CN205273851U - Double -oar keeps away barrier rotor unmanned aerial vehicle - Google Patents
Double -oar keeps away barrier rotor unmanned aerial vehicle Download PDFInfo
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- CN205273851U CN205273851U CN201520978394.8U CN201520978394U CN205273851U CN 205273851 U CN205273851 U CN 205273851U CN 201520978394 U CN201520978394 U CN 201520978394U CN 205273851 U CN205273851 U CN 205273851U
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Abstract
The utility model discloses a double -oar keeps away barrier rotor unmanned aerial vehicle, including the fuselage and with four at least rotors of fuselage fixed connection, four at least rotors include: the driving piece, including first motor and with the second motor that first motor relatively fixed connects, the rotation axis, including first rotation axis and second rotation axis, first rotation axis with the second rotation axis respectively with first motor with the second motor is connected, just first rotation axis with it is rotatory that relative its axis can be distinguished to the second rotation axis, the propeller hub, the paddle, one end of the support rack is hinged at the support. The problem of among the prior art unmanned aerial vehicle flight unstable, easily receive that the foreign matter strikes and the technique lost is solved, reached and makeed unmanned aerial vehicle fly reliable and stablely and avoid receiving the technological effect that the foreign matter strikes.
Description
Technical field
The utility model relates to unmanned air vehicle technique field, in particular to two oar avoidance rotor wing unmanned aerial vehicle.
Background technology
Unmanned spacecraft is called for short " without man-machine ", is the not manned aircraft utilizing wireless remote control equipment to handle with the programcontrol unit provided for oneself. Without cab on machine, but the equipment such as robot pilot, programcontrol unit, signal pickup assembly are installed. On ground, naval vessels or machine tool remote-controlled station personnel by equipment such as radars, it is followed the tracks of, locates, remote control, remote measurement and digital transmission. Can take off as common aircraft under wireless remote control or launch with booster rocket, it is possible to take to by machine tool and throw in flight in the air.
Without man-machine aloft fly time, prior art is fixed on web member without man-machine rotary wing wheel hub, weight is bigger, rotor is subject to easily damaging when bigger foreign matter impacts the blade of rotor, and security is lower, inconvenient without man-machine dismounting during rotor rotation, and unreliable without man-machine connection, it is easy to damage without man-machine, reduce without the man-machine life-span.
Practical novel content
The utility model provides a kind of two oar avoidance rotor wing unmanned aerial vehicle, solve the technical problem that unmanned plane during flying in prior art is unstable, is vulnerable to foreign matter and impacts and lose, reach and make unmanned plane during flying reliable and stable and avoid being subject to the technique effect that foreign matter impacts.
For solving the problems of the technologies described above, the utility model provides a kind of two oar avoidance rotor wing unmanned aerial vehicle, at least four rotors comprising fuselage and be fixedly connected with described fuselage, described at least four rotors comprise: actuator, comprise the first motor and two motor that be fixedly connected with relative to described first motor; Turning axle, comprises the first turning axle and the 2nd turning axle, and described first turning axle is connected with described first motor and described 2nd motor respectively with described 2nd turning axle, and described first turning axle can be distinguished with described 2nd turning axle and rotates relative to its axis; Propeller hub, comprises the first propeller hub and the 2nd propeller hub, and described first propeller hub and described 2nd propeller hub are connected on described first turning axle and described 2nd turning axle respectively in rotary manner; Blade, comprises two groups of blades, corresponding with described first propeller hub and the 2nd propeller hub respectively, and described two groups of blades are connected on described first propeller hub and described 2nd propeller hub respectively in rotary manner; Bracing frame, is arranged between described two groups of blades, and described first motor is fixedly connected with in the both sides of one end of support frame as described above respectively with described 2nd motor, and support frame as described above is removably fixedly connected with described fuselage; Described also comprising a filming apparatus without man-machine, described filming apparatus is fixed on described fuselage.
Preferably, described at least four rotors also comprise: guard portion, removably it is fixedly connected with described fuselage, described guard portion comprises: front mesh enclosure, described front mesh enclosure comprises multiple first net bone, the first outer shroud and the first inner ring, the two ends of the first net bone described in each are separately fixed in described first outer shroud and described first inner ring with certain preliminary tension, and described first net bone is the elastic material of band; Rear net cover, described rear net cover comprises the back up pad of multiple 2nd net bone, the 2nd outer shroud and circle, and described in each, one end of the 2nd net bone is fixed in described back up pad, and the other end is fixed on described 2nd outer shroud; Multiple connection beam, the one end connecting beam described in each is fixed on described first outer shroud, and the other end is fixed on described 2nd outer shroud.
Preferably, the material of described first outer shroud, described first inner ring, described 2nd outer shroud, described back up pad is carbon fiber; And/or, the material of described 2nd net bone is carbon fiber.
Preferably, the axis of described first inner ring and described back up pad is collinear; And/or, described first inner ring is arranged with described first outer shroud is concentric; And/or, described back up pad is arranged with described 2nd outer shroud is concentric; And/or, described first net bone is specially nylon wire.
Preferably, described filming apparatus comprises: the first reflective mirror; 2nd reflective mirror, is oppositely arranged with the reflective surface of described first reflective mirror; Support, described support comprises: link span; First rotary seat, is fixedly connected with rotationally with one end of described link span, and described first rotary seat is for clamping described first reflective mirror; 2nd rotary seat, is fixedly connected with rotationally with the other end of described link span, and described 2nd rotary seat is for clamping described 2nd reflective mirror; Drive assembly, comprise the first actuator for driving described first rotary seat and described 2nd rotary seat to rotate respectively and the 2nd actuator; Shooting camera, is oppositely arranged with the reflective surface of described 2nd reflective mirror; Wherein, light path, through described first reflective mirror, described 2nd reflective mirror, reflexes to the camera lens of described shooting camera, described shooting camera shooting photograph.
Preferably, the angle of the reflective surface of described first reflective mirror and the reflective surface of described 2nd reflective mirror is 90 degree.
Preferably, described first actuator and described 2nd actuator drive described first rotary seat and described 2nd rotary seat with predeterminated frequency respectively toward multiplex vibration.
Preferably, the described angle toward multiplex vibration is �� 40 ��.
Preferably, the described angle toward multiplex vibration is �� 20 ��.
Preferably, described also comprising a range finding avoidance instrument without man-machine, described range finding avoidance instrument comprises: light barrier transmitter, launches grating on obstacle; Shooting camera, takes the raster pattern picture being transmitted on described obstacle; Grating treater, is connected with described shooting camera, and described grating treater processes the described raster pattern picture of described shooting camera shooting; Wherein, described grating treater is by the distance values between the pixel of the described raster pattern picture of measurement described shooting camera shooting, and in the ratio of described distance values and actual range, judges obstacle each several part and the distance of described range finding avoidance instrument.
The useful effect of the application is as follows:
The application provide without man-machine, by arranging two oars and two groups of blade reverse rotations so that two groups of blades produce two contrary torsion of direction, directly cancel out each other. Making the stability of flight equipment better so on the one hand, direction easily controls; Structure is simple on the other hand, reduces the generation of safety failure; Another further aspect, the power of flight equipment flight is bigger, and bearing capacity is more, has the feature of wide adaptability, and the range finding avoidance instrument arranged further increases stability and the avoidance ability of described unmanned plane during flying.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, below the accompanying drawing used required in embodiment being described is briefly described, it is appreciated that the accompanying drawing in the following describes is only embodiments more of the present utility model.
Fig. 1 is the structural representation of the two oar avoidance rotor wing unmanned aerial vehicle of the application one better embodiment;
Fig. 2 is an example structure schematic diagram without man-machine rotor in Fig. 1;
Fig. 3 is an example structure schematic diagram again without man-machine rotor in Fig. 1;
Fig. 4 is the structural representation of filming apparatus;
Fig. 5 is the partial schematic diagram of Fig. 4 medium-height trestle;
Fig. 6 is the structural representation of vibroshock;
Fig. 7 is the partial schematic diagram of cushion blocking in Fig. 6;
Fig. 8 is the partial schematic diagram of retaining plate in Fig. 6;
Fig. 9 is the structural representation of range finding avoidance instrument;
Figure 10 is the partial schematic diagram of permanent seat in Fig. 9;
Figure 11 is the schema of method without man-machine range finding avoidance in Fig. 1;
Figure 12 is an example structure schematic diagram of two blade rotor in Fig. 1;
Accompanying drawing illustrates:
100-rotor wing unmanned aerial vehicle, 1-fuselage, 2-is without man-machine rotor, 21-turning axle, 21a-first turning axle, 21b-the 2nd turning axle, 22-propeller hub, 22a-first propeller hub, 22b-the 2nd propeller hub, 23-blade, 23a-first blade, 23b-the 2nd blade, 24-guard portion, 241-front mesh enclosure, 2411-first net bone, 2412-first outer shroud, 2413-first inner ring, 242-rear net cover, 2421-the 2nd net bone, 2422-the 2nd outer shroud, 2423-back up pad, 243-connects beam, 25-actuator, 25a-first motor, 25b-the 2nd motor, 26-bracing frame, 3-web plate, 4-filming apparatus, 41-first reflective mirror, 42-the 2nd reflective mirror, 43-support, 431-link span, 432-first rotary seat, 433-the 2nd rotary seat, 44-makes a video recording camera, 5-vibroshock, 51-cushion blocking, 511-opening, 52-retaining plate, 521-ventilating pit, 53-lug, 531-spacing hole, 6-detection module, 7-finds range avoidance instrument, 71-light barrier transmitter, 72-takes camera, 73-permanent seat, 200-obstacle.
Embodiment
In order to better understand technique scheme, below in conjunction with Figure of description and concrete enforcement mode, technique scheme is described in detail.
Fig. 1 is the structural representation of the application one better embodiment rotor wing unmanned aerial vehicle, Figure 12 is an example structure schematic diagram of two blade rotor in Fig. 1, please refer to Fig. 1 and Figure 12, this application discloses a kind of two oar avoidance rotor wing unmanned aerial vehicle, described without at least four rotors man-machine comprising fuselage, described fuselage is fixedly connected with, solve the technical problem that unmanned plane during flying in prior art is unstable, is vulnerable to foreign matter and impacts and lose, reach and make unmanned plane during flying reliable and stable and avoid being subject to the technique effect that foreign matter impacts.
Below by from the described technical scheme elaborating the application's offer without man-machine one-piece construction.
For described without man-machine rotor 2
Embodiment one
Refer to Fig. 2, described comprise actuator 25, turning axle 21, at least two blades 23 and guard portion 24 without man-machine rotor 2. For driving, described turning axle 21 rotates described actuator 25, and described actuator 25 is specially motor, and described turning axle 21 is connected with described actuator 25, and described turning axle 21 can rotate relative to its axis; Described propeller hub 22 is connected on described turning axle 21 in rotary manner, and described propeller hub 22 is at least two blades 23 described in being fixedly connected with; The axis of the relatively described turning axle 21 of described at least two blades 23 is connected on described propeller hub 22 in rotary manner.
Described guard portion 24 is removably fixedly connected with described fuselage 1, and described guard portion 24 comprises front mesh enclosure 241, rear net cover 242 and multiple connection beam 243. Described front mesh enclosure 241 comprises multiple first net bone 2411, first outer shroud 2412 and the first inner ring 2413, the two ends of the first net bone 2411 described in each are separately fixed in described first outer shroud 2412 and described first inner ring 2413 with certain preliminary tension, described first net bone 2411 is the elastic material of band, in the present embodiment, described first net bone 2411 is specially nylon wire. The two ends of described first net bone 2411 are fixed respectively at described first outer shroud 2412 and described first inner ring 2413 with default preliminary tension, the impact of extraneous big foreign matter is avoided when at least two blades 23 rotate described in making, and improve security, on the other hand, described first net bone 2411 is the elastic material of band, there is elasticity, avoid described being subject to rigid shock without man-machine rotor 2.
Described rear net cover 242 comprises the back up pad 2423 of multiple 2nd net bone 2412, the 2nd outer shroud 2422 and circle, and one end of the 2nd net bone 2412 described in each is fixed in described back up pad 2423, and the other end is fixed on described 2nd outer shroud 2422; Described multiple 2nd net bones 2412 of described rear net cover 242, described 2nd outer shroud 2422 and described back up pad 2423 form bigger gap, while ensureing heat radiation, it is to increase security. The material of described first outer shroud 2412, described first inner ring 2413, described 2nd outer shroud 2422, described back up pad 2423 is carbon fiber; And/or, the material of described 2nd net bone 2412 is carbon fiber so that described without man-machine rotor 2 lighter weight. Described first inner ring 2413 is collinear with the axis of described back up pad 2423. The size of described back up pad 2423 is more than or equal to the size of described actuator 25, to facilitate described actuator 25 to be fixed in described back up pad 2423, instead of traditional employing web member and fix described propeller hub 22, reduce further the described weight without man-machine rotor 2, simplify the described structure without man-machine rotor 2. Described first inner ring 2413 is arranged with described first outer shroud 2412 is concentric; Described back up pad 2423 is arranged with described 2nd outer shroud 2422 is concentric, ensure that the stability in described guard portion 24.
Described multiple connection beam 243 is for connecting described front mesh enclosure 241 and described rear net cover 242, the one end connecting beam 243 described in each is fixed on described first outer shroud 2412, the other end is fixed on described 2nd outer shroud 2422, further enhancing the strength of joint of described front mesh enclosure 241 and described rear net cover 242.
Described fixing respectively at described first outer shroud 2412 and described first inner ring 2413 with default preliminary tension by the two ends of described first net bone 2411 without man-machine rotor 2, the impact of extraneous big foreign matter is avoided when at least two blades 23 rotate described in making, and improve security, on the other hand, described first net bone 2411 is the elastic material of band, there is elasticity, avoid described being subject to rigid shock without man-machine rotor 2.
Refer to Fig. 1, described also comprise web plate 3 without man-machine 100, described web plate 3 be fixed on described between at least two adjacent connection beams 243, described at least four rotors 2 are removably fixedly connected with at described web plate 3 place with described fuselage 1. In the present embodiment, described web plate 3 is magnetic web plate, and described in making, at least four rotors 2 are connected with described fuselage 1 magnetic; And/or described web plate 3 is bolted to connection with described fuselage 1 so that described be convenient to dismounting without man-machine. The web plate 3 of magnetic is adopted to be connected with described fuselage 1 so that described without man-machine 100 convenient disassemblies.
In addition, referring to Fig. 3, described web plate 3 can also be L-type web plate, and described web plate 3 is fixedly connected with described fuselage 1 by bolt, for supporting described rotor 2.
In order to avoid described causing fastening relation between described propeller hub 22 and described actuator 25 to occur loosening in flight course due to described being normally rotated counterclockwise of blade 23 without man-machine, the application will rotate the direction also being arranged to be rotated counterclockwise in the direction tightened between described propeller hub 22 and described actuator 25, namely, thread rotary orientation between described propeller hub 22 and described actuator 25 and the sense of rotation of described blade 23 are in the same way, when described blade 23 is rotated, connection between described propeller hub 22 and described actuator 25 is more fastening, difficult drop-off.
Embodiment two
For described without man-machine rotor 2, the application also provides a kind of two oar rotor 2, refer to Figure 12, described without man-machine 100, at least four rotors 2 comprising fuselage 1 and be fixedly connected with described fuselage 1, described at least four rotors 2 comprise actuator 25, turning axle 21, propeller hub 22, blade 23 and bracing frame 26.
Described actuator comprises the first motor 25a and two motor that be fixedly connected with relative to described first motor 25a; Described turning axle 21 comprises the first turning axle 21a and the 2nd turning axle 21b, described first turning axle 21a is connected with described first motor 25a and described 2nd motor 25b respectively with described 2nd turning axle 21b, and described first turning axle 21a can distinguish with described 2nd turning axle 21b and rotates relative to its axis. Described propeller hub 22 comprises the first propeller hub 22a and the 2nd propeller hub 22b, and described first propeller hub 22a and described 2nd propeller hub 22b is connected on described first turning axle 21a and described 2nd turning axle 21b respectively in rotary manner; Described blade 23 comprises two groups of blades 23, and described two groups of blades 23 are corresponding with described first propeller hub 22a and the 2nd propeller hub 22b respectively, and described two groups of blades 23 are connected on described first propeller hub 22a and described 2nd propeller hub 22b respectively in rotary manner; Support frame as described above 26 is arranged between described two groups of blades 23, and described first motor 25a is fixedly connected with in the both sides of one end of support frame as described above 26 respectively with described 2nd motor 25b, and the other end of support frame as described above 26 is removably fixedly connected with described fuselage 1. In the present embodiment, support frame as described above 26 and described fuselage 1 are bolted to connection.
Described first turning axle 21a and described 2nd turning axle 21b is coaxial, it is two oar coaxial, two groups of blades 23 of two phase despinings taked by two oar, namely rotate towards counterclockwise by first group of blade 23a, 2nd group of blade 23b rotates towards clockwise direction, make two groups of blades 23 produce two contrary torsion of direction, directly cancel out each other. Making the stability of flight equipment better so on the one hand, direction easily controls; Structure is simple on the other hand, reduces the generation of safety failure; Another further aspect, the power of flight equipment flight is bigger, and bearing capacity is more, has the feature of wide adaptability.
Described guard portion 24 difference in embodiment one and embodiment two is, described in embodiment one the same with guard portion 24 structure in embodiment one, back up pad 2423 described in embodiment one is for supporting by power and fixes with described actuator 25, to fix and to support described actuator 25; And actuator 25 described in the present embodiment does not rely on the support of described back up pad 2423, but support described pair of oar by the bracing frame being fixedly connected with fuselage, identical in other structure parts in described guard portion 24 and embodiment one, therefore do not repeat them here.
Described also comprising filming apparatus 4 without man-machine 100, described filming apparatus 4 is fixed on described fuselage 1. Concrete, referring to Fig. 4, described filming apparatus 4 comprises the first reflective mirror 41, the 2nd reflective mirror 42, support 43, drives assembly and shooting camera 44.
Referring to Fig. 5, described first reflective mirror 41 and described 2nd reflective mirror 42 change the circuit of light path simultaneously, and described 2nd reflective mirror 42 is oppositely arranged with the reflective surface of described first reflective mirror 41. Described support 43 is for supporting described first reflective mirror 41 and described 2nd reflective mirror 42, described support 43 comprises link span 431, first rotary seat 432 and the 2nd rotary seat 433, described first rotary seat 432 is fixedly connected with rotationally with one end of described link span 431, described first rotary seat 432, for clamping described first reflective mirror 41, rotates its position angle of change to rotarily drive described first reflective mirror 41 by described first rotary seat 432 relative to described link span 431. Described 2nd rotary seat 433 is fixedly connected with rotationally with the other end of described link span 431, described 2nd rotary seat 433, for clamping described 2nd reflective mirror 42, rotates its position angle of change to rotarily drive described 2nd reflective mirror 42 by described 2nd rotary seat 433 relative to described link span 431. Described first rotary seat 432 is articulated and connected with one end of described link span 431, and described 2nd rotary seat 433 is articulated and connected with the other end of described link span 431. In the present embodiment, described first reflective mirror 41 and/or described 2nd reflective mirror 42 are completely reflecting mirror. Further, described first reflective mirror 41 and/or the 2nd reflective mirror 42 are specially metal coating eyeglass. The angle of the reflective surface of described first reflective mirror 41 and the reflective surface of described 2nd reflective mirror 42 is 90 degree, to ensure to take quality and the effect of photograph.
The image that described shooting camera 44 reflexes on described 2nd reflective mirror 42 for taking, described shooting camera 44 is oppositely arranged with the reflective surface of described 2nd reflective mirror 42. The size of described first reflective mirror 41 and described 2nd reflective mirror 42 is determined according to the chip of described shooting camera. During operation, light path, through described first reflective mirror 41, described 2nd reflective mirror 42, reflexes to the camera lens of described shooting camera 44, and photograph taken by described shooting camera 44.
Described driving assembly comprises the first actuator and described 2nd actuator, for driving described first rotary seat 432 and described 2nd rotary seat 433 to rotate to adjust position angle. Described first actuator drives described first rotary seat 432 to rotate, and described 2nd actuator drives described 2nd rotary seat 433 to rotate. Described first actuator and/or described 2nd actuator are motor.
In order to make described filming apparatus 4 obtain bigger visual angle, described first actuator and described 2nd actuator drive described first rotary seat 432 and described 2nd rotary seat 433 with predeterminated frequency respectively toward multiplex vibration, so that described first reflective mirror 41 being separately fixed on described first rotary seat 432 and described 2nd rotary seat 433 and described 2nd reflective mirror 42 with predeterminated frequency toward multiplex vibration, it is to increase shooting visual angle. The described angle toward multiplex vibration is �� 40 ��. Preferably, the described angle toward multiplex vibration is �� 20 ��. Concrete, described predeterminated frequency can reach 45000 points/second.
Described filming apparatus 4 by described first rotary seat 432 and described 2nd rotary seat 433 with predeterminated frequency toward multiplex vibration, ensure that the picture quality without man-machine shooting on the one hand, add shooting visual angle on the other hand. Change light path by arranging support 43, and vibrate described first reflective mirror 41 and described 2nd reflective mirror 42 improves shooting photograph picture quality, also improve the response speed without man-machine middle filming apparatus 4, it is not necessary to rotate whole filming apparatus 4.
Referring to Fig. 6, described also comprise vibroshock 5 and detection module 6 without man-machine 100, described vibroshock 5 is removably fixedly connected with described detection module 6. Described vibroshock 5 is for the damping of described detection module 6, described vibroshock 5 comprises cushion blocking 51 and retaining plate 52.
Referring to Fig. 7, described cushion blocking 51 is for carrying out damping to connected without the described detection module 6 on man-machine, it is to increase detected result. The top of described cushion blocking 51 is removably fixedly connected with described detection module 6, and described cushion blocking 51 has been offered an opening 511, so that the component on described detection module 6 are placed in described opening 511. In the present embodiment, described cushion blocking 51 is bolted with described detection module 6, and described cushion blocking 51 is specially elastomeric material. In addition, owing to the characteristic of rubber is difficult to control in prior art, the rubber usually adopted is difficult in without man-machine detection module to reach good damping effect, and the application adopts cushion blocking 51 hardness to be 10 degree of-60 elastomeric material spending hardness, preferably, the toughness of described cushion blocking 51 is greater than 16J/m2So that described vibroshock is all better without antifatigue during man-machine middle use, anti-time and restorability. Preferably, described elastomeric material hardness is adopted to be 40 degree.
Referring to Fig. 8, described retaining plate 52 1 aspect is used for making described cushion blocking 51 and described detection module 6 form an enclosed space to carry out shock absorbing; The ratio of described retaining plate 52 is great on the other hand, it is possible to absorb vibration further. Concrete, described retaining plate 52 lid is located on described opening 511, and described retaining plate 52 is removably fixedly connected with the bottom of described cushion blocking 51 so that the inwall of described detection module 6, described opening 511 and described retaining plate 52 form an accommodation space; Described retaining plate 52 is also offered and the ventilating pit 521 that described accommodation space is connected. In the present embodiment, described cushion blocking 51 is bolted with described retaining plate 52, and described retaining plate 52 is specially metallic substance, such as metallic copper material. Metallic substance is than great, it is possible to further absorption vibration. During described unmanned plane during flying, air draught enters into described accommodation space from described ventilating pit 521, so that described detection module 6 detects described air draught. Arranging described ventilating pit 521, air draught enters into described accommodation space from described ventilating pit 521, avoids air draught unstable and affect the accuracy of detection of described detection module 6.
In addition, described vibroshock 5 also comprises at least two lugs 53, the edge conjunction of described at least two lugs 53 and described cushion blocking 51, and is evenly distributed on the edge of described cushion blocking 51, ensure that described cushion blocking 51 uniform force on the one hand, it is to increase damping effect; On the other hand, described at least two lugs 53 are fixed on other parts so that have preliminary tension on described cushion blocking 51, it is to increase the damping effect of described cushion blocking 51, also improve described cushion blocking 51 be hit after restorability. Described at least two lugs 53 have the edge that certain preliminary tension is arranged on described rubber pad so that obtain certain weakening from the vibrations at the middle position that described at least two lugs 53 are delivered to described rubber pad. Described at least two lugs 53 offer limited location hole 531, for fixing described lug 53. In present embodiment, described at least two lugs 53 are integrated with described cushion blocking 51, save material, also make compact construction.
Refer to Fig. 9 and Figure 10, described without man-machine 100 also comprise range finding avoidance instrument 7, described range finding avoidance instrument 7 is fixed on described fuselage 1, for described without man-machine 100 range finding avoidance. Concrete, described range finding avoidance instrument 7 comprises light barrier transmitter 71, shooting camera 72 and grating treater.
Described light barrier transmitter 71 is for launching grating to obstacle 200, and the raster pattern picture being transmitted on described obstacle 200 taken by described shooting camera. Described grating treater is connected with described shooting camera 72, for the treatment of the described raster pattern picture of described shooting camera 72 shooting; During operation, described grating treater is by the distance values between the pixel of the described raster pattern picture of measurement described shooting camera 72 shooting, and in the ratio of described distance values and actual range, judges obstacle 200 each several part and the distance of described range finding avoidance instrument 7. In addition, the grating type that the camera lens filter of described shooting camera 72 is launched with described light barrier transmitter 71 mates, to ensure that the sharpness of the raster pattern picture that 2 take the photograph clapped by described shooting camera. Described light barrier transmitter 71 can launch visible or invisible grating, and the camera lens filter of described shooting camera 72 is specially selects the camera lens filter for described visible or invisible grating specific wavelength according to described visible or invisible grating.
In order to convenient fixing described light barrier transmitter 71 and described shooting camera 72, described range finding avoidance instrument 7 also comprises a permanent seat 73, one end of described permanent seat 73 is fixedly connected with described shooting camera 72, and the other end is removably fixedly connected with described laser light barrier transmitter 71. Described permanent seat 73 and described light barrier transmitter 71 are buckled by card hoop or card and are fixedly connected with.
Based on same practical novel design, the application also provides a kind of method without man-machine range finding avoidance adopting above-mentioned range finding avoidance instrument, refers to Figure 11, and the described method without man-machine range finding avoidance comprises:
Step S100, described light barrier transmitter launches grating on obstacle.
Step S200, the raster pattern picture being transmitted on described obstacle taken by described shooting camera, and raster pattern picture is transferred to described grating treater.
Step S300, calculates the distance of obstacle each several part and described range finding avoidance instrument according to described raster pattern picture.
Wherein, described step S300 calculates the distance of obstacle each several part and described range finding avoidance instrument according to described raster pattern picture, be specially described grating treater measure described shooting camera shooting described raster pattern picture pixel between distance values, and in the ratio of described distance values and actual range, calculate obstacle each several part and the distance of described range finding avoidance instrument.
Step S400, without the spacing of man-machine basis with described obstacle each several part, selects to become gradually with obstacle distance big direction flight, completes avoidance.
Embodiment three
Illustrating the described method without man-machine range finding avoidance below, the method for unmanned machine range finding avoidance is specifically described by the grid number of default light barrier transmitter transmitting grating, such as Fig. 9, the grating that described light barrier transmitter is launched is the grid of 3 �� 3. It may be seen that without man-machine more far away described in obstacle distance, the every lattice grating grid size being transmitted on obstacle is more big in Fig. 9, same mapping to the every lattice grating grid size on the photograph of described shooting camera shooting is more big. A in Fig. 91��a2��a3And a4Apart from described equal without man-machine distance, map to the every lattice grating grid a on the photograph of described shooting camera shooting1And a2��a2And a3��a3And a4Distance all equal, and d1And d1Between spacing be greater than a1And a2Between spacing. The ratio of spacing and actual range between the raster pixel image point of the shooting according to setting, calculates each several part of obstacle and described without the spacing between man-machine, selects the direction becoming big with obstacle distance gradually to fly, complete avoidance.
Described range finding avoidance instrument 7 utilizes the characteristic of grating to launch grating on obstacle 200 by light barrier transmitter 71, the raster pattern picture being transmitted on described obstacle 200 taken by described shooting camera 72, calculate the distance values between the pixel of described raster pattern picture, select with obstacle 200 apart from becoming the flight of big direction gradually, completing avoidance, solution measuring result is accurate, immunity from interference is strong.
The useful effect of the application is as follows:
(1) the application is fixed respectively at described first outer shroud and described first inner ring with default preliminary tension by the two ends of described first net bone, the impact of extraneous big foreign matter is avoided when at least two blades rotate described in making, and improve security, on the other hand, described first net bone is the elastic material of band, there is elasticity, avoid described being subject to rigid shock without man-machine rotor.
(2) the application rotates with predeterminated frequency toward multiplex vibration by described first rotary seat and the described 2nd, ensure that the picture quality without man-machine shooting on the one hand, adds shooting visual angle on the other hand. Change light path by arranging support, and vibrate described first reflective mirror and described 2nd reflective mirror improves shooting photograph picture quality, also improve the response speed without man-machine middle filming apparatus, it is not necessary to rotate whole filming apparatus.
(3) vibroshock that the application is arranged comprises at least two lugs, the edge conjunction of described at least two lugs and described cushion blocking, and is evenly distributed on the edge of described cushion blocking, ensure that described cushion blocking uniform force on the one hand, it is to increase damping effect; On the other hand, described at least two lugs are fixed on other parts so that have preliminary tension on described cushion blocking, it is to increase the damping effect of described cushion blocking, also improve described cushion blocking be hit after restorability. Described at least two lugs have the edge that certain preliminary tension is arranged on described rubber pad so that obtain certain weakening from the vibrations at the middle position that described at least two lugs are delivered to described rubber pad.
(4) the application utilizes the characteristic of grating to launch grating on obstacle by light barrier transmitter, the raster pattern picture being transmitted on described obstacle taken by described shooting camera, calculate the distance values between the pixel of described raster pattern picture, select to become gradually big direction flight with obstacle distance, complete avoidance, solve and prior art finds range avoidance instrument measuring result accuracy rate is low, the technical problem of poor anti jamming capability.
It should be noted last that, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although the utility model being described in detail with reference to example, it will be understood by those within the art that, the technical solution of the utility model can be modified or equivalent replacement, and not departing from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (10)
1. a two oar avoidance rotor wing unmanned aerial vehicle, at least four rotors comprising fuselage and being fixedly connected with described fuselage, it is characterised in that, described at least four rotors comprise:
Actuator, comprises the first motor and two motor that be fixedly connected with relative to described first motor;
Turning axle, comprises the first turning axle and the 2nd turning axle, and described first turning axle is connected with described first motor and described 2nd motor respectively with described 2nd turning axle, and described first turning axle can be distinguished with described 2nd turning axle and rotates relative to its axis;
Propeller hub, comprises the first propeller hub and the 2nd propeller hub, and described first propeller hub and described 2nd propeller hub are connected on described first turning axle and described 2nd turning axle respectively in rotary manner;
Blade, comprises two groups of blades, corresponding with described first propeller hub and the 2nd propeller hub respectively, and described two groups of blades are connected on described first propeller hub and described 2nd propeller hub respectively in rotary manner;
Bracing frame, is arranged between described two groups of blades, and described first motor is fixedly connected with in the both sides of one end of support frame as described above respectively with described 2nd motor, and support frame as described above is removably fixedly connected with described fuselage;
Described also comprising a filming apparatus without man-machine, described filming apparatus is fixed on described fuselage.
2. as claimed in claim 1 without man-machine, it is characterised in that, described at least four rotors also comprise:
Guard portion, is removably fixedly connected with described fuselage, and described guard portion comprises:
Front mesh enclosure, described front mesh enclosure comprises multiple first net bone, the first outer shroud and the first inner ring, and the two ends of the first net bone described in each are separately fixed in described first outer shroud and described first inner ring with certain preliminary tension, and described first net bone is the elastic material of band;
Rear net cover, described rear net cover comprises the back up pad of multiple 2nd net bone, the 2nd outer shroud and circle, and described in each, one end of the 2nd net bone is fixed in described back up pad, and the other end is fixed on described 2nd outer shroud;
Multiple connection beam, the one end connecting beam described in each is fixed on described first outer shroud, and the other end is fixed on described 2nd outer shroud.
3. as claimed in claim 2 without man-machine, it is characterised in that, the material of described first outer shroud, described first inner ring, described 2nd outer shroud, described back up pad is carbon fiber; And/or, the material of described 2nd net bone is carbon fiber.
4. as claimed in claim 2 without man-machine, it is characterised in that, the axis of described first inner ring and described back up pad is collinear; And/or, described first inner ring is arranged with described first outer shroud is concentric; And/or, described back up pad is arranged with described 2nd outer shroud is concentric; And/or, described first net bone is specially nylon wire.
5. as claimed in claim 1 without man-machine, it is characterised in that, described filming apparatus comprises:
First reflective mirror;
2nd reflective mirror, is oppositely arranged with the reflective surface of described first reflective mirror;
Support, described support comprises:
Link span;
First rotary seat, is fixedly connected with rotationally with one end of described link span, and described first rotary seat is for clamping described first reflective mirror;
2nd rotary seat, is fixedly connected with rotationally with the other end of described link span, and described 2nd rotary seat is for clamping described 2nd reflective mirror;
Drive assembly, comprise the first actuator for driving described first rotary seat and described 2nd rotary seat to rotate respectively and the 2nd actuator;
Shooting camera, is oppositely arranged with the reflective surface of described 2nd reflective mirror;
Wherein, light path, through described first reflective mirror, described 2nd reflective mirror, reflexes to the camera lens of described shooting camera, described shooting camera shooting photograph.
6. as claimed in claim 5 without man-machine, it is characterised in that, the angle of the reflective surface of described first reflective mirror and the reflective surface of described 2nd reflective mirror is 90 degree.
7. as claimed in claim 5 without man-machine, it is characterised in that, described first actuator and described 2nd actuator drive described first rotary seat and described 2nd rotary seat with predeterminated frequency respectively toward multiplex vibration.
8. as claimed in claim 7 without man-machine, it is characterised in that, the described angle toward multiplex vibration is �� 40 ��.
9. as claimed in claim 8 without man-machine, it is characterised in that, the described angle toward multiplex vibration is �� 20 ��.
10. as claimed in claim 1 without man-machine, it is characterised in that, described also comprise a range finding avoidance instrument without man-machine, described range finding avoidance instrument comprises:
Light barrier transmitter, launches grating on obstacle;
Shooting camera, takes the raster pattern picture being transmitted on described obstacle;
Grating treater, is connected with described shooting camera, and described grating treater processes the described raster pattern picture of described shooting camera shooting;
Wherein, described grating treater is by the distance values between the pixel of the described raster pattern picture of measurement described shooting camera shooting, and in the ratio of described distance values and actual range, judges obstacle each several part and the distance of described range finding avoidance instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520978394.8U CN205273851U (en) | 2015-11-30 | 2015-11-30 | Double -oar keeps away barrier rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520978394.8U CN205273851U (en) | 2015-11-30 | 2015-11-30 | Double -oar keeps away barrier rotor unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN205273851U true CN205273851U (en) | 2016-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520978394.8U Expired - Fee Related CN205273851U (en) | 2015-11-30 | 2015-11-30 | Double -oar keeps away barrier rotor unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438457A (en) * | 2015-11-30 | 2016-03-30 | 湖北易瓦特科技股份有限公司 | Rotor unmanned aerial vehicle for dual-propeller obstacle avoiding |
-
2015
- 2015-11-30 CN CN201520978394.8U patent/CN205273851U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438457A (en) * | 2015-11-30 | 2016-03-30 | 湖北易瓦特科技股份有限公司 | Rotor unmanned aerial vehicle for dual-propeller obstacle avoiding |
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Address after: 430000 Hubei province Wuhan City Jiang'an District Lake Street Bridge Road No. 5 Building 1 layer 4 Patentee after: Easy Technology Co Ltd Address before: 430000 Hubei province Wuhan City Jiang'an District Lake Street Bridge Road No. 5 Building 1 layer 4 Patentee before: EWATT CO., LTD. |
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