CN113586893B - Microgravity optical flow sensing fixing device and application method thereof - Google Patents
Microgravity optical flow sensing fixing device and application method thereof Download PDFInfo
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- CN113586893B CN113586893B CN202110842646.4A CN202110842646A CN113586893B CN 113586893 B CN113586893 B CN 113586893B CN 202110842646 A CN202110842646 A CN 202110842646A CN 113586893 B CN113586893 B CN 113586893B
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- 230000003287 optical effect Effects 0.000 title claims abstract description 62
- 230000005486 microgravity Effects 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims description 15
- 238000001514 detection method Methods 0.000 claims abstract description 28
- 238000009434 installation Methods 0.000 claims abstract description 4
- 230000008859 change Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005065 mining Methods 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
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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
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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 optical flow sensing fixing device, wherein an optical flow sensor (4) is connected with a universal structure to form a combination body with larger inertia; when the combination body is connected to the external installation structure through a plurality of elastic traction structures, the optical flow sensor is positioned at the bottom end of the combination body; the invention can enable the detection direction of the optical flow sensor to be quickly stabilized at the vertical position when the unmanned plane or the unmanned vehicle moves.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a microgravity optical flow sensing fixing device and a using method thereof.
Background
How to obtain accurate and stable transmitted position information has been a hotspot in research in academia, industry, navigation, defense, agriculture and mining. Over the years, as global satellite navigation systems (GNSS) have emerged and matured, outdoor positioning techniques have reached a practical level in terms of accuracy and cost. However, in the case where positioning signals transmitted by satellites cannot be received indoors, in subways, in hills, in electromagnetic shields, etc., GNSS systems will not be able to use or will acquire erroneous data. Such as position detection of warehouse products, position detection of indoor firemen in fire, position detection of workers in mine holes, etc., the urgent needs of the series make indoor positioning and indoor and outdoor fusion positioning technology a very urgent research task.
One of the solutions to this problem is to use a non-inertial sensor measurement unit to assist measurement, such as fusion of various sensors such as lidar, GPS, optical flow sensor, etc., which has been developed greatly in recent years and has achieved a great deal of application results. In particular to an optical flow sensing technology, which can achieve an application error of less than 10cm level in an application scene of fixed-point landing and hovering.
However, the optical flow sensor has strict height and direction requirements in the practical application process, the optical flow sensor samples ground data by means of a vertically downward camera, and a series of algorithms are performed to obtain the coordinate position of the unmanned aerial vehicle. The accuracy of data acquisition of the optical flow sensor is seriously affected by the fact that the camera deviates from the vertical direction, swings in space, vibrates or rotates irregularly and the like. Optical flow sensors used by the traditional unmanned aerial vehicle are fixed on the rack, and can change along with vibration, flight and instability of the unmanned aerial vehicle at any time, and filtering treatment can greatly increase the CPU running efficiency and the energy consumption.
The application provides a novel microgravity optical flow sensing fixing device, the device can make optical flow sensor stabilize at vertical position fast, can not change optical flow sensor's camera direction owing to unmanned aerial vehicle's vibration, rotation etc to reduce the complexity of later stage filter treatment by a wide margin, very big improvement optical flow sensor data acquisition's accuracy and instantaneity.
Disclosure of Invention
The invention provides a microgravity optical flow sensing fixing device and a use method thereof, which can enable the detection direction of an optical flow sensor to be quickly stabilized at a vertical position when an unmanned plane or an unmanned vehicle moves.
The invention adopts the following technical scheme.
A microgravity optical flow sensing fixing device, wherein an optical flow sensor (4) is connected with a universal structure to form a combination with larger inertia; when the combination body is connected to the external installation structure through a plurality of elastic traction structures, the optical flow sensor is positioned at the bottom end of the combination body.
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 is connected to the inner wall of the spherical shell through three light springs (2), the combined body is positioned at the detection opening of the spherical shell and is under the action of microgravity, the detection direction of the optical flow sensor is vertically oriented downwards, and data can be collected through the detection opening.
Three small fixing holes (5) which are 120 degrees away from each other are formed in the longitudinal surface of the upper part of the spherical universal wheel and are used for connecting the light spring; a fixing structure for connecting the optical flow sensor is arranged under the universal wheel.
The three light springs have the same specification, are all springs with the length of less than 5 grams and the length range of 5-10 millimeters.
The spherical universal wheel has a smooth spherical wall; the spherical shell is formed of a hard plastic.
The upper part of the spherical shell is provided with a spring mounting hole; the spherical shell detection opening is a round hole with the diameter smaller than that of the spherical universal wheel.
The application method of the microgravity optical flow sensing fixing device is characterized in that the microgravity optical flow sensing fixing device is adopted: when the method is used for an unmanned aerial vehicle, the optical flow sensor is connected with the universal wheel 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 the frame of the unmanned aerial vehicle; when the unmanned aerial vehicle vibrates or swings in the flying process, the combined body reduces the attitude variation by self inertia and the elasticity of a light spring connected with the upper part of the universal wheel, so that the accuracy of the detection direction of the optical flow sensor at the bottom of the combined body is improved.
When the optical flow sensor swings due to the change of the posture of the combined body, the combined body is reset under the driving of self gravity and the elasticity 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 universal wheel with large mass, so that the combination body with large static inertia is formed through the increase of the mass, and when the unmanned aerial vehicle jolts, the combination body can still reduce the gesture change through the large static inertia, and the detection direction of the optical flow sensor is maintained stable.
According to the scheme, under the condition that the unmanned aerial vehicle stably flies or is stationary, the universal wheel with the optical flow sensor keeps a vertical position under the action of microgravity, so that the camera of the optical flow sensor vertically downwards analyzes and processes the ground image; when the unmanned aerial vehicle vibrates and rotates, the universal wheel can swing along with the unmanned aerial vehicle in the vertical direction due to the effects of rigid moment and momentum moment, but at the moment, the three light springs limit the vibration amplitude of the universal wheel according to the principle of space symmetry, so that the universal wheel can quickly converge in the vertical direction, and the optical flow sensor on the universal wheel can quickly and accurately acquire ground image data.
The invention has the advantages that:
1. the structure is simple, and the cost is low;
2. the device has sensitive response and high adjustment speed;
3. the system has strong expansibility, and can be connected with scenes such as unmanned aerial vehicles, unmanned vehicles and the like needing optical flow sensor positioning.
Drawings
The invention is described in further detail below with reference to the attached drawings 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-optical flow sensor; 5-fixing the small hole; 6-spring mounting holes.
Detailed Description
As shown in the figure, a microgravity optical flow sensing fixing device is provided, wherein the optical flow sensor 4 is connected with a universal structure to form a combination with larger inertia; when the combination body is connected to the external installation structure through a plurality of elastic traction structures, the optical flow sensor is positioned at the bottom end of the combination body.
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 is connected to the inner wall of the spherical shell through three light springs 2, the combined body is positioned at the detection opening of the spherical shell and is under the action of microgravity, the detection direction of the optical flow sensor is vertically oriented downwards, and data can be collected through the detection opening.
Three small fixing holes 5 which are 120 degrees away from each other are formed in the longitude plane at the upper part of the spherical universal wheel and are used for connecting a light spring; a fixing structure for connecting the optical flow sensor is arranged under the universal wheel.
The three light springs have the same specification, are all springs with the length of less than 5 grams and the length range of 5-10 millimeters.
The spherical universal wheel has a smooth spherical wall; the spherical shell is formed of a hard plastic.
The upper part of the spherical shell is provided with a spring mounting hole 6; the spherical shell detection opening is a round hole with the diameter smaller than that of the spherical universal wheel.
The application method of the microgravity optical flow sensing fixing device is characterized in that the microgravity optical flow sensing fixing device is adopted: when the method is used for an unmanned aerial vehicle, the optical flow sensor is connected with the universal wheel 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 the frame of the unmanned aerial vehicle; when the unmanned aerial vehicle vibrates or swings in the flying process, the combined body reduces the attitude variation by self inertia and the elasticity of a light spring connected with the upper part of the universal wheel, so that the accuracy of the detection direction of the optical flow sensor at the bottom of the combined body is improved.
When the optical flow sensor swings due to the change of the posture of the combined body, the combined body is reset under the driving of self gravity and the elasticity 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, the one end of light spring is fixed in the fixed aperture department that is used for connecting light spring of universal wheel, and the other end is fixed in spherical shell and handles spring mounting hole department, and hole department at both ends all has M8 screw thread fixed knot and constructs.
Examples:
1. when the unmanned aerial vehicle is in a stable flight condition, the universal wheel and the optical flow sensor are in a vertical downward position under the action of microgravity, the camera of the optical flow sensor shoots a ground image vertically downward, and at the moment, the three light springs are in a free extension state and have no elastic deformation;
2. when the unmanned aerial vehicle is ready to hover at a fixed point, due to the change of the flying gesture, the unmanned aerial vehicle can reciprocally rotate, swing and vibrate in a certain area, so that the optical flow sensor can swing in a cone mode, the camera cannot accurately acquire ground image data, at the moment, the three light springs provide elastic resistance according to swinging conditions, and the optical flow sensor can be quickly and stably kept at a vertical position for a long time under the action of microgravity of the universal wheel, so that the ground image data can be accurately acquired.
Claims (2)
1. The utility model provides a microgravity optical flow sensing fixing device which characterized in that: the optical flow sensor (4) is connected with the universal structure to form a combination body with larger inertia; when the combination body is connected to the external installation structure through a plurality of elastic traction structures, the optical flow sensor is positioned at the bottom end of the combination body;
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 is connected to the inner wall of the spherical shell through three light springs (2), the combined body is positioned at the detection opening of the spherical shell, under the action of microgravity, the detection direction of the optical flow sensor is vertically oriented downwards, and data can be collected through the detection opening;
three small fixing holes (5) which are 120 degrees away from each other are formed in the longitudinal surface of the upper part of the spherical universal wheel and are used for connecting the light spring; a fixed structure for connecting an optical flow sensor is arranged under the universal wheel;
the three light springs have the same specification, are all springs with the length of less than 5 g and the length range of 5-10 mm;
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 method is used for an unmanned aerial vehicle, wherein an optical flow sensor is connected with a universal wheel to form a combined body with larger inertia, and the combined body is positioned at the bottom of a spherical shell and is suspended by a light spring; the spherical shell is fixed under the frame of the unmanned aerial vehicle; when the unmanned aerial vehicle vibrates or swings in the flight process, the combined body reduces the attitude variation by self inertia and the elasticity of a light spring connected with the upper part of the universal wheel so as to improve the accuracy of the detection direction of the optical flow sensor at the bottom of the combined body;
when the optical flow sensor swings due to the change of the posture of the combined body, the combined body is reset under the driving of self gravity and the elasticity of the light spring, so that the detection direction of the optical flow sensor can be quickly reset to the vertical direction;
the lower end of the combination body protrudes from the detection opening of the spherical shell, and the optical flow sensor is fixed at the bottom end of the spherical universal wheel.
2. The microgravity optical flow sensing fixture of claim 1, wherein: the spherical universal wheel has a smooth spherical wall; the spherical shell is formed of a hard plastic.
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