CN203848821U - Measurement device and unmanned aerial vehicle - Google Patents
Measurement device and unmanned aerial vehicle Download PDFInfo
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- CN203848821U CN203848821U CN201420212969.0U CN201420212969U CN203848821U CN 203848821 U CN203848821 U CN 203848821U CN 201420212969 U CN201420212969 U CN 201420212969U CN 203848821 U CN203848821 U CN 203848821U
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- rotary seat
- measurement mechanism
- detection device
- runner
- fixedly connected
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- 238000005259 measurement Methods 0.000 title claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 230000004888 barrier function Effects 0.000 claims abstract description 29
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 37
- 238000010276 construction Methods 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000006978 adaptation Effects 0.000 description 5
- 238000012856 packing Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a measurement device which comprises a base, a rotary seat, a driving device for controlling the base and the rotary seat to rotate, a distance detection device arranged on the rotary seat, a position detection device for measuring current position information of the distance detection device, and a position information analyzer electrically connected with the distance detection device and the position detection device, wherein the base is rotationally connected with the rotary seat; the distance detection device is fixedly connected with the rotary seat to measure distance information of a barrier relative to a first preset base point and a second preset base point; the position information analyzer is used for obtaining the actual distance of the measurement device relative to the barrier according to the distance information of the barrier relative to the first preset base point and the second preset base point. The utility model further discloses an unmanned aerial vehicle. The measurement cost is reduced.
Description
Technical field
The utility model relates to detection technique field, relates in particular to measurement mechanism and unmanned vehicle.
Background technology
As everyone knows, laser radar is sensor device important in robot navigation and safety applications.General use phase differential and mistiming are carried out TOF range finding, and this mode has stable high, fireballing advantage; But due to the high-precision special hardware of needs, the cost of therefore measuring is higher.
Foregoing is only understood the technical solution of the utility model for auxiliary, does not represent and admits that foregoing is prior art.
Utility model content
Fundamental purpose of the present utility model is to provide a kind of have identical inventive concept measurement mechanism and unmanned vehicle, is intended to reduce the cost of measuring.
To achieve these goals, the measurement mechanism that the utility model provides, comprises drive unit that pedestal, rotary seat, the described pedestal of control rotate with described rotary seat, is located at distance detection device on rotary seat, measures the azimuth detecting apparatus of the current present position of described distance detection device information, the positional information analyzer being electrically connected to described distance detection device and azimuth detecting apparatus; Described pedestal and described rotary seat are rotationally connected; Described distance detection device is fixedly connected with described rotary seat, to measure barrier with respect to the range information of the first preset basic point and the second preset basic point; Described positional information analyzer obtains described measurement mechanism with respect to the actual range of described barrier according to described barrier with respect to the range information of the first preset basic point and the second preset basic point.
Preferably, described pedestal be take its same circumference that is the center of circle with respect to rotation center of described rotary seat rotation and is provided with optical grating construction, the corresponding described optical grating construction setting of described azimuth detecting apparatus, and be fixedly connected with described rotary seat.
Preferably, described optical grating construction comprises the some projections that extended to described rotary seat by described pedestal, and described some projections space arranges, and is uniformly distributed on same circumference.
Preferably, described azimuth detecting apparatus comprises photoelectric tube.
Preferably, described measurement mechanism also comprises that rotation axis, bearing, said base are provided with the accommodating cavity for accommodating described bearing, and described bearing interference is connected in described accommodating cavity; Described rotation axis passes described bearing and is fixedly connected with described bearing; Described rotation axis is rotationally connected by described bearing and described pedestal, and described rotation axis is fixedly connected with described rotary seat.
Preferably, described drive unit comprises motor, the first runner, the second runner and belt; Described motor is fixedly connected with described rotary seat; Described the first runner is fixedly connected with the rotating shaft of described motor; Described the second runner is fixedly connected with described pedestal; Described belt sleeve is located on described the first runner and the second runner, to drive described the first runner to synchronize and rotate with the second runner.
Preferably, described measurement mechanism also comprises conducting slip ring, and described conducting slip ring is positioned at the turning axle place of described pedestal, comprises the first slip ring and the second slip ring, and described the first slip ring is electrically connected to external power source device; Described the second slip ring is fixedly connected with described rotary seat, and described the second slip ring is electrically connected to described positional information analyzer.
Preferably, described distance detection device comprises that the preset distance of being separated by is arranged at laser generator and the imageing sensor on described rotary seat, and the laser that described laser generator sends is positioned at the region that described imageing sensor obtains image information.
Preferably, described imageing sensor is TOF sensor.
The unmanned vehicle that the utility model further provides comprises measurement mechanism, and described measurement mechanism comprises drive unit that pedestal, rotary seat, the described pedestal of control rotate with described rotary seat, be located at distance detection device on rotary seat, measure the azimuth detecting apparatus of the current present position of described distance detection device information, the positional information analyzer being electrically connected to described distance detection device and azimuth detecting apparatus; Described pedestal and described rotary seat are rotationally connected; Described distance detection device is fixedly connected with described rotary seat, to measure barrier with respect to the range information of the first preset basic point and the second preset basic point; Described positional information analyzer obtains described measurement mechanism with respect to the actual range of described barrier according to described barrier with respect to the range information of the first preset basic point and the second preset basic point.
The utility model is measured barrier with respect to the range information of the first preset basic point and the second preset basic point by distance detection device is set, and by positional information analyzer according to barrier with respect to the range information acquired disturbance thing of the first preset basic point and the second preset basic point and the actual range of measurement mechanism, thereby realized range of triangle; The current present position of distance detection device of setting party's level detecting apparatus detection simultaneously information determines that barrier is with respect to the azimuth information of measurement mechanism.Therefore the measurement mechanism that the utility model provides has been realized the location to barrier, is equivalent to prior art and carries out TOF range finding by phase differential and mistiming, and the utility model has reduced the cost of measuring.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model measurement mechanism one embodiment mono-angle;
Fig. 2 is the structural representation of the utility model measurement mechanism one another angle of embodiment;
Fig. 3 is the detection principle schematic of the utility model measurement mechanism one embodiment;
Fig. 4 is the blast structural representation of the utility model measurement mechanism one embodiment;
Fig. 5 is the structural representation of the second runner in Fig. 4.
The realization of the utility model object, functional characteristics and advantage, in connection with embodiment, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
The utility model provides a kind of measurement mechanism, referring to figs. 1 through Fig. 5, in one embodiment, this measurement mechanism comprises pedestal 10, rotary seat 20, controls drive unit 30 that described pedestal 10 rotates with described rotary seat 20, is located at distance detection device 40 on rotary seat, measures the azimuth detecting apparatus 50 of the current present position of described distance detection device 40 information, the positional information analyzer 100 being electrically connected to described distance detection device 40 and azimuth detecting apparatus 50; Described pedestal 10 is rotationally connected with described rotary seat 20; Described distance detection device 40 is fixedly connected with described rotary seat 20, to measure barrier A with respect to the range information of the first preset basic point B and the second preset basic point C; Described positional information analyzer 100 obtains described measurement mechanism with respect to the actual range of described barrier A according to described barrier A with respect to the range information of the first preset basic point B and the second preset basic point C.
In the present embodiment, above-mentioned distance detection device 40 is for obtaining barrier A with respect to the range information of the preset basic point B of distance detection device 40 first and the second preset basic point C, positional information analyzer 100 is the range information with respect to the first preset basic point B and the second preset basic point C in distance detection device 40 according to barrier A, and first distance between preset basic point B and the second preset basic point C can calculate the actual range (this actual range is the vertical range of the preset basic point B of barrier A to the first and the second preset basic point C place line) of acquired disturbance thing A and measurement mechanism, thereby realized range of triangle, above-mentioned azimuth detecting apparatus 50 is the angle information with respect to pedestal 10 rotations for detection of rotary seat 20, by this angle information reaction distance pick-up unit 40 position on rotary seat 20, thereby determines that barrier A is with respect to the azimuth information of measurement mechanism.Above-mentioned positional information analyzer 100 can be a graph processing chips and accessory circuit.
The utility model is measured barrier A with respect to the range information of the first preset basic point B and the second preset basic point C by distance detection device 40 is set, and by positional information analyzer 100 according to barrier A with respect to the range information acquired disturbance thing A of the first preset basic point B and the second preset basic point C and the actual range of measurement mechanism, thereby realized range of triangle; The setting party's level detecting apparatus 50 detection current present position of distance detection device 40 information determine that barrier A is with respect to the azimuth information of measurement mechanism simultaneously.Therefore the measurement mechanism that the utility model provides has been realized the location to barrier A, is equivalent to prior art and carries out TOF range finding by phase differential and mistiming, and the utility model has reduced the cost of measuring.
Particularly, said base 10 be take its same circumference that is the center of circle with respect to rotation center of described rotary seat 20 rotations and is provided with optical grating construction, the corresponding described optical grating construction setting of described azimuth detecting apparatus 50, for detecting the current present position of described distance detection device 40 information according to described optical grating construction, described azimuth detecting apparatus 50 is fixedly connected with described rotary seat 20.
In the present embodiment, the concrete shape of above-mentioned optical grating construction can arrange according to actual needs, and in the present embodiment, above-mentioned optical grating construction comprises the some projections 11 that extended to described rotary seat 20 by described pedestal 10, described some projections 11 spaces arrange, and are uniformly distributed on same circumference.In other embodiments, described some projections 11 also can be arranged on same circumference according to demand and arbitrarily, not must be uniformly distributed.
Particularly, the gap between the shape of above-mentioned projection and size and adjacent two projections all can arrange according to actual needs, at this, does not limit further.For example above-mentioned projection 11 setting that is square.
The structure of above-mentioned azimuth detecting apparatus 50 can arrange according to actual needs, and in the present embodiment, above-mentioned azimuth detecting apparatus 50 comprises photoelectric tube.
Particularly, the power valve of this photoelectric tube can be arranged in the circle that some projections 11 enclose, and receiving tube is arranged on outside the circle that some projections 11 enclose, and receiving tube and power valve are over against setting.When projection 11 is positioned in the middle of photoelectric tube, receiving tube cannot normally receive tube-launched photosignal; When the gap of adjacent two projections 11 is positioned in the middle of photoelectric tube, receiving tube normally receives tube-launched photosignal.By the initial position of distance detection device 40 is set, in the process of rotating relative to pedestal 10 at drive unit 30 control rotary seats 20, by the normal number of times that receives tube-launched photosignal of statistics receiving tube, determine the current residing position of distance detection device 40.
Particularly, described pedestal 10 is fixedly connected with described rotary seat 20, and its concrete connected mode can arrange according to actual needs, in the present embodiment, realizes in the following ways pedestal 10 and fixes with 20 of described rotary seat:
In the present embodiment, above-mentioned measurement mechanism also comprises that rotation axis 60, bearing 70, said base 10 are provided with the accommodating cavity 12 for accommodating described bearing 70, and described bearing 70 interference are connected in described accommodating cavity 12; Described rotation axis 60 passes described bearing 70 and is fixedly connected with described bearing 70; Described rotation axis 60 is rotationally connected with described pedestal 10 by described bearing 70, and described rotation axis 60 is fixedly connected with described rotary seat 20.
Particularly, described rotary seat 20 comprises master control circuit board 21 and the fixed support 22 being fixedly connected with described master control circuit board 21; Described master control circuit board 21 is located between described bearing 70 and described fixed support 22, and described master control circuit board 21 is provided with the first through hole 211 with described rotation axis 60 adaptations; Described fixed support 22 is provided with the mounting hole 221 with described rotation axis 60 adaptations, and described rotation axis is positioned at described mounting hole 221 through described the first through hole 211, and is fixedly connected with described fixed support 22 by a screw.
Should be noted that, the quantity of above-mentioned bearing 70 can arrange according to actual needs, in the present embodiment, this bearing 70 is preferably two, and be arranged at respectively the two ends of above-mentioned accommodating cavity 12, bearing 70 comprises and is positioned at accommodating cavity 12 near the clutch shaft bearing 71 of fixed support 22 one end and is positioned at accommodating cavity 12 away from second bearing 72 of fixed support 22 one end, and particularly, above-mentioned master control circuit board 21 is between clutch shaft bearing 71 and fixed support 22; Above-mentioned master control circuit board 21 and fixed support 22 can be fixed connection by screw.Above-mentioned positional information analyzer 100 can be located in described master control circuit board 21, and above-mentioned photoelectric tube can be fixedly welded in described master control circuit board 21.
Further, between above-mentioned bearing 70 and fixed support 22, be provided with packing ring 80, described packing ring 80 is provided with the third through-hole 81 with described rotation axis 60 adaptations, one end of described packing ring 80 and described bearing 70 butts, and the other end is through described the first through hole 211 and described fixed support 22 butts.Owing to being provided with packing ring 80, thereby limited the distance between fixed support 22 and pedestal 10, prevented because of the distance between fixed support 22 and pedestal 10 too smallly, caused master control circuit board 21 directly to contact with pedestal 10, and in the process of rotation, damage master control circuit board 21.
Further, above-mentioned drive unit 30 comprises motor 31, the first runner 32, the second runner 33 and belt 34; Described motor 31 is fixedly connected with described rotary seat 20; Described the first runner 32 is fixedly connected with the rotating shaft of described motor 31; Described the second runner 33 is fixedly connected with described pedestal 10; Described belt 34 is sheathed on described the first runner 32 and the second runner 33, to drive described the first runner 32 to synchronize rotation with the second runner 33.
Particularly, motor 31 is fixedly connected with described rotary seat 20, for example, a holding ring 222 for accommodating motor 31 can be set on above-mentioned fixed support 22, motor 31 is located in holding ring 22, and by screw, motor 31 is fixedly connected with holding ring 222.Described the second runner 33 is fixedly connected with described pedestal 10, for example, can on the second runner 33, be provided with some the second through holes 331 and one and the fourth hole 332 of above-mentioned accommodating cavity 12 adaptations, in the position of corresponding the second through hole 331 of pedestal 10, threaded hole is set; By fourth hole 332 being sheathed on the outer wall of accommodating cavity 12 near fixed support 22 one end, then by screw, pass the second through hole 331 and coordinate with threaded hole, the second runner 33 is fixedly connected with pedestal 10.The radius of above-mentioned the first runner 32 and the second runner 33 can arrange according to actual needs, and in the present embodiment, for accurate control, the radius of above-mentioned the first runner is less than the radius of the second runner effectively.
Further, described measurement mechanism also comprises conducting slip ring 90, and described conducting slip ring 90 is positioned at the turning axle place of described pedestal 10.Described electric slip ring 90 comprises the first slip ring 91 and the second slip ring 92, and described the first slip ring 91 is electrically connected to external power source device; Described the second slip ring 92 is fixedly connected with described rotary seat 20, and described the second slip ring 92 is electrically connected to described positional information analyzer 100.
In the present embodiment, above-mentioned rotation axis 60 is equivalent to the turning axle of pedestal 10, this rotation axis 60 is away from one end of above-mentioned fixed support 22 fixed orifice that caved inward, above-mentioned the second slip ring 92 is provided with the fixed part 921 with described fixed orifice adaptation, described fixed part 921 is located in described fixed orifice, and is fixed and is connected with described fixed orifice.It should be noted that above-mentioned conducting slip ring 90 is for supplying extraneous power delivery to measurement mechanism, the data transmission simultaneously measurement mechanism being detected is to outside hinge.By the first slip ring 91 and the second slip ring 92, can effectively realize the power demands of adjust the distance pick-up unit 40 and described azimuth detecting apparatus 50, meet distance detection device 40 and described azimuth detecting apparatus 50 and extraneous electric signal transmission simultaneously.The needed quantity of information of maneuverability that can adapt in addition small-sized unmanned aircraft all-around mobile completely.
Should be noted that, above-mentioned distance detection device 40 comprises that the preset distance of being separated by is arranged at laser generator 41 and the imageing sensor 42 on described rotary seat 20, and the laser that described laser generator 41 sends is positioned at the region that described imageing sensor 42 obtains image information.
Particularly, above-mentioned laser generator 41 is all fixedly connected with rotary seat 20 with imageing sensor 42, and by adjusting the position of laser generator 41 emitting heads, the laser that laser generator 41 is sent falls into the region that imageing sensor 42 obtains image information.During work, by imageing sensor 42, obtain the image information that laser generator 41 incides the hot spot of barrier A formation, and according to this image information analysis, obtain this barrier A relatively and the range information of the first preset basic point B and the second preset basic point C by positional information analyzer 100.It should be noted that the laser head position that above-mentioned the first preset basic point B is laser generator 41; Above-mentioned imageing sensor 42 can be a camera, and above-mentioned the second preset basic point C is camera lens position.
The structure that it should be noted that above-mentioned imageing sensor 42 can arrange according to actual needs, and in the present embodiment, preferably above-mentioned imageing sensor 42 is TOF sensor, thereby can realize obtaining of three-dimensional information.
The utility model also provides a kind of unmanned vehicle, and this unmanned vehicle comprises measurement mechanism, and the structure of this measurement mechanism can, with reference to above-described embodiment, not repeat them here.Naturally, because the unmanned vehicle of the present embodiment has adopted the technical scheme of above-mentioned measurement mechanism, so this unmanned vehicle has all beneficial effects of above-mentioned measurement mechanism.
These are only preferred embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model instructions and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (10)
1. a measurement mechanism, it is characterized in that, comprise drive unit that pedestal, rotary seat, the described pedestal of control rotate with described rotary seat, be located at distance detection device on rotary seat, measure the azimuth detecting apparatus of the current present position of described distance detection device information, the positional information analyzer being electrically connected to described distance detection device and azimuth detecting apparatus; Described pedestal and described rotary seat are rotationally connected; Described distance detection device is fixedly connected with described rotary seat, to measure barrier with respect to the range information of the first preset basic point and the second preset basic point; Described positional information analyzer obtains described measurement mechanism with respect to the actual range of described barrier according to described barrier with respect to the range information of the first preset basic point and the second preset basic point.
2. measurement mechanism as claimed in claim 1, it is characterized in that, described pedestal be take its same circumference that is the center of circle with respect to rotation center of described rotary seat rotation and is provided with optical grating construction, the corresponding described optical grating construction setting of described azimuth detecting apparatus, and be fixedly connected with described rotary seat.
3. measurement mechanism as claimed in claim 2, is characterized in that, described optical grating construction comprises the some projections that extended to described rotary seat by described pedestal, and described some projections space arranges, and is distributed on same circumference.
4. measurement mechanism as claimed in claim 3, is characterized in that, described azimuth detecting apparatus comprises photoelectric tube.
5. measurement mechanism as claimed in claim 1, is characterized in that, described measurement mechanism also comprises that rotation axis, bearing, said base are provided with the accommodating cavity for accommodating described bearing, and described bearing interference is connected in described accommodating cavity; Described rotation axis passes described bearing and is fixedly connected with described bearing; Described rotation axis is rotationally connected by described bearing and described pedestal, and described rotation axis is fixedly connected with described rotary seat.
6. measurement mechanism as claimed in claim 1, is characterized in that, described drive unit comprises motor, the first runner, the second runner and belt; Described motor is fixedly connected with described rotary seat; Described the first runner is fixedly connected with the rotating shaft of described motor; Described the second runner is fixedly connected with described pedestal; Described belt sleeve is located on described the first runner and the second runner, to drive described the first runner to synchronize and rotate with the second runner.
7. measurement mechanism as claimed in claim 1, is characterized in that, also comprises conducting slip ring, and described conducting slip ring is positioned at the turning axle place of described pedestal, comprises the first slip ring and the second slip ring, and described the first slip ring is electrically connected to external power source device; Described the second slip ring is fixedly connected with described rotary seat, and described the second slip ring is electrically connected to described positional information analyzer.
8. the measurement mechanism as described in any one in claim 1 to 7, it is characterized in that, described distance detection device comprises that the preset distance of being separated by is arranged at laser generator and the imageing sensor on described rotary seat, and the laser that described laser generator sends is positioned at the region that described imageing sensor obtains image information.
9. measurement mechanism as claimed in claim 8, is characterized in that, described imageing sensor is TOF sensor.
10. a unmanned vehicle, is characterized in that, comprises measurement mechanism as claimed in any one of claims 1-9 wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420212969.0U CN203848821U (en) | 2014-04-28 | 2014-04-28 | Measurement device and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420212969.0U CN203848821U (en) | 2014-04-28 | 2014-04-28 | Measurement device and unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN203848821U true CN203848821U (en) | 2014-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420212969.0U Expired - Lifetime CN203848821U (en) | 2014-04-28 | 2014-04-28 | Measurement device and unmanned aerial vehicle |
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| Country | Link |
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| CN (1) | CN203848821U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015165008A1 (en) * | 2014-04-28 | 2015-11-05 | 深圳市大疆创新科技有限公司 | Measurement apparatus and unmanned aerial vehicle |
| CN109791041A (en) * | 2016-10-06 | 2019-05-21 | 埃克斯-马赛大学 | Use the system of measurement of luminous flux obstacle distance |
| TWI702779B (en) * | 2020-02-07 | 2020-08-21 | 江枝來 | Impulse power generation system |
-
2014
- 2014-04-28 CN CN201420212969.0U patent/CN203848821U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015165008A1 (en) * | 2014-04-28 | 2015-11-05 | 深圳市大疆创新科技有限公司 | Measurement apparatus and unmanned aerial vehicle |
| CN109791041A (en) * | 2016-10-06 | 2019-05-21 | 埃克斯-马赛大学 | Use the system of measurement of luminous flux obstacle distance |
| TWI702779B (en) * | 2020-02-07 | 2020-08-21 | 江枝來 | Impulse power generation system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151223 Address after: Nanshan District Xili street of Shenzhen city in Guangdong province 518000 White Pine Road No. 1051, building 1 Piovan creative factory building 2, building 7, building 9 Patentee after: DJI BAIWANG TECHNOLOGY Co.,Ltd. Address before: 518057 Guangdong city of Shenzhen province Nanshan District science and Technology Park South Hing a No. 9 Hong Kong University Science & Technology University Building 6 Patentee before: SZ DJI TECHNOLOGY Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140924 |