CN205387194U - Double -oar shock attenuation rotor unmanned aerial vehicle - Google Patents
Double -oar shock attenuation rotor unmanned aerial vehicle Download PDFInfo
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- CN205387194U CN205387194U CN201520972727.6U CN201520972727U CN205387194U CN 205387194 U CN205387194 U CN 205387194U CN 201520972727 U CN201520972727 U CN 201520972727U CN 205387194 U CN205387194 U CN 205387194U
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Abstract
The utility model discloses a double -oar shock attenuation 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
This utility model relates to unmanned air vehicle technique field, particularly to double; two oar damping rotor wing unmanned aerial vehicles.
Background technology
UAV is called for short " unmanned plane ", is the not manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Without driving cabin on machine, but the equipment such as automatic pilot, presetting apparatus, signal pickup assembly are installed.On ground, naval vessels or machine tool remote control station personnel by the equipment such as radar, it be tracked, position, remote control, remote measurement and Digital Transmission.Can take off as conventional airplane under wireless remotecontrol or launch with booster rocket, it is possible to be taken to by machine tool and throw in flight in the air.
During unmanned plane flight aloft, in prior art, unmanned plane rotor wheel hub is fixed on connector, weight is bigger, rotor is subject to being easily damaged when bigger foreign body impacts the blade of rotor, and during rotor wing rotation, safety is relatively low, unmanned plane dismounting is inconvenient, and the connection of unmanned plane is unreliable, it is easy to damage unmanned plane, reduce the life-span of unmanned plane.
Utility model content
This utility model provides a kind of double; two oar damping rotor wing unmanned aerial vehicle, solve unmanned plane during flying instability in prior art, be vulnerable to foreign body impact and lose and owing to gas shock vibration detection module detects inaccurate technical problem, reach the technique effect making unmanned plane during flying reliable and stable and avoiding being subject to the accuracy of foreign body impact and described detection module vibrations reduction raising testing result.
For solving above-mentioned technical problem, this utility model provides a kind of double; two oar damping rotor wing unmanned aerial vehicle, including fuselage with fix at least four rotor being connected and detection module with described fuselage, described at least four rotor includes: actuator, is relatively fixed, including the first motor with described first motor, the second motor being connected；Rotating shaft, including the first rotating shaft and the second rotating shaft, described first rotating shaft is connected with described first motor and described second motor respectively with described second rotating shaft, and described first rotating shaft can be distinguished with described second rotating shaft and rotates relative to its axis；Propeller hub, is connected to respectively in rotary manner including the first propeller hub and the second propeller hub, described first propeller hub and described second propeller hub on described first rotating shaft and described second rotating shaft；Blade, including two groups of blades, corresponding with described first propeller hub and the second propeller hub respectively, described two groups of blades are connected on described first propeller hub and described second propeller hub respectively in rotary manner；Bracing frame, is arranged between described two groups of blades, and described first motor and described second motor are fixing in the both sides of one end of support frame as described above respectively to be connected, and support frame as described above is removably secured with described fuselage and is connected；Described unmanned plane also includes an amortisseur, and described amortisseur is removably secured with described detection module and is connected.
Preferably, described at least four rotor also includes: guard portion, it is removably secured with described fuselage and is connected, described guard portion includes: front mesh enclosure, described front mesh enclosure includes multiple first net bone, the first outer shroud and the first internal ring, the two ends of each described first net bone are separately fixed at certain pretightning force on described first outer shroud and described first internal ring, and described first net bone is for being with elastic material；Rear net cover, described rear net cover includes the gripper shoe of multiple second net bone, the second outer shroud and circle, and one end of each described second net bone is fixed in described gripper shoe, and the other end is fixed on described second outer shroud；Multiple tie-beams, one end of each described tie-beam is fixed on described first outer shroud, and the other end is fixed on described second outer shroud.
Preferably, described first outer shroud, described first internal ring, described second outer shroud, described gripper shoe material be carbon fiber；And/or, the material of described second net bone is carbon fiber.
Preferably, described first internal ring is collinear with the axis of described gripper shoe；And/or, described first internal ring and described first outer shroud are arranged concentrically；And/or, described gripper shoe and described second outer shroud are arranged concentrically；And/or, described first net bone is specially nylon wire.
Preferably, described amortisseur includes: cushion, and top is removably secured with described detection module and is connected, and described cushion offers an opening, so that the parts on described detection module are placed in described opening；Fixing plate, lid sets over said opening, and is removably secured with the bottom of described cushion and is connected so that described detection module, the inwall of described opening and described fixing plate form an accommodation space；Described fixing plate is further opened with the passage connected with described accommodation space；Wherein, during described unmanned plane during flying, air draught enters into described accommodation space from described passage, in order to described detection module detects described air draught.
Preferably, the reflective surface of described first illuminator is 90 degree with the angle of the reflective surface of described second illuminator.
Preferably, described first actuator and described second actuator drive described first rotating seat and described second rotating seat of reciprocating vibration with predeterminated frequency respectively.
Preferably, described angle of reciprocating vibration is ± 40 °.
Preferably, described angle of reciprocating vibration is ± 20 °.
Preferably, described unmanned plane also includes a range finding avoidance instrument, and described range finding avoidance instrument includes: light barrier transmitter, launches grating to barrier；Shooting camera, shooting is transmitted into the raster image on described barrier；Raster processor, is connected with described shooting camera, and described raster processor processes the described raster image of described shooting camera shooting；Wherein, the distance values between the pixel of the described raster image that described raster processor is shot by the described shooting camera of measurement, and in the ratio of described distance values Yu actual range, it is judged that the distance of barrier each several part and described range finding avoidance instrument.
The application has the beneficial effect that:
The unmanned plane that the application provides, reversely rotates by arranging double; two oar and two groups of blades so that two groups of blades produce two torsion in opposite direction, directly cancel out each other.The stability making flight equipment so on the one hand is better, and direction is easily controlled；Simple in construction, reduces the generation of safety failure on the other hand；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 that this utility model embodiment or technical scheme of the prior art, below the accompanying drawing used required during embodiment is described is briefly described, it should be apparent 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 double; two oar damping rotor wing unmanned aerial vehicle of the application one better embodiment；
Fig. 2 is an example structure schematic diagram of unmanned plane rotor in Fig. 1；
Fig. 3 is the another example structure schematic diagram of unmanned plane 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 amortisseur；
Fig. 7 is the partial schematic diagram of cushion in Fig. 6；
Fig. 8 is the partial schematic diagram fixing plate in Fig. 6；
Fig. 9 is the structural representation of range finding avoidance instrument；
Figure 10 is the partial schematic diagram fixing seat in Fig. 9；
Figure 11 is the flow chart of the method for unmanned plane range finding avoidance in Fig. 1；
Figure 12 is an example structure schematic diagram of double; two blade rotors in Fig. 1；
Accompanying drawing illustrates:
null100-rotor wing unmanned aerial vehicle，1-fuselage，2-unmanned plane rotor，21-rotating shaft，21a-the first rotating shaft，21b-the second rotating shaft，22-propeller hub，22a-the first propeller hub，22b-the second propeller hub，23-blade，23a-the first blade，23b-the second blade，24-guard portion，241-front mesh enclosure，2411-the first net bone，2412-the first outer shroud，2413-the first internal ring，242-rear net cover，2421-the second net bone，2422-the second outer shroud，2423-gripper shoe，243-tie-beam，25-actuator，25a-the first motor，25b-the second motor，26-bracing frame，3-connecting plate，4-filming apparatus，41-the first illuminator，42-the second illuminator，43-support，431-link，432-the first rotating seat，433-the second rotating seat，44-images camera，5-amortisseur，51-cushion，511-opening，52-fixes plate，521-passage，53-lug，531-spacing hole，6-detection module，7-finds range avoidance instrument，71-light barrier transmitter，72-shoots camera，73-fixes seat，200-barrier.
Detailed description of the invention
In order to be better understood from technique scheme, below in conjunction with Figure of description and specific embodiment, 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 double, two blade rotors in Fig. 1, please refer to Fig. 1 and Figure 12, this application discloses a kind of double, two oar damping rotor wing unmanned aerial vehicle, described unmanned plane includes fuselage, described fuselage fixes at least four rotor of connection, solve unmanned plane during flying in prior art unstable, it is vulnerable to foreign body impact and lose and owing to gas shock vibration detection module detects inaccurate technical problem, reach to make unmanned plane during flying reliable and stable and avoid being subject to foreign body to impact, and the vibrations of described detection module reduce the technique effect of the accuracy improving testing result.
Below the overall structure from described unmanned plane is elaborated the technical scheme that the application provides.
For described unmanned plane rotor 2
Embodiment one
Referring to Fig. 2, described unmanned plane rotor 2 includes actuator 25, rotating shaft 21, at least two blade 23 and guard portion 24.Described actuator 25 is used for driving described rotating shaft 21 to rotate, and described actuator 25 is specially motor, and described rotating shaft 21 is connected with described actuator 25, and described rotating shaft 21 can rotate relative to its axis；Described propeller hub 22 is connected on described rotating shaft 21 in rotary manner, and described propeller hub 22 connects described at least two blade 23 for fixing；The axis of the relatively described rotating shaft 21 of described at least two blade 23 is connected on described propeller hub 22 in rotary manner.
Described guard portion 24 is removably secured with described fuselage 1 and is connected, and described guard portion 24 includes front mesh enclosure 241, rear net cover 242 and multiple tie-beam 243.Described front mesh enclosure 241 includes multiple first net bone the 2411, first outer shroud 2412 and the first internal ring 2413, the two ends of each described first net bone 2411 are separately fixed at certain pretightning force on described first outer shroud 2412 and described first internal ring 2413, described first net bone 2411 is for being with elastic material, 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 internal ring 2413 with default pretightning force, described at least two blade 23 is made when rotating, to avoid the impact of extraneous big foreign body, and improve safety, on the other hand, described first net bone 2411 is for being with elastic material, there is elasticity, it is to avoid described unmanned plane rotor 2 is subject to rigid shock.
Described rear net cover 242 includes the gripper shoe 2423 of multiple second net bone the 2412, second outer shroud 2422 and circle, and one end of each described second net bone 2412 is fixed in described gripper shoe 2423, and the other end is fixed on described second outer shroud 2422；The plurality of second net bone 2412 of described rear net cover 242, described second outer shroud 2422 and described gripper shoe 2423 form bigger gap, while ensureing heat radiation, improve safety.Described first outer shroud 2412, described first internal ring 2413, described second outer shroud 2422, described gripper shoe 2423 material be carbon fiber；And/or, the material of described second net bone 2412 is carbon fiber so that described unmanned plane rotor 2 lighter weight.Described first internal ring 2413 is collinear with the axis of described gripper shoe 2423.The size being sized larger than or being equal to described actuator 25 of described gripper shoe 2423, to facilitate described actuator 25 to be fixed in described gripper shoe 2423, instead of traditional employing connector and fix described propeller hub 22, reduce further the weight of described unmanned plane rotor 2, simplify the structure of described unmanned plane rotor 2.Described first internal ring 2413 is arranged concentrically with described first outer shroud 2412；Described gripper shoe 2423 is arranged concentrically with described second outer shroud 2422, it is ensured that the stability in described guard portion 24.
The plurality of tie-beam 243 is used for connecting described front mesh enclosure 241 and described rear net cover 242, one end of each described tie-beam 243 is fixed on described first outer shroud 2412, the other end is fixed on described second outer shroud 2422, further enhancing the bonding strength of described front mesh enclosure 241 and described rear net cover 242.
Described unmanned plane rotor 2 is fixed respectively at described first outer shroud 2412 and described first internal ring 2413 with default pretightning force by the two ends of described first net bone 2411, described at least two blade 23 is made when rotating, to avoid the impact of extraneous big foreign body, and improve safety, on the other hand, described first net bone 2411 is for being with elastic material, there is elasticity, it is to avoid described unmanned plane rotor 2 is subject to rigid shock.
Referring to Fig. 1, described unmanned plane 100 also includes connecting plate 3, and described connecting plate 3 is fixed between the adjacent tie-beam of described at least two 243, and described at least four rotor 2 and described fuselage 1 are removably secured at described connecting plate 3 place and are connected.In the present embodiment, described connecting plate 3 is magnetic connecting plate, makes described at least four rotor 2 be connected with described fuselage 1 magnetic；And/or described connecting plate 3 and described fuselage 1 are bolted to connection so that described unmanned plane is readily accessible.The connecting plate 3 adopting magnetic is connected with described fuselage 1 so that described unmanned plane 100 convenient disassembly.
It addition, refer to Fig. 3, described connecting plate 3 can also be L-type connecting plate, and described connecting plate 3 is connected by bolt is fixing with described fuselage 1, is used for supporting described rotor 2.
In order to avoid described unmanned plane causes the fastening relationships between described propeller hub 22 and described actuator 25 to occur loosening in flight course due to normal the rotation counterclockwise of described blade 23, the application is also configured to the direction of rotation counterclockwise by rotating the direction tightened between described propeller hub 22 and described actuator 25, namely, the direction of rotation of the thread rotary orientation between described propeller hub 22 and described actuator 25 and described blade 23 is in the same direction, when described blade 23 is rotated, connection between described propeller hub 22 and described actuator 25 is fastening more, difficult drop-off.
Embodiment two
For described unmanned plane rotor 2, the application also provides for a kind of double; two oar rotor 2, refer to Figure 12, described unmanned plane 100, fixing, including fuselage 1 with described fuselage 1, at least four rotor 2 being connected, described at least four rotor 2 includes actuator 25, rotating shaft 21, propeller hub 22, blade 23 and bracing frame 26.
Described actuator includes the first motor 25a and is relatively fixed, with described first motor 25a, the second motor being connected；Described rotating shaft 21 includes the first rotating shaft 21a and the second rotating shaft 21b, described first rotating shaft 21a is connected with described first motor 25a and described second motor 25b respectively with described second rotating shaft 21b, and described first rotating shaft 21a can distinguish with described second rotating shaft 21b and rotates relative to its axis.Described propeller hub 22 includes the first propeller hub 22a and the second propeller hub 22b, described first propeller hub 22a and described second propeller hub 22b and is connected in rotary manner respectively on described first rotating shaft 21a and described second rotating shaft 21b；Described blade 23 includes two groups of blades 23, and described two groups of blades 23 are corresponding with described first propeller hub 22a and the second propeller hub 22b respectively, and described two groups of blades 23 are connected on described first propeller hub 22a and described second 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 and described second motor 25b is fixing in the both sides of one end of support frame as described above 26 respectively to be connected, and the other end of support frame as described above 26 is removably secured with described fuselage 1 and is connected.In the present embodiment, support frame as described above 26 and described fuselage 1 are bolted to connection.
Described first rotating shaft 21a and described second rotating shaft 21b is coaxial, it is double; two oar coaxial, two mutually despun two groups of blades 23 taked by double; two oars, namely it is rotated towards counterclockwise by first group of blade 23a, second group of blade 23b is rotated towards clockwise, make two groups of blades 23 produce in opposite direction two torsion, directly cancel out each other.The stability making flight equipment so on the one hand is better, and direction is easily controlled；Simple in construction, reduces the generation of safety failure on the other hand；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 in that, described in embodiment one the same with guard portion 24 structure in embodiment one, gripper shoe 2423 described in embodiment one is used for supporting stress and fixing with described actuator 25, to fix and to support described actuator 25；And actuator 25 described in the present embodiment is independent of the support of described gripper shoe 2423, but supporting described pair of oar by fixing the bracing frame being connected with fuselage, other structure divisions in described guard portion 24 are identical with embodiment one, therefore do not repeat them here.
Described unmanned plane 100 also includes filming apparatus 4, and described filming apparatus 4 is fixed on described fuselage 1.Concrete, referring to Fig. 4, described filming apparatus 4 includes first illuminator the 41, second illuminator 42, support 43, drives assembly and shooting camera 44.
Referring to Fig. 5, described first illuminator 41 and described second illuminator 42 simultaneously and change the circuit of light path, the reflective surface of described second illuminator 42 and described first illuminator 41 is oppositely arranged.Described support 43 is used for supporting described first illuminator 41 and described second illuminator 42, described support 43 includes link the 431, first rotating seat 432 and the second rotating seat 433, described first rotating seat 432 is rotatably fixed with one end of described link 431 and is connected, described first rotating seat 432 is used for clamping described first illuminator 41, with by described first rotating seat 432 relative to described link 431 rotarily drive described first illuminator 41 rotate change its position angle.Described second rotating seat 433 is rotatably fixed with the other end of described link 431 and is connected, described second rotating seat 433 is used for clamping described second illuminator 42, with by described second rotating seat 433 relative to described link 431 rotarily drive described second illuminator 42 rotate change its position angle.One end of described first rotating seat 432 and described link 431 is articulated and connected, and the other end of described second rotating seat 433 and described link 431 is articulated and connected.In the present embodiment, described first illuminator 41 and/or described second illuminator 42 are completely reflecting mirror.Further, described first illuminator 41 and/or the second illuminator 42 are specially metal coating eyeglass.The angle of the reflective surface of the reflective surface of described first illuminator 41 and described second illuminator 42 is 90 degree, to ensure quality and the effect of shooting photograph.
Described shooting camera 44 is for shooting the image reflexed on described second illuminator 42, and the reflective surface of described shooting camera 44 and described second illuminator 42 is oppositely arranged.The size of described first illuminator 41 and described second illuminator 42 is determined according to the chip of described shooting camera.During operation, light path, through described first illuminator 41, described second illuminator 42, reflexes to the camera lens of described shooting camera 44, and described shooting camera 44 shoots photograph.
Described driving assembly includes the first actuator and described second actuator, is used for driving described first rotating seat 432 and described second rotating seat 433 to rotate to adjust position angle.Described first actuator drives described first rotating seat 432 to rotate, and described second actuator drives described second rotating seat 433 to rotate.Described first actuator and/or described second actuator are motor.
In order to make described filming apparatus 4 obtain bigger visual angle, described first actuator and described second actuator drive described first rotating seat 432 and described second rotating seat 433 of reciprocating vibration with predeterminated frequency respectively, so that described first illuminator 41 being separately fixed on described first rotating seat 432 and described second rotating seat 433 and described second illuminator 42 are of reciprocating vibration with predeterminated frequency, improve shooting visual angle.Described angle of reciprocating vibration is ± 40 °.Preferably, described angle of reciprocating vibration is ± 20 °.Concrete, described predeterminated frequency can reach 45000 points/second.
Described filming apparatus 4 is of reciprocating vibration with predeterminated frequency by described first rotating seat 432 and described second rotating seat 433, ensure that the image quality that unmanned plane shoots on the one hand, adds shooting visual angle on the other hand.Change light path by arranging support 43, and vibrate described first illuminator 41 and described second illuminator 42 improves shooting photograph image quality, also improve the response speed of filming apparatus 4 in unmanned plane, it is not necessary to rotate whole filming apparatus 4.
Referring to Fig. 6, described unmanned plane 100 also includes amortisseur 5 and detection module 6, and described amortisseur 5 is removably secured with described detection module 6 and is connected.Described amortisseur 5 is for the damping of described detection module 6, and described amortisseur 5 includes cushion 51 and fixing plate 52.
Referring to Fig. 7, described cushion 51, for the described detection module 6 on connected unmanned plane carries out damping, improves testing result.The top of described cushion 51 is removably secured with described detection module 6 and is connected, and described cushion 51 offers an opening 511, so that the parts on described detection module 6 are placed in described opening 511.In the present embodiment, described cushion 51 is bolted with described detection module 6, and described cushion 51 is specially elastomeric material.Additionally, owing to the characteristic of rubber is difficult to control in prior art, the rubber generally adopted is difficult to reach good damping effect in the detection module of unmanned plane, the elastomeric material that the application adopts cushion 51 hardness to be 10 degree of-60 degree hardness, preferably, the toughness of described cushion 51 is more than 16J/m2So that when described amortisseur uses in unmanned plane, endurance, anti-time and restorability are all better.Preferably, adopting described elastomeric material hardness is 40 degree.
Referring to Fig. 8, described fixing plate 52 1 aspect is used for making described cushion 51 and described detection module 6 form a closing space to carry out shock absorbing；The ratio of described fixing plate 52 is great on the other hand, it is possible to absorb vibration further.Concrete, described fixing plate 52 lid is located on described opening 511, and described fixing plate 52 is removably secured with the bottom of described cushion 51 and is connected so that described detection module 6, the inwall of described opening 511 and described fixing plate 52 form an accommodation space；Described fixing plate 52 is further opened with the passage 521 connected with described accommodation space.In the present embodiment, described cushion 51 is bolted with described fixing plate 52, and described fixing plate 52 is specially metal material, for instance metallic copper material.Metal material ratio is great, it is possible to further absorb vibration.During described unmanned plane during flying, air draught enters into described accommodation space from described passage 521, in order to described detection module 6 detects described air draught.Arrange described passage 521, air draught enters into described accommodation space from described passage 521, it is to avoid air draught is unstable and affects the accuracy of detection of described detection module 6.
It addition, described amortisseur 5 also includes at least two lug 53, described at least two lug 53 is connected with the edge of described cushion 51, and is evenly distributed on the edge of described cushion 51, ensure that described cushion 51 uniform force on the one hand, improves damping effect；On the other hand, described at least two lug 53 is fixed on miscellaneous part so that have pretightning force on described cushion 51, improves the damping effect of described cushion 51, also improves the restorability after described cushion 51 is hit.Described at least two lug 53 has certain pretightning force and is arranged on the edge of described rubber blanket so that obtain certain weakening from the vibrations of the middle part that described at least two lug 53 is delivered to described rubber blanket.Described at least two lug 53 offers spacing hole 531, is used for fixing described lug 53.In present embodiment, described at least two lug 53 is integrated with described cushion 51, saves material, also makes compact conformation.
Referring to Fig. 9 and Figure 10, described unmanned plane 100 also includes range finding avoidance instrument 7, and described range finding avoidance instrument 7 is fixed on described fuselage 1, for the range finding avoidance of described unmanned plane 100.Concrete, described range finding avoidance instrument 7 includes light barrier transmitter 71, shooting camera 72 and raster processor.
Described light barrier transmitter 71 is used for launching grating to barrier 200, and the shooting of described shooting camera is transmitted into the raster image on described barrier 200.Described raster processor is connected with described shooting camera 72, for processing the described raster image of described shooting camera 72 shooting；During operation, the distance values between the pixel of the described raster image that described raster processor is shot by the described shooting camera 72 of measurement, and in the ratio of described distance values Yu actual range, it is judged that the distance of barrier 200 each several part and described range finding avoidance instrument 7.It 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 definition of 2 raster images taken 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 and selects the camera lens filter for described visible or invisible grating specific wavelength according to described visible or invisible grating.
For convenient fixing described light barrier transmitter 71 and described shooting camera 72, described range finding avoidance instrument 7 also includes a fixing seat 73, one end of described fixing seat 73 is fixing with described shooting camera 72 to be connected, and the other end is removably secured with described laser grating emitter 71 and is connected.Described fixing seat 73 is connected by clip or buckle are fixing with described light barrier transmitter 71.
Based on same utility model design, the application also provides for a kind of method of unmanned plane range finding avoidance adopting above-mentioned range finding avoidance instrument, refers to Figure 11, and the method for described unmanned plane range finding avoidance includes:
Step S100, described light barrier transmitter launches grating to barrier.
Step S200, the shooting of described shooting camera is transmitted into the raster image on described barrier, and raster image is transferred to described raster processor.
Step S300, calculates the distance of barrier each several part and described range finding avoidance instrument according to described raster image.
Wherein, described step S300 calculates the distance of barrier each several part and described range finding avoidance instrument according to described raster image, it is specially the distance values between the pixel of the described raster image that the described raster processor described shooting camera of measurement shoots, and in the ratio of described distance values Yu actual range, calculate the distance of barrier each several part and described range finding avoidance instrument.
Step S400, unmanned plane, according to the spacing with described barrier each several part, selects the direction flight become larger with obstacle distance, completes avoidance.
Embodiment three
The method that described unmanned plane range finding avoidance is exemplified below, launches, by default light barrier transmitter, the method that the grid number of grating illustrates unmanned plane range finding avoidance, and such as Fig. 9, the grating that described light barrier transmitter is launched is the grid of 3 × 3.It can be seen that unmanned plane described in obstacle distance is more remote in Fig. 9, the every lattice raster grid size being transmitted on barrier is more big, and the same every lattice raster grid size on the photograph being mapped to the shooting of described shooting camera is more big.A in Fig. 91、a2、a3And a4Equal apart from the distance of described unmanned plane, it is mapped to the every lattice raster grid a on the photograph of described shooting camera shooting1And a2、a2And a3、a3And a4Distance all equal, and d1And d1Between spacing more than a1And a2Between spacing.The spacing between raster pixel image point according to the shooting set and the ratio of actual range, calculate the spacing between each several part of barrier and described unmanned plane, selects the direction flight become larger with obstacle distance, completes avoidance.
Described range finding avoidance instrument 7 utilizes the characteristic of grating to launch grating to barrier 200 by light barrier transmitter 71, the shooting of described shooting camera 72 is transmitted into the raster image on described barrier 200, calculate the distance values between the pixel of described raster image, select the direction flight become larger with barrier 200 distance, completing avoidance, measurement result is accurate, capacity of resisting disturbance is strong for solution.
The application has the beneficial effect that:
(1) the application is fixed respectively at described first outer shroud and described first internal ring with default pretightning force by the two ends of described first net bone, described at least two blade is made when rotating, to avoid the impact of extraneous big foreign body, and improve safety, on the other hand, described first net bone is for being with elastic material, there is elasticity, it is to avoid described unmanned plane rotor is subject to rigid shock.
(2) the application rotates of reciprocating vibration with predeterminated frequency by described first rotating seat and described second, ensure that the image quality that unmanned plane shoots on the one hand, adds shooting visual angle on the other hand.Change light path by arranging support, and vibrate described first illuminator and described second illuminator improves shooting photograph image quality, also improve the response speed of filming apparatus in unmanned plane, it is not necessary to rotate whole filming apparatus.
(3) amortisseur that the application is arranged includes at least two lug, and described at least two lug is connected with the edge of described cushion, and is evenly distributed on the edge of described cushion, ensure that described cushion uniform force on the one hand, improves damping effect；On the other hand, described at least two lug is fixed on miscellaneous part so that have pretightning force on described cushion, improves the damping effect of described cushion, also improves the restorability after described cushion is hit.Described at least two lug has certain pretightning force and is arranged on the edge of described rubber blanket so that obtain certain weakening from the vibrations of the middle part that described at least two lug is delivered to described rubber blanket.
(4) the application utilizes the characteristic of grating to launch grating to barrier by light barrier transmitter, the shooting of described shooting camera is transmitted into the raster image on described barrier, calculate the distance values between the pixel of described raster image, select the direction flight become larger with obstacle distance, complete avoidance, solve and prior art finds range avoidance instrument measurement result accuracy rate is low, the technical problem of poor anti jamming capability.
It should be noted last that, above detailed description of the invention is only in order to illustrate the technical solution of the utility model and unrestricted, although this 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, without deviating 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 (6)
1. double; two oar damping rotor wing unmanned aerial vehicles, including fuselage with fix at least four rotor being connected and detection module with described fuselage, it is characterised in that described at least four rotor includes:
Actuator, is relatively fixed, including the first motor with described first motor, the second motor being connected；
Rotating shaft, including the first rotating shaft and the second rotating shaft, described first rotating shaft is connected with described first motor and described second motor respectively with described second rotating shaft, and described first rotating shaft can be distinguished with described second rotating shaft and rotates relative to its axis；
Propeller hub, is connected to respectively in rotary manner including the first propeller hub and the second propeller hub, described first propeller hub and described second propeller hub on described first rotating shaft and described second rotating shaft；
Blade, including two groups of blades, corresponding with described first propeller hub and the second propeller hub respectively, described two groups of blades are connected on described first propeller hub and described second propeller hub respectively in rotary manner；
Bracing frame, is arranged between described two groups of blades, and described first motor and described second motor are fixing in the both sides of one end of support frame as described above respectively to be connected, and support frame as described above is removably secured with described fuselage and is connected；
Described unmanned plane also includes an amortisseur, and described amortisseur is removably secured with described detection module and is connected.
2. unmanned plane as claimed in claim 1, it is characterised in that described at least four rotor also includes:
Guard portion, is removably secured with described fuselage and is connected, and described guard portion includes:
Front mesh enclosure, described front mesh enclosure includes multiple first net bone, the first outer shroud and the first internal ring, and the two ends of each described first net bone are separately fixed at certain pretightning force on described first outer shroud and described first internal ring, and described first net bone is for being with elastic material；
Rear net cover, described rear net cover includes the gripper shoe of multiple second net bone, the second outer shroud and circle, and one end of each described second net bone is fixed in described gripper shoe, and the other end is fixed on described second outer shroud；
Multiple tie-beams, one end of each described tie-beam is fixed on described first outer shroud, and the other end is fixed on described second outer shroud.
3. unmanned plane as claimed in claim 2, it is characterised in that described first outer shroud, described first internal ring, described second outer shroud, described gripper shoe material be carbon fiber；And/or, the material of described second net bone is carbon fiber.
4. unmanned plane as claimed in claim 2, it is characterised in that described first internal ring is collinear with the axis of described gripper shoe；And/or, described first internal ring and described first outer shroud are arranged concentrically；And/or, described gripper shoe and described second outer shroud are arranged concentrically；And/or, described first net bone is specially nylon wire.
5. unmanned plane as claimed in claim 1, it is characterised in that described amortisseur includes:
Cushion, top is removably secured with described detection module and is connected, and described cushion offers an opening, so that the parts on described detection module are placed in described opening；
Fixing plate, lid sets over said opening, and is removably secured with the bottom of described cushion and is connected so that described detection module, the inwall of described opening and described fixing plate form an accommodation space；Described fixing plate is further opened with the passage connected with described accommodation space；
Wherein, during described unmanned plane during flying, air draught enters into described accommodation space from described passage, in order to described detection module detects described air draught.
6. unmanned plane as claimed in claim 1, it is characterised in that described unmanned plane also includes a range finding avoidance instrument, and described range finding avoidance instrument includes:
Light barrier transmitter, launches grating to barrier；
Shooting camera, shooting is transmitted into the raster image on described barrier；
Raster processor, is connected with described shooting camera, and described raster processor processes the described raster image of described shooting camera shooting；
Wherein, the distance values between the pixel of the described raster image that described raster processor is shot by the described shooting camera of measurement, and in the ratio of described distance values Yu actual range, it is judged that the distance of barrier each several part and described range finding avoidance instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520972727.6U CN205387194U (en) | 2015-11-30 | 2015-11-30 | Double -oar shock attenuation rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520972727.6U CN205387194U (en) | 2015-11-30 | 2015-11-30 | Double -oar shock attenuation rotor unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN205387194U true CN205387194U (en) | 2016-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520972727.6U Expired - Fee Related CN205387194U (en) | 2015-11-30 | 2015-11-30 | Double -oar shock attenuation rotor unmanned aerial vehicle |
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| CN (1) | CN205387194U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105366043A (en) * | 2015-11-30 | 2016-03-02 | 湖北易瓦特科技股份有限公司 | Double-oar damping rotor unmanned aerial vehicle |
| AT520144A1 (en) * | 2017-06-22 | 2019-01-15 | Werner Dipl Ing Holzer | SWIVELING PROPELLER PROTECTION FRAME WITH INTEGRATED ELECTRICALLY DRIVEN PROPELLERS |
-
2015
- 2015-11-30 CN CN201520972727.6U patent/CN205387194U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105366043A (en) * | 2015-11-30 | 2016-03-02 | 湖北易瓦特科技股份有限公司 | Double-oar damping rotor unmanned aerial vehicle |
| AT520144A1 (en) * | 2017-06-22 | 2019-01-15 | Werner Dipl Ing Holzer | SWIVELING PROPELLER PROTECTION FRAME WITH INTEGRATED ELECTRICALLY DRIVEN PROPELLERS |
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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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Granted publication date: 20160720 Termination date: 20181130 |