in the operation of the unmanned aerial vehicle body, t1 is greater than 0, t2 is greater than t1)1，t2]End of time period t2Estimating the electric quantity coefficient;
Yt2is the end time t2Estimating the electric quantity coefficient;
T0is the standard ambient temperature;
Tt2detecting at t for said temperature sensor2A detection value of a time;
q is the electric quantity of the power supply device in a full-power state;
i is [ t1，t2]An average value of the detection values of the current sensors over a period of time;
Ut2for the voltage sensor at t2A detection value of a time;
U0rated output voltage of the power supply device;
dt represents the differential over time t;
step 2: the controller calculates the current sensor for a time period t based on the calculation result of equation (1)1，t2]The t is calculated by the formula (2)2The remaining power supply duration T at that moment;
i (t) is over a time period [ t ]1，t2]The detection value of the current sensor;
a is the power consumption of the unmanned aerial vehicle body (1) in unit time (such as per second);
l is the distance between the unmanned aerial vehicle body (1) and an operator;
alpha is a charge-discharge proportional coefficient of the power supply device, and the maximum charge-discharge capacity of the power supply device under the same rated capacity is different according to different types of the power supply device, so that the values of the charge-discharge proportional coefficient are different, the value range is 0.95-1, and the charge-discharge proportional coefficient of the power supply device of a common lithium battery is 1;
and step 3: when the t is2And the controller controls the alarm to give an alarm when the remaining power supply time at the moment is less than the set minimum power supply time.
The working principle and the beneficial effects of the technical scheme are as follows:
through setting up electric quantity detection device, the controller is at first based on the standard ambient temperature who sets for, temperature sensor's detected value, current sensor's detected value, voltage sensor's detected value, calculates power supply unit in certain time quantum and is in the estimated electric quantity coefficient of time quantum terminal point moment to combine in certain time quantum through the calculated result current sensor's detected value and the unmanned aerial vehicle body fly the power consumption of unit distance in the unit time and try to get surplus power supply time length, when the surplus power supply time length that calculates the income is less than the minimum power supply time length that sets for, the alarm reports to the police, avoids because power supply unit surplus electric quantity is not enough to support unmanned aerial vehicle and flies back to control personnel's position, leads to the emergence of unexpected circumstances such as the sudden whereabouts that unmanned aerial vehicle interrupted the power supply midway suddenly and leads to.
It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an unmanned aerial vehicle landing leg convenient to dismouting which characterized in that: comprises supporting legs (2), a plug board (3), a reinforcing plate (4), a plug mechanism (6), a first rubber pad (7) and a second rubber pad (8); the unmanned aerial vehicle is characterized in that a plurality of supporting legs (2) are arranged at four corners of the bottom of the unmanned aerial vehicle body (1), inserting plates (3) are fixedly connected to the left side and the right side of the bottom of the unmanned aerial vehicle body (1), reinforcing plates (4) located at the bottoms of the inserting plates (3) are fixedly connected to the inner sides of the supporting legs (2), connecting plates (5) are fixedly connected to the inner sides of the reinforcing plates (4), inserting mechanisms (6) are arranged on the left side and the right side of the top of each connecting plate (5), first rubber pads (7) are fixedly connected to the bottoms of the supporting legs (2), and second rubber pads (8) are fixedly connected to the tops of the supporting legs (2);
grafting mechanism (6) are including inserted bar (61), inboard fixedly connected with fixed plate (62) of inserted bar (61), board (63) are held between the fingers to the positive bottom fixedly connected with of fixed plate (62), jack (64) have been seted up to the inside of inserted bar (3), the outer end of inserted bar (61) runs through gusset plate (4) and extends to the inside and the jack (64) cooperation of pegging graft of jack (64), the outer end of inserted bar (61) is the hemisphere head setting, the inboard fixedly connected with first spring (65) of inserted bar (61), the front of gusset plate (4) is seted up and is held between the fingers board (63) sliding connection's spout (66), the surface cover of holding between the fingers board (63) is equipped with antiskid cover (67).
2. The unmanned aerial vehicle landing leg convenient to dismouting of claim 1, its characterized in that: the top of the reinforcing plate (4) is provided with a slot (9), and the slot (9) is in plug-in fit with the plug board (3).
3. The unmanned aerial vehicle landing leg convenient to dismouting of claim 2, its characterized in that: the bottom of the inner wall of the slot (9) is fixedly connected with a second spring (10), and the top of the second spring (10) is fixedly connected with a first top plate (11).
4. The unmanned aerial vehicle landing leg convenient to dismouting of claim 1, its characterized in that: the surface of the pinching plate (63) is fixedly connected with limiting rings (12) positioned on the front surface and the back surface of the connecting plate (5), and one side of each limiting ring (12) close to the connecting plate (5) is connected with the connecting plate (5) in a sliding mode.
5. The unmanned aerial vehicle landing leg convenient to dismouting of claim 1, its characterized in that: the bottom fixedly connected with buffer board (13) of connecting plate (5), the bottom fixedly connected with third rubber pad (14) of buffer board (13).
6. The unmanned aerial vehicle landing leg convenient to dismouting of claim 1, its characterized in that:
further comprising an adjustable camera device (15), the adjustable camera device (15) comprising: the device comprises a fixed seat (151), a connecting shaft (152), a top plate II (153), a plurality of flexible rods (154), a supporting plate (155), a plurality of elastic connecting pieces (156), a plurality of cameras (158), a motor (1591), an electric reel (1592), a pull wire (1593), a shield (1594), a limiting clamping block (1595) and a fixing rod (1596);
one end of the fixing seat (151) is detachably connected to the top of the unmanned aerial vehicle body (1), a first opening (157) is formed in the top of the fixing seat (151), the connecting shaft (152) is located in the first opening (157), the connecting shaft (152) is vertically arranged, one end of the connecting shaft (152) is connected to the bottom of the fixing seat (151), the other end of the connecting shaft (152) is fixedly connected with a second top plate (153), the bottom of the second top plate (153) is connected with one end of a plurality of flexible rods (154), the other end of the plurality of flexible rods (154) is connected to the top end of a supporting plate (155), and the plurality of flexible rods (154) are uniformly distributed around the connecting shaft (152);
the supporting plate (155) is horizontally arranged, a connecting hole with the diameter matched with that of the connecting shaft (152) is formed in the middle of the supporting plate (155), the supporting plate (155) is connected to the connecting shaft (152) in a sliding mode through the connecting hole, the bottom of the supporting plate (155) is uniformly distributed and connected with one ends of a plurality of elastic connecting pieces (156) by taking the connecting shaft (152) as the center, and the other ends of the elastic connecting pieces (156) are fixedly connected to the bottom of the first opening (157);
a plurality of said cameras (158) of different types, arranged on said support plate (155);
the motor (1591) is fixed on the second top plate (153), the motor (1591) is in transmission connection with an electric reel (1592), a pull wire (1593) is wound on the electric reel (1592), one end of the pull wire (1593) is wound on the electric reel (1592), the other end of the pull wire (1593) is connected with one end of a hood (1594), the other end of the hood (1594) is rotatably connected with one end of a fixing rod (1596), the other end of the fixing rod (1596) is fixedly connected to the supporting plate (155), and a limiting clamping block (1595) is arranged at the connection position of the hood (1594) and the fixing rod (1596);
the shield (1594) is made of transparent waterproof material;
the weather detection device is arranged at the top end of the unmanned aerial vehicle body (1) and used for detecting and judging weather of the environment where the unmanned aerial vehicle body (1) is located;
the distance detection device is arranged at the bottom of the unmanned aerial vehicle body (1) and used for detecting the distance between the unmanned aerial vehicle body (1) and a shooting target;
the controller is electrically connected with the motor (1591), the plurality of cameras (158) and the weather detection device and is used for controlling the motor (1591) and the plurality of cameras (158) to work.
7. The unmanned aerial vehicle landing leg convenient to dismouting of claim 1, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), power supply devices, an electric quantity detection device and a control device, wherein the unmanned aerial vehicle body (1) is powered by the power supply devices;
a current sensor for detecting an output current of the power supply device;
a voltage sensor for detecting an output voltage of the power supply device;
the temperature sensor is used for detecting the temperature of the real-time environment where the unmanned aerial vehicle body (1) is located;
the controller and the alarm are respectively arranged on the supporting legs (2) or the connecting plate (5), and the controller is respectively electrically connected with the current sensor, the voltage sensor and the temperature sensor;
the controller controls the alarm to alarm based on the current sensor, the voltage sensor and the temperature sensor.
8. The unmanned aerial vehicle landing leg convenient to dismouting of claim 7, characterized in that: the method comprises the following steps:
the controller is based on current sensor, voltage sensor, temperature sensor control the alarm is reported to the police, includes:
step 1: the controller is based on [ t ]1，t2]The detected values of the temperature sensor and the current sensor in the time period are calculated by the formula (1) to obtain t1，t2]End of time period t2Estimating the electric quantity coefficient;
Yt2is the end time t2Estimating the electric quantity coefficient;
T0is the standard ambient temperature;
Tt2detecting at t for said temperature sensor2A detection value of a time;
q is the electric quantity of the power supply device in a full-power state;
i is [ t1，t2]An average value of the detection values of the current sensors over a period of time;
Ut2for the voltage sensor at t2A detection value of a time;
U0rated output voltage of the power supply device;
dt represents the differential over time t;
step 2: the controller calculates the current sensor for a time period t based on the calculation result of equation (1)1，t2]The t is calculated by the formula (2)2The remaining power supply duration T at that moment;
i (t) is over a time period [ t ]1，t2]The detection value of the current sensor;
a is the power consumption of the unmanned aerial vehicle body (1) in unit time;
alpha is a charge-discharge proportional coefficient of the power supply device, and the value of alpha is different according to different types of the power supply device, and the value range is 0.95-1;
and step 3: when the t is2The remaining power supply duration at the moment is less than the set minimum power supplyAnd when the time is long, the controller controls the alarm to give an alarm.
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