CN113586893A - Microgravity light stream sensing fixing device and using method thereof - Google Patents
Microgravity light stream sensing fixing device and using method thereof Download PDFInfo
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- CN113586893A CN113586893A CN202110842646.4A CN202110842646A CN113586893A CN 113586893 A CN113586893 A CN 113586893A CN 202110842646 A CN202110842646 A CN 202110842646A CN 113586893 A CN113586893 A CN 113586893A
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- 230000005486 microgravity Effects 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims description 23
- 230000008859 change Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 235000019994 cava Nutrition 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/027—Ceiling supports
-
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention provides a microgravity light stream sensing fixing device, wherein a light stream sensor (4) is connected with a universal structure to form a combined body with larger inertia; when the combined body is connected to the external mounting structure through a plurality of elastic traction structures, the optical flow sensor is positioned at the bottom end of the combined body; the invention can quickly and stably detect the direction of the optical flow sensor at the vertical position when the unmanned aerial vehicle or the unmanned vehicle moves.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a microgravity light stream sensing fixing device and a using method thereof.
Background
How to obtain accurate and stably transmitted position information has been a hotspot of researches in academic, industrial, marine, national defense and scientific industries, agricultural and mining industries and the like. Over the years, as Global Navigation Satellite Systems (GNSS) have emerged and matured, outdoor positioning technology has reached practical levels of accuracy and cost. However, in the case where the positioning signals transmitted from the satellites cannot be received indoors, in subways, in caves, in electromagnetic shields, etc., the GNSS system cannot be used or erroneous data can be obtained. Such as the position detection of stored products, the position detection of indoor firemen in fire, the position detection of workers in mine caves and the like, the series of urgent needs make the indoor positioning and indoor and outdoor fusion positioning technology become a very urgent research task.
One solution to this problem is to perform auxiliary measurement by means of a non-inertial sensor measurement unit, such as fusion by using various sensors, such as lidar, GPS, and optical flow sensors, which have been developed greatly in recent years and have achieved a great deal of application results. In particular to an optical flow sensing technology, the application scene of the optical flow sensing technology in fixed point landing and hovering can reach the application error of less than 10cm level.
However, the optical flow sensor has strict requirements on height and direction in the practical application process, the optical flow sensor samples ground data by means of a vertically downward camera, and the coordinate position of the unmanned aerial vehicle is obtained through a series of algorithms. The camera deviates from the vertical direction, and swings, vibrates or rotates irregularly in space, and the like, which seriously affect the accuracy of data acquisition of the optical flow sensor. On traditional unmanned aerial vehicle used light stream sensor all was fixed in the frame, can change constantly along with unmanned aerial vehicle's vibration, flight, unstability, carry out filtering to it and can increase CPU operating efficiency and increase the energy consumption by a wide margin.
The application provides a novel microgravity light stream sensing fixing device, the device can make light stream sensor rapid stabilization in vertical position, can not change light stream sensor's camera direction because unmanned aerial vehicle's vibration, rotation etc. to reduce the complexity of post filtering processing by a wide margin, very big improvement light stream sensor data acquisition's accuracy and real-time.
Disclosure of Invention
The invention provides a microgravity light stream sensing fixing device and a using method thereof, which can enable the detection direction of a light stream sensor to be quickly stabilized at a vertical position when an unmanned aerial vehicle or an unmanned vehicle moves.
The invention adopts the following technical scheme.
A microgravity optical flow sensing fixture, the optical flow sensor (4) being connected to a gimbal structure to form a combination of greater inertia; when the assembly is connected to an external mounting structure with a plurality of elastic pulling structures, the optical flow sensor is located at the bottom end of the assembly.
The universal structure is a spherical universal wheel (3); the traction structure is a light spring.
The external mounting structure is a spherical shell (1) with a detection port at the lower end; when the universal wheel was connected in spherical shell inner wall with three light spring (2), the assembly was located spherical shell's detection mouth department, received the microgravity effect, and the vertical orientation of light stream sensor direction of detection is downwards, and the accessible is surveyed a mouthful data acquisition.
Three fixing small holes (5) which form an angle of 120 degrees with each other are arranged in the longitude plane at the upper part of the spherical universal wheel and are used for connecting a light spring; a fixing structure used for connecting the optical flow sensor is arranged right below the universal wheel.
The three light springs have the same specification, and are all springs with the length of less than 5 g and within the range of 5-10 mm.
The spherical universal wheel is provided with a smooth spherical wall; the spherical shell is molded from hard plastic.
The upper part of the spherical shell is provided with a spring mounting hole; the spherical shell detection port is a round hole with the diameter smaller than that of the spherical universal wheel.
The application method of the microgravity optical flow sensing and fixing device is characterized in that the microgravity optical flow sensing and fixing device is adopted, and the application method comprises the following steps: when the method is used for the unmanned aerial vehicle, the optical flow sensor and the universal wheel are connected to form a combined body with larger inertia, and the combined body is positioned at the bottom of the spherical shell and is in a state of being suspended by the light spring; the spherical shell is fixed under a frame of the unmanned aerial vehicle; when unmanned aerial vehicle produced vibration or swing at the flight in-process, the light spring elasticity that the assembly was connected with self inertia and universal wheel upper portion reduced the gesture change volume to promote the light stream sensor's of assembly bottom detection direction accuracy.
When the attitude of the assembly changes to make the optical flow sensor swing, the assembly resets under the drive of self gravity and the elastic force of the light spring, so that the detection direction of the optical flow sensor can be quickly reset to the vertical direction.
According to the scheme, the optical flow sensor is connected with the high-mass universal wheel, so that an assembly with large static inertia is formed through mass increase, when the unmanned aerial vehicle jolts, the attitude change of the assembly can be reduced by the large static inertia of the assembly, and the stability of the detection direction of the optical flow sensor is maintained.
According to the scheme, under the condition that the unmanned aerial vehicle stably flies or is static, due to the micro-gravity effect, the universal wheel with the optical flow sensor keeps a vertical position, so that a camera of the optical flow sensor vertically downwards analyzes and processes a ground image; and when unmanned aerial vehicle vibration, when rotatory, because rigid body moment and momentum moment effect, the universal wheel also can be along with unmanned aerial vehicle at vertical direction swing, but, three light spring will restrict according to the space symmetry principle this moment, make its rapid decay to the universal wheel vibration amplitude to make the universal wheel can converge in vertical direction fast, light stream sensor on it also can obtain ground image data fast and accurately.
The invention has the advantages that:
1. the structure is simple, and the cost is low;
2. the device has sensitive reaction and high regulation speed;
3. the expansibility is strong, can connect the scene that needs light stream sensor location such as unmanned aerial vehicle, unmanned car.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic top view of the present invention;
in the figure: 1-a spherical shell; 2-a light spring; 3-universal wheels; 4-an optical flow sensor; 5-fixing the small hole; 6-spring mounting hole.
Detailed Description
As shown in the figure, the light flow sensor 4 is connected with a universal structure to form a combined body with larger inertia; when the assembly is connected to an external mounting structure with a plurality of elastic pulling structures, the optical flow sensor is located at the bottom end of the assembly.
The universal structure is a spherical universal wheel 3; the traction structure is a light spring.
The external mounting structure is a spherical shell 1 with a detection port at the lower end; when the universal wheel was connected in spherical shell inner wall with three light spring 2, the assembly was located spherical shell's detection mouth department, received the microgravity effect, and the vertical orientation of light stream sensor direction of detection is downwards, and the accessible is surveyed mouthful data acquisition.
Three fixing small holes 5 which form an angle of 120 degrees with each other are arranged in the longitude plane at the upper part of the spherical universal wheel and are used for connecting a light spring; a fixing structure used for connecting the optical flow sensor is arranged right below the universal wheel.
The three light springs have the same specification, and are all springs with the length of less than 5 g and within the range of 5-10 mm.
The spherical universal wheel is provided with a smooth spherical wall; the spherical shell is molded from hard plastic.
The upper part of the spherical shell is provided with a spring mounting hole 6; the spherical shell detection port is a round hole with the diameter smaller than that of the spherical universal wheel.
The application method of the microgravity optical flow sensing and fixing device is characterized in that the microgravity optical flow sensing and fixing device is adopted, and the application method comprises the following steps: when the method is used for the unmanned aerial vehicle, the optical flow sensor and the universal wheel are connected to form a combined body with larger inertia, and the combined body is positioned at the bottom of the spherical shell and is in a state of being suspended by the light spring; the spherical shell is fixed under a frame of the unmanned aerial vehicle; when unmanned aerial vehicle produced vibration or swing at the flight in-process, the light spring elasticity that the assembly was connected with self inertia and universal wheel upper portion reduced the gesture change volume to promote the light stream sensor's of assembly bottom detection direction accuracy.
When the attitude of the assembly changes to make the optical flow sensor swing, the assembly resets under the drive of self gravity and the elastic force of the light spring, so that the detection direction of the optical flow sensor can be quickly reset to the vertical direction.
In this example, one end of the light spring is fixed at the fixing small hole of the universal wheel for connecting the light spring, the other end is fixed at the mounting hole of the spherical shell processing spring, and the holes at the two ends are provided with M8 thread fixing structures.
Example (b):
1. when the unmanned aerial vehicle is in a stable flight state, the universal wheels and the optical flow sensor are in a vertically downward position due to the action of microgravity, a camera of the optical flow sensor vertically shoots a ground image downwards, and at the moment, the three light springs are in a free extension state and do not elastically deform;
2. when unmanned aerial vehicle prepares fixed point suspension, because the change of flight gesture, unmanned aerial vehicle will be at certain region reciprocating rotation, swing, vibration, this can lead to light stream sensor circular cone swing to make the camera can't accurately acquire ground image data, three light spring provides elastic resistance according to the swing condition this moment, in addition the microgravity effect of universal wheel itself, just can make light stream sensor in the longer time, fast, stably keep in vertical position to accurate acquisition ground image data.
Claims (9)
1. A microgravity light stream sensing fixing device is characterized in that: the optical flow sensor (4) is connected with a universal structure to form a combined body with larger inertia; when the assembly is connected to an external mounting structure with a plurality of elastic pulling structures, the optical flow sensor is located at the bottom end of the assembly.
2. A microgravity optofluidic sensing fixture as defined in claim 1, wherein: the universal structure is a spherical universal wheel (3); the traction structure is a light spring.
3. A microgravity optofluidic sensing fixture as defined in claim 2, wherein: the external mounting structure is a spherical shell (1) with a detection port at the lower end; when the universal wheel was connected in spherical shell inner wall with three light spring (2), the assembly was located spherical shell's detection mouth department, received the microgravity effect, and the vertical orientation of light stream sensor direction of detection is downwards, and the accessible is surveyed a mouthful data acquisition.
4. A microgravity optofluidic sensing fixture as defined in claim 3, wherein: three fixing small holes (5) which form an angle of 120 degrees with each other are arranged in the longitude plane at the upper part of the spherical universal wheel and are used for connecting a light spring; a fixing structure used for connecting the optical flow sensor is arranged right below the universal wheel.
5. A microgravity optofluidic sensing fixture as defined in claim 3, wherein: the three light springs have the same specification, and are all springs with the length of less than 5 g and within the range of 5-10 mm.
6. A microgravity optofluidic sensing fixture as defined in claim 3, wherein: the spherical universal wheel is provided with a smooth spherical wall; the spherical shell is molded from hard plastic.
7. A microgravity optofluidic sensing fixture as defined in claim 3, wherein: the upper part of the spherical shell is provided with a spring mounting hole; the spherical shell detection port is a round hole with the diameter smaller than that of the spherical universal wheel.
8. A method of using a microgravity optical flow sensing fixture as defined in claim 7, wherein: when the method is used for the unmanned aerial vehicle, the optical flow sensor and the universal wheel are connected to form a combined body with larger inertia, and the combined body is positioned at the bottom of the spherical shell and is in a state of being suspended by the light spring; the spherical shell is fixed under a frame of the unmanned aerial vehicle; when unmanned aerial vehicle produced vibration or swing at the flight in-process, the light spring elasticity that the assembly was connected with self inertia and universal wheel upper portion reduced the gesture change volume to promote the light stream sensor's of assembly bottom detection direction accuracy.
9. The method of using a microgravity optofluidic sensing fixture as recited in claim 8, wherein: when the attitude of the assembly changes to make the optical flow sensor swing, the assembly resets under the drive of self gravity and the elastic force of the light spring, so that the detection direction of the optical flow sensor can be quickly reset to the vertical direction.
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