CN112078793A - Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function - Google Patents

Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function Download PDF

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Publication number
CN112078793A
CN112078793A CN202010912167.0A CN202010912167A CN112078793A CN 112078793 A CN112078793 A CN 112078793A CN 202010912167 A CN202010912167 A CN 202010912167A CN 112078793 A CN112078793 A CN 112078793A
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CN
China
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machine
patrol
main
controller
unmanned aerial
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Pending
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CN202010912167.0A
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Chinese (zh)
Inventor
孔向东
陈海哨
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Taizhou University
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Taizhou University
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Priority to CN202010912167.0A priority Critical patent/CN112078793A/en
Publication of CN112078793A publication Critical patent/CN112078793A/en
Pending legal-status Critical Current

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    • 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
    • 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
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a dual-machine type mountain patrol unmanned aerial vehicle with a cruising function, and particularly relates to the technical field of unmanned aerial vehicles, which comprises a camera, wherein the camera is carried on a main patrol machine, a matching machine is arranged above the main patrol machine through a fixing assembly, the main patrol machine comprises a first rack connected with the camera, the top end of the first rack is fixedly provided with a main controller, and the top end of the main controller is fixedly provided with a storage battery; the cooperation machine includes the second frame with first frame parallel arrangement, the fixed sub-controller that is equipped with in top of second frame, and sub-controller's top charger, and the bottom mounting of second frame is equipped with the connection lid. The invention can ensure that the main patrol machine can continue to operate when the electric quantity is in emergency, ensure the patrol operation of the main patrol machine, avoid the interruption of patrol, avoid the problem of loss or damage of the main patrol machine and be beneficial to improving the patrol operation efficiency.

Description

Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a dual-machine type mountain forest patrol unmanned aerial vehicle with a function of ensuring endurance.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, or is completely or intermittently and autonomously operated by a vehicle-mounted computer, has wide application, can be used for plant protection or mountain patrol, and is an unmanned aerial vehicle for mountain patrol operation as the name suggests.
Most of existing unmanned aerial vehicles for mountain patrol are powered by batteries or fuel oil, and for the unmanned aerial vehicles powered by batteries, when large-scale mountain patrol operation is performed, the operation is easily interrupted due to insufficient battery endurance, the unmanned aerial vehicles are difficult to return to cause the problem of loss or damage, and the improvement of the operation efficiency of the unmanned aerial vehicles is not facilitated;
therefore, the double-machine type mountain forest patrol unmanned aerial vehicle with the function of ensuring endurance is provided.
Disclosure of Invention
Therefore, the invention provides a dual-machine type mountain patrol unmanned aerial vehicle with a cruising function, and aims to solve the problems that most of existing unmanned aerial vehicles for mountain patrol are powered by batteries or fuel oil, and when large-scale mountain patrol operation is performed, the battery cruising operation is easily interrupted, the unmanned aerial vehicle is difficult to return to cause loss or damage, and the operation efficiency of the unmanned aerial vehicle is not improved.
In order to achieve the above purpose, the invention provides the following technical scheme:
according to the first aspect of the invention, the dual-machine type mountain patrol unmanned aerial vehicle with the function of ensuring cruising comprises a camera, wherein the camera is carried on a main patrol machine, a matching machine is arranged above the main patrol machine through a fixing assembly, the main patrol machine comprises a first rack connected with the camera, six first side rods are uniformly arranged outside the first rack, a first micro motor is fixedly arranged on each of two sides of the end part of each first side rod in the vertical direction, a first blade is fixedly arranged at the top end of each first micro motor, a main controller is fixedly arranged at the top end of the first rack, a storage battery is fixedly arranged at the top end of the main controller, and a magnetic suction block is fixedly arranged at the top end of the storage battery;
the matching machine comprises a second rack arranged in parallel with the first rack, six second side rods are uniformly arranged outside the second rack, a second micro motor is fixedly arranged at the end part of each second side rod, a first blade is fixedly arranged at the top end of each second micro motor, a sub-controller is fixedly arranged at the top end of the second rack, a connecting cover is fixedly arranged at the bottom end of the second rack, the charger comprises a battery part, a charging endurance module and a magnetic suction charging interface, the charging magnetic suction interface and the charging endurance module are electrically connected with the sub-controller, the charging magnetic suction interface is arranged on the inner side wall of the connecting cover, and the main controller and the sub-controller are wirelessly connected with the base station controller;
fixed subassembly is including setting up the backup pad at main control unit along horizontal both ends, and the outside of backup pad has been seted up and has been run through the groove, one side lateral wall fixed mounting of backup pad has driving motor, and driving motor's one end is located and runs through inslot fixedly connected with bull stick, and the one end of bull stick is connected with the arc cardboard, the bottom of connecting the lid all is equipped with the curb plate along horizontal both ends, and the bottom of curb plate is equipped with the base along radial both ends symmetry, and fixes being equipped with the cross axle between two bases, and the cross axle pegs graft mutually with the arc cardboard.
Furthermore, the top end of the camera is hinged with a support, and the support is fixedly connected with the bottom end of the first frame.
Furthermore, the bottom of first frame all is equipped with the supporting seat along horizontal both ends.
Furthermore, the connection cover is coated outside the storage battery, and the magnetic attraction charging interface is magnetically attracted with the magnetic attraction block and is connected with the magnetic attraction block.
Further, the main patrol machine and the matching machine are internally provided with a cruise obstacle avoidance system, the cruise obstacle avoidance system comprises an ultrasonic sensor arranged in the main controller or the auxiliary controller, and the output end of the ultrasonic sensor is connected with an ultrasonic obstacle avoidance module.
Furthermore, the ultrasonic obstacle avoidance module is formed by connecting an ultrasonic ranging module with a positioning navigation module, and is electrically connected with the main controller or the auxiliary controller.
Furthermore, the input end of the main controller is connected with an image storage module, the input end of the image analysis module is connected with an image sensor, the image sensor is fixedly installed outside the camera, and the image sensor transmits image information shot by the camera to the image analysis module to complete image transformation, enhancement, segmentation, feature analysis and the like.
Furthermore, the input end of the main controller is connected with an image storage module for storing image information shot by the camera in the patrol process of the main patrol machine.
The invention has the following advantages:
1. through the cooperation machine and the fixed subassembly that set up, the flight of auxiliary control joining in marriage machine, main machine of patrolling is close main machine of patrolling under the condition that the electric quantity wore, by the whole removal of main machine of patrolling of location navigation module control, simultaneously, make the connection lid of second frame bottom be connected with the battery, cover, simultaneously, make the structure between joining in marriage machine and the main machine of patrolling keep the unity through fixed subassembly, can guarantee that main machine of patrolling realizes continuing a journey under the condition that the electric quantity worries, guarantee the patrol operation of main machine of patrolling, can not interrupt the patrol, avoid causing the problem emergence of losing or damaging of main machine of patrolling, be favorable to patrolling the improvement of operating efficiency.
2. Keep away the barrier system through the cruise that sets up, ultrasonic sensor is used for main patrol machine and the cooperation machine keeping away the barrier at the flight in-process, main control unit or sub-control ware electric connection ultrasonic wave keep away the barrier module and connect the location navigation module by ultrasonic ranging module and constitute, because the sound wave meets the barrier and can reflect, and the speed of sound wave is known, so ultrasonic ranging module calculates the measuring distance, reunion location navigation module, control main patrol machine and the change of cooperation machine flight path, can easily realize keeping away the barrier, guarantee that main patrol machine carries out mountain forest patrol smoothly and cooperation machine accomplishes the continuation of the journey operation of charging to main patrol machine smoothly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic view of the overall structure provided by the present invention;
fig. 2 is a top view of a main patrol machine provided by the present invention;
FIG. 3 is an enlarged view of the portion A in FIG. 2 according to the present invention;
FIG. 4 is a front view of the present invention;
FIG. 5 is a bottom view of the attachment cap provided by the present invention;
FIG. 6 is an enlarged view of the structure of portion B of FIG. 1 according to the present invention;
FIG. 7 is a block diagram of a cruise obstacle avoidance system provided by the present invention;
in the figure: 1. a camera; 2. a first frame; 3. a first side bar; 4. a first micro motor; 5. a first blade; 6. a main controller; 7. a storage battery; 8. a magnetic block; 9. a second frame; 10. a sub-controller; 11. a second side bar; 12. a second micro motor; 13. a second blade; 14. a connecting cover; 15. a charger; 16. a side plate; 17. a support plate; 18. a through groove; 19. an arc-shaped clamping plate; 20. a drive motor; 21. a rotating rod; 22. a base; 23. a horizontal axis; 24. the charging interface is magnetically attracted; 25. a support; 26. an image sensor; 27. an image analysis module; 28. an image storage module; 29. an ultrasonic sensor; 30. an ultrasonic obstacle avoidance module; 31. a positioning navigation module; 32. a base station controller; 33. a charging endurance module; 34. and (4) supporting the base.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
Referring to the attached drawings 1-7 in the specification, the dual-machine type mountain patrol unmanned aerial vehicle with the function of ensuring cruising of the embodiment comprises a camera 1, wherein the camera 1 is carried on a main patrol machine, a matching machine is arranged above the main patrol machine through a fixing component, the main patrol machine comprises a first rack 2 connected with the camera 1, six first side rods 3 are uniformly installed outside the first rack 2, a first micro motor 4 is fixedly installed on two sides of the end part of each first side rod 3 in the vertical direction, a first blade 5 is fixedly installed at the top end of each first micro motor 4, a main controller 6 is fixedly installed at the top end of the first rack 2, a storage battery 7 is fixedly arranged at the top end of the main controller 6, and a magnetic attraction block 8 is fixedly arranged at the top end of the storage battery 7;
the matching machine comprises a second rack 9 arranged in parallel with the first rack 2, six second side rods 11 are uniformly arranged outside the second rack 9, a second micro motor 12 is fixedly arranged at the end part of each second side rod 11, a first blade 13 is fixedly arranged at the top end of each second micro motor 12, a sub-controller 10 is fixedly arranged at the top end of the second rack 9, a top charger 15 of the sub-controller 10 is fixedly arranged at the bottom end of the second rack 9, the charger 15 comprises a battery part, a charging endurance module 32 and a magnetic suction charging interface 24, the charging magnetic suction interface 24 and the charging endurance module 32 are electrically connected with the sub-controller 10, the charging magnetic suction interface 24 is arranged on the inner side wall of the connecting cover 14, and the main controller 6 is wirelessly connected with the sub-controller 10;
fixed subassembly is including setting up at the backup pad 17 at main control unit 6 along horizontal both ends, and the outside of backup pad 17 has been seted up and has been run through groove 18, one side lateral wall fixed mounting of backup pad 17 has driving motor 20, and driving motor 20's one end is located and runs through groove 18 internal fixedly connected with bull stick 21, and the one end of bull stick 21 is connected with arc cardboard 19, the bottom of connecting cover 14 all is equipped with curb plate 16 along horizontal both ends, and the bottom of curb plate 16 is equipped with base 22 along radial both ends symmetry, and fixedly between two bases 22 is equipped with cross axle 23, and cross axle 23 pegs graft mutually with arc cardboard 19.
Further, the top end of the camera 1 is hinged with a bracket 25, and the bracket 25 is fixedly connected with the bottom end of the first frame 2 and used for fixing the camera 1.
Further, the bottom of the first frame 2 is provided with support seats 34 at both ends in the transverse direction for supporting the main patrol machine.
Further, the connection cover 14 covers the outside of the storage battery 7, and the magnetic charging interface 24 is magnetically connected with the magnetic block 8.
Further, an input end of the main controller 6 is connected with an image storage module 27, an input end of the image analysis module 27 is connected with an image sensor 26, the image sensor 26 is fixedly installed outside the camera 1, and the image sensor 26 transmits image information shot by the camera 1 to the image analysis module 27 to complete image transformation, enhancement, segmentation, feature analysis and the like.
Further, the input end of the main controller 6 is connected with an image storage module 27 for storing image information shot by the camera 1 in the patrol process of the main patrol machine
The implementation scenario is specifically as follows: firstly, the main patrol machine controls the first micro motor 4 at the end parts of six first side rods 3 to drive the first blades 5 to rotate through the main controller 6 to realize the flight of the whole machine, meanwhile, the positioning navigation module 31 connected with the main controller 6 is arranged on a locus designed by the base station controller 32, in the flight process of the whole machine, the video camera 1 shoots mountain forest image information, the mountain forest image information is transmitted to the image analysis module 27 through the image sensor 26, the image analysis module 27 finishes the transformation, the enhancement, the segmentation, the characteristic analysis and the like of the image, the image information is stored in the image storage module 28 and sent back to the base station controller 32 to realize the patrol of the mountain forest, the whole machine is powered by the storage battery 7 arranged on the first machine frame 2, and the main controller 6 monitors the use state of the storage battery 7,
when the electricity is insufficient, the base station controller 32 controls the matching machine to charge the main patrol machine for continuation of journey, and the operation is that the sub-controller 10 controls the second micro-motors 12 at the ends of the six second side bars 11 to drive the second blades 13 to rotate so as to realize the flight of the whole machine, and simultaneously, the positioning navigation module 31 connected with the sub-controller 6 realizes the navigation indication, when the main patrol machine approaches, the positioning navigation module 31 controls the whole body to move to the upper part of the main patrol machine, and simultaneously, the connecting cover 14 at the bottom end of the second frame 9 is connected with the storage battery 7 to cover, simultaneously, the driving motors 20 on the supporting plates 17 at the two ends of the main controller 6 drive the rotating rods 21 to rotate, the arc-shaped clamping plates 19 connected with the rotating rods 21 are overturned to the upper part of the supporting plates 17, and the transverse shafts 23 are fixed in the arc-shaped clamping plates 19, so that the structures between the matching machine and the main patrol machine are kept the same, meanwhile, the magnetic suction charging interface 24 on the inner side of the connecting cover 14 is in magnetic suction contact with the magnetic suction block 8, the battery portion in the charger 15 supplies power to the storage battery 7 under the control of the charging cruising module 33, and therefore the cruising of the main patrol machine is guaranteed under the condition that the electric quantity is urgent, the patrol operation of the main patrol machine is guaranteed, the patrol operation cannot be interrupted, the problem that the main patrol machine is lost or damaged is avoided, and the patrol operation efficiency is improved.
Referring to the attached fig. 1 and 7 in the specification, in the dual-machine type mountain patrol unmanned aerial vehicle with the function of ensuring cruising according to the embodiment, the main patrol machine and the matching machine are both internally provided with a cruising obstacle avoidance system, the cruising obstacle avoidance system comprises an ultrasonic sensor 29 arranged in the main controller 6 or the auxiliary controller 10, and the output end of the ultrasonic sensor 29 is connected with an ultrasonic obstacle avoidance module 30.
Further, the ultrasonic obstacle avoidance module 30 is formed by connecting an ultrasonic ranging module with a positioning navigation module 31, and the ultrasonic obstacle avoidance module 30 is electrically connected with the main controller 6 or the sub-controller 10.
The implementation scenario is specifically as follows: the ultrasonic sensor 29 arranged in the main controller 6 or the sub-controller 10 is used for avoiding the obstacle of the main patrol machine and the matching machine in the flight process, the main controller 6 or the sub-controller 10 is electrically connected with the ultrasonic obstacle avoiding module 30, the ultrasonic obstacle avoiding module is formed by connecting the ultrasonic ranging module with the positioning navigation module 31, the ultrasonic ranging module calculates the measuring distance as the sound wave meets the obstacle and reflects the sound wave at a known speed, and then the positioning navigation module 31 is combined to control the change of the flight path of the main patrol machine and the matching machine, so that the obstacle avoiding can be easily realized, and the main patrol machine is ensured to smoothly carry out the mountain patrol and the matching machine is ensured to smoothly complete the charging cruising operation of the main patrol machine.
The working principle is as follows: referring to the attached figures 1-7 of the specification, the base station controller 32 controls the matching machine to charge the main patrol machine for continuous voyage, and the operation is that the sub-controller 10 controls the second micro-motors 12 at the ends of the six second side rods 11 to drive the second blades 13 to rotate so as to realize the flight of the whole machine, and at the same time, the positioning navigation module 31 connected with the sub-controller 6 is used to realize the navigation indication, when approaching the main patrol machine, the positioning navigation module 31 controls the whole body to move to the upper part of the main patrol machine, at the same time, the connecting cover 14 at the bottom end of the second frame 9 is connected with the storage battery 7 to cover, at the same time, the driving motors 20 on the supporting plates 17 at the two ends of the main controller 6 drive the rotating rods 21 to rotate, the arc-shaped clamping plates 19 connected with the rotating rods 21 are turned over the supporting plates 17, and the transverse shafts 23 are fixed in the arc-shaped clamping plates 19, so that the structures between, meanwhile, the magnetic suction charging interface 24 on the inner side of the connecting cover 14 is in magnetic suction contact with the magnetic suction block 8, the battery portion in the charger 15 supplies power to the storage battery 7 under the control of the charging cruising module 33, the cruising of the main patrol machine is guaranteed under the condition that the electric quantity is urgent, the patrol operation of the main patrol machine is guaranteed, the patrol is not interrupted, and the situation is avoided.
Referring to the attached drawings 1 and 7 in the specification, the ultrasonic sensor 29 is used for avoiding obstacles in the flight process of the main patrol machine and the matching machine, the main controller 6 or the sub-controller 10 is electrically connected with the ultrasonic obstacle avoiding module 30, the ultrasonic obstacle avoiding module is connected with the positioning navigation module 31, the ultrasonic distance measuring module calculates a measuring distance because the sound wave is reflected when meeting obstacles and the speed of the sound wave is known, and then the positioning navigation module 31 is combined to control the change of the flight paths of the main patrol machine and the matching machine, so that the obstacles can be easily avoided, and the main patrol machine can smoothly perform mountain patrol and the matching machine can smoothly complete charging continuation operation on the main patrol machine.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (8)

1. The utility model provides a duplex formula mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function, includes camera (1), its characterized in that: the camera (1) is carried on a main patrol machine, a matching machine is arranged above the main patrol machine through a fixing assembly, the main patrol machine comprises a first rack (2) connected with the camera (1), six first side rods (3) are uniformly arranged outside the first rack (2), a first micro motor (4) is fixedly arranged on each of two sides of the end portion of each first side rod (3) in the vertical direction, a first blade (5) is fixedly arranged at the top end of each first micro motor (4), a main controller (6) is fixedly arranged at the top end of the first rack (2), a storage battery (7) is fixedly arranged at the top end of the main controller (6), and a magnetic suction block (8) is fixedly arranged at the top end of the storage battery (7);
the matching machine comprises a second rack (9) arranged in parallel with the first rack (2), six second side rods (11) are uniformly arranged outside the second rack (9), a second micro motor (12) is fixedly arranged at the end part of each second side rod (11), a first blade (13) is fixedly arranged at the top end of each second micro motor (12), a sub-controller (10) is fixedly arranged at the top end of the second rack (9), a top charger (15) of the sub-controller (10) is fixedly arranged at the bottom end of the second rack (9), the charger (15) comprises a battery part, a charging endurance module (32) and a magnetic suction charging interface (24), the charging magnetic suction interface (24) and the charging endurance module (32) are electrically connected with the sub-controller (10), the charging magnetic suction interface (24) is arranged on the inner side wall of the connecting cover (14), the main controller (6) and the auxiliary controller (10) are in wireless connection with a base station controller (32);
fixed subassembly is including setting up backup pad (17) at main control unit (6) along horizontal both ends, and the outside of backup pad (17) has been seted up and has been run through groove (18), one side lateral wall fixed mounting of backup pad (17) has driving motor (20), and the one end of driving motor (20) is located and runs through fixedly connected with bull stick (21) in groove (18), and the one end of bull stick (21) is connected with arc cardboard (19), the bottom of connecting lid (14) all is equipped with curb plate (16) along horizontal both ends, and the bottom of curb plate (16) is equipped with base (22) along radial both ends symmetry, and fixedly between two base (22) be equipped with cross axle (23), and cross axle (23) peg graft mutually with arc cardboard (19).
2. The dual-machine type mountain patrol unmanned aerial vehicle with the guarantee continuation of journey function of claim 1, wherein: the top end of the camera (1) is hinged with a support (25), and the support (25) is fixedly connected with the bottom end of the first frame (2).
3. The dual-machine type mountain patrol unmanned aerial vehicle with the guarantee continuation of journey function of claim 1, wherein: and supporting seats (34) are arranged at the bottom of the first rack (2) along the two transverse ends.
4. The dual-machine type mountain patrol unmanned aerial vehicle with the guarantee continuation of journey function of claim 1, wherein: the connection cover (14) is wrapped outside the storage battery (7), and the magnetic attraction charging interface (24) is magnetically attracted with the magnetic attraction block (8) to be connected.
5. The dual-machine type mountain patrol unmanned aerial vehicle with the guarantee continuation of journey function of claim 1, wherein: the main patrol machine and the matching machine are internally provided with a cruising obstacle avoidance system, the cruising obstacle avoidance system comprises an ultrasonic sensor (29) arranged in a main controller (6) or an auxiliary controller (10), and the output end of the ultrasonic sensor (29) is connected with an ultrasonic obstacle avoidance module (30).
6. The dual-machine type mountain patrol unmanned aerial vehicle with the function of ensuring cruising according to claim 5, characterized in that: the ultrasonic obstacle avoidance module (30) is formed by connecting an ultrasonic ranging module with a positioning navigation module (31), and the ultrasonic obstacle avoidance module (30) is electrically connected with the main controller (6) or the auxiliary controller (10).
7. The dual-machine type mountain patrol unmanned aerial vehicle with the guarantee continuation of journey function of claim 1, wherein: the input end of the main controller (6) is connected with an image storage module (27), the input end of the image analysis module (27) is connected with an image sensor (26), the image sensor (26) is fixedly installed outside the camera (1), and the image sensor (26) transmits image information shot by the camera (1) to the image analysis module (27) to complete image transformation, enhancement, segmentation, feature analysis and the like.
8. The dual-machine type mountain patrol unmanned aerial vehicle with the guarantee continuation of journey function of claim 1, wherein: the input end of the main controller (6) is connected with an image storage module (27) which is used for storing image information shot by the camera (1) in the patrol process of the main patrol machine.
CN202010912167.0A 2020-09-02 2020-09-02 Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function Pending CN112078793A (en)

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CN202010912167.0A CN112078793A (en) 2020-09-02 2020-09-02 Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function

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CN202010912167.0A CN112078793A (en) 2020-09-02 2020-09-02 Double-machine type mountain forest patrol unmanned aerial vehicle with guarantee continuation of journey function

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Citations (8)

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