CN205418133U - Automatic unmanned aerial vehicle equipment of keeping away barrier and shooing - Google Patents
Automatic unmanned aerial vehicle equipment of keeping away barrier and shooing Download PDFInfo
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- CN205418133U CN205418133U CN201520976379.XU CN201520976379U CN205418133U CN 205418133 U CN205418133 U CN 205418133U CN 201520976379 U CN201520976379 U CN 201520976379U CN 205418133 U CN205418133 U CN 205418133U
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Abstract
The utility model discloses an automatic unmanned aerial vehicle equipment of keeping away barrier and shooing, including the fuselage and with four at least rotors of fuselage fixed connection, four at least rotors include: the driving piece, the rotation axis, with the driving piece is connected, just rotation axis its axis relatively is rotatory, the propeller hub to rotatory mode is connected to on the rotation axis, two at least paddles are relative the axis of rotation axis is connected to with rotatory mode on the propeller hub, net cover body, unmanned aerial vehicle equipment includes still that a range finding keeps away the barrier appearance, the range finding keeps away the fixed setting of barrier appearance and is in on the fuselage, having solved among the prior art unmanned aerial vehicle equipment and having kept away the barrier to detect the function inaccurate, technical problem that captured images image quality is poor, response speed is slow has reached the unmanned aerial vehicle equipment that provides and has kept away the barrier and detect the technological effect that the function is accurate, the image quality height is shot to the image, response speed is fast.
Description
Technical field
This utility model relates to unmanned flight's equipment technical field, particularly to unmanned flight's equipment of automatic obstacle-avoiding and shooting.
Background technology
UAV is called for short " unmanned flight's equipment ", is the most 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 are by the equipment such as radar, it is tracked, positions, 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 the flight aloft of unmanned flight's equipment, in prior art, unmanned flight's equipment rotor wheel hub is fixed on connector, weight is bigger, rotor is easily damaged the blade of rotor when being impacted by bigger foreign body, and during rotor wing rotation, safety is relatively low, the dismounting of unmanned flight's equipment is inconvenient, and the avoidance performance of unmanned flight's equipment is inaccurate.
Utility model content
This utility model provides a kind of automatic obstacle-avoiding and unmanned flight's equipment of shooting, solve unmanned flight's equipment avoidance detection function in prior art inaccurate, shooting image picture quality is poor, response speed is slow technical problem, has reached to provide that unmanned flight's equipment avoidance detection function is accurate, image taking image quality height, the technique effect of fast response time.
For solving above-mentioned technical problem, this utility model provides unmanned flight's equipment of a kind of automatic obstacle-avoiding and shooting, described unmanned flight's equipment includes find range avoidance instrument and filming apparatus, described range finding avoidance instrument and filming apparatus are each attached on the fuselage of described unmanned flight's equipment, 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 barrier each several part and the distance of described range finding avoidance instrument.
Preferably, described range finding avoidance instrument also includes fixing seat, and one end of described fixing seat is fixing with described shooting camera to be connected, and the other end is removably secured with described laser grating emitter and is connected.
Preferably, described fixing seat is connected by clip is fixing with described light barrier transmitter.
Preferably, described fixing seat is fixed by snap with described light barrier transmitter is connected.
Preferably, the grating type that the camera lens filter of described shooting camera is launched with described light barrier transmitter mates.
Preferably, described filming apparatus includes: the first illuminator；Second illuminator, is oppositely arranged with the reflective surface of described first illuminator；Support, described support includes: link；First rotating seat, is rotatably fixed with one end of described link and is connected, and described first rotating seat is used for clamping described first illuminator；Second rotating seat, is rotatably fixed with the other end of described link and is connected, and described second rotating seat is used for clamping described second illuminator；Drive assembly, including for driving described first rotating seat and the first actuator of described second rotating seat rotation and the second actuator respectively；Shooting camera, is oppositely arranged with the reflective surface of described second illuminator；Wherein, light path, through described first illuminator, described second illuminator, reflexes to the camera lens of described shooting camera, described shooting camera shooting photograph.
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 °.
The application has the beneficial effect that:
Unmanned flight's equipment that the application provides, rotates of reciprocating vibration with predeterminated frequency by described first rotating seat and described second, on the one hand ensure that the image quality that unmanned flight's equipment shoots, and on the other hand adds shooting visual angle.Light path is changed 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 flight's equipment, without rotating whole filming apparatus, while satisfied automatic shooting, also ensure automatic obstacle-avoiding simultaneously, improve the safety that described unmanned flight's equipment runs.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, in describing embodiment below, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only embodiments more of the present utility model.
Fig. 1 is the structural representation of unmanned flight's equipment of the application one better embodiment automatic obstacle-avoiding and shooting；
Fig. 2 is an example structure schematic diagram of unmanned flight's equipment rotor in Fig. 1；
Fig. 3 is the another example structure schematic diagram of unmanned flight's equipment 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 of fixed 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 flight's ranging devices avoidance in Fig. 1；
Figure 12 is an example structure schematic diagram of double blade rotors in Fig. 1；
Accompanying drawing illustrates:
null100-unmanned flight's equipment，1-fuselage，2-unmanned flight's equipment rotor，21-rotary shaft，21a-the first rotary shaft，21b-the second rotary 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-fixed 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 unmanned flight's equipment of the application one better embodiment automatic obstacle-avoiding and shooting, the unmanned flight's equipment that this application discloses a kind of automatic obstacle-avoiding and shooting includes find range avoidance instrument and filming apparatus, described range finding avoidance instrument and filming apparatus are each attached on the fuselage of described unmanned flight's equipment, solve unmanned flight's equipment avoidance detection function in prior art inaccurate, shooting image picture quality is poor, the technical problem that response speed is slow, reach offer unmanned flight's equipment avoidance detection function accurate, image taking image quality is high, the technique effect of fast response time.
Below the overall structure from described unmanned flight's equipment is elaborated the technical scheme that the application provides.
For described unmanned flight's equipment rotor 2
Embodiment one
Referring to Fig. 2, described unmanned flight's equipment rotor 2 includes actuator 25, rotary shaft 21, at least two blade 23 and guard portion 24.Described actuator 25 is used for driving described rotary shaft 21 to rotate, and described actuator 25 is specially motor, and described rotary shaft 21 is connected with described actuator 25, and described rotary shaft 21 can rotate relative to its axis；Described propeller hub 22 is connected in described rotary shaft 21 in rotary manner, and described propeller hub 22 connects described at least two blade 23 for fixing；The axis of the described the most described rotary shaft of at least two blade 23 21 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 on described first outer shroud 2412 and described first internal ring 2413 with certain pretightning force, described first net bone 2411 is the material that band is elastic, 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 the material that band is elastic, there is elasticity, it is to avoid described unmanned flight's equipment rotor 2 is by rigid shock.
Described rear net cover 242 includes multiple second net bone the 2412, second outer shroud 2422 and gripper shoe 2423 of 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, the material of described gripper shoe 2423 are carbon fiber；And/or, the material of described second net bone 2412 is carbon fiber so that described unmanned flight's equipment rotor 2 lighter weight.Described first internal ring 2413 is collinear with the axis of described gripper shoe 2423.The size of described gripper shoe 2423 is more than or equal to the size of described actuator 25, 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 flight's equipment rotor 2, simplify the structure of described unmanned flight's equipment 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 described front mesh enclosure 241 and the bonding strength of described rear net cover 242.
Described unmanned flight's equipment 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 the material that band is elastic, there is elasticity, it is to avoid described unmanned flight's equipment rotor 2 is by rigid shock.
Referring to Fig. 1, described unmanned flight's equipment 100 also includes that connecting plate 3, described connecting plate 3 are fixed between the adjacent tie-beam of described at least two 243, and described at least four rotor 2 is removably secured at described connecting plate 3 with described fuselage 1 and is 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 is bolted to connection with described fuselage 1 so that described unmanned flight's equipment is readily accessible.The connecting plate 3 using magnetic is connected with described fuselage 1 so that described unmanned flight's equipment 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 flight's equipment 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 will rotate, between described propeller hub 22 and described actuator 25, the direction that the direction tightened is also configured to rotate counterclockwise, i.e., 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 more fastening, difficult drop-off.
Embodiment two
For described unmanned flight's equipment rotor 2, the application also provides for a kind of double oar rotor 2, refer to Figure 12, described unmanned flight's equipment 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, rotary 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 rotary shaft 21 includes the first rotary shaft 21a and the second rotary shaft 21b, described first rotary shaft 21a is connected with described first motor 25a and described second motor 25b respectively with described second rotary shaft 21b, and described first rotary shaft 21a can be distinguished with described second rotary shaft 21b and rotates relative to its axis.Described propeller hub 22 includes that the first propeller hub 22a and the second propeller hub 22b, described first propeller hub 22a and described second propeller hub 22b are connected in described first rotary shaft 21a and described second rotary shaft 21b the most in rotary manner；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 the most 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 respectively in the fixing connection in both sides of one end of support frame as described above 26, 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 is bolted to connection with described fuselage 1.
Described first rotary shaft 21a and described second rotary shaft 21b are coaxial, it is double oar coaxial, two mutually despun two groups of blades 23 taked by double oars, i.e. 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.So on the one hand, the stability making flight equipment is more preferable, and direction is easily controlled；On the other hand simple in construction, 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 as 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 flight's equipment 100 also includes that filming apparatus 4, described filming apparatus 4 are 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, described second illuminator 42 is oppositely arranged with the reflective surface of described first illuminator 41.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.Described first rotating seat 432 is articulated and connected with one end of described link 431, and described second rotating seat 433 is articulated and connected with the other end of described link 431.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 reflective surface of described first illuminator 41 is 90 degree with the angle of the reflective surface of described second illuminator 42, to ensure quality and the effect of shooting photograph.
Described shooting camera 44 reflexes to the image on described second illuminator 42 for shooting, and described shooting camera 44 is oppositely arranged with the reflective surface of described second illuminator 42.The size of described first illuminator 41 and described second illuminator 42 determines 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, on the one hand ensure that the image quality that unmanned flight's equipment shoots, and on the other hand adds shooting visual angle.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 flight's equipment, it is not necessary to rotate whole filming apparatus 4.
Referring to Fig. 6, described unmanned flight's equipment 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 fixed plate 52.
Referring to Fig. 7, described cushion 51, for the described detection module 6 on connected unmanned flight's equipment 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, prior art is difficult to control due to the characteristic of rubber, the rubber generally used is difficult to reach good damping effect in the detection module of unmanned flight's equipment, the elastomeric material that the application uses 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 flight's equipment, endurance, anti-time and restorability are preferable.Preferably, using described elastomeric material hardness is 40 degree.
Referring to Fig. 8, described fixed 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 the most described fixed plate 52 is great, can absorb vibration further.Concrete, described fixed plate 52 lid is located on described opening 511, and described fixed 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 fixed plate 52 form a receiving space；The passage 521 connected with described receiving space it is further opened with in described fixed plate 52.In the present embodiment, described cushion 51 is bolted with described fixed plate 52, and described fixed plate 52 is specially metal material, such as metallic copper material.Metal material ratio is great, it is possible to further absorb vibration.During described unmanned flight's equipment flight, air draught enters into described receiving 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 receiving 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 that at least two lug 53, described at least two lug 53 are connected with the edge of described cushion 51, and it is evenly distributed on the edge of described cushion 51, on the one hand ensure that described cushion 51 uniform force, improve 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.Offer spacing hole 531 on described at least two lug 53, be 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 flight's equipment 100 also includes avoidance instrument 7 of finding range, and described range finding avoidance instrument 7 is fixed on described fuselage 1, for the range finding avoidance of described unmanned flight's equipment 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 and is transmitted into the raster image on described barrier 200 to barrier 200, the shooting of described shooting camera.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 barrier 200 each several part and the distance of 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.
Fix described light barrier transmitter 71 and described shooting camera 72 for convenience, described range finding avoidance instrument 7 also includes 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 inventive concept, the application also provides for a kind of method of unmanned flight's ranging devices avoidance using above-mentioned range finding avoidance instrument, refers to Figure 11, and the method for described unmanned flight's ranging devices 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 described raster processor measures the shooting of described shooting camera, 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 flight's equipment, 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 flight ranging devices avoidance is exemplified below, launches, by default light barrier transmitter, the method that the grid number of grating illustrates unmanned flight's ranging devices 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 flight's equipment described in obstacle distance is the most remote in Fig. 9, the every lattice raster grid size being transmitted on barrier is the biggest, and the same every lattice raster grid size on the photograph being mapped to the shooting of described shooting camera is the biggest.A in Fig. 91、a2、a3And a4Equal apart from the distance of described unmanned flight's equipment, it is mapped to the every lattice raster grid a on the photograph of described shooting camera shooting1And a2、a2And a3、a3And a4Distance the most 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 flight's equipment, 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 the material that band is elastic, there is elasticity, it is to avoid described unmanned flight's equipment rotor is by rigid shock.
(2) the application rotates of reciprocating vibration with predeterminated frequency by described first rotating seat and described second, on the one hand ensure that the image quality that unmanned flight's equipment shoots, and on the other hand adds shooting visual angle.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 flight's equipment, it is not necessary to rotate whole filming apparatus.
(3) amortisseur that the application is arranged includes that at least two lug, described at least two lug are connected with the edge of described cushion, and is evenly distributed on the edge of described cushion, on the one hand ensure that described cushion uniform force, 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, without deviating from the spirit and scope of technical solutions of the utility model, it all should be contained in the middle of right of the present utility model.
Claims (10)
1. an automatic obstacle-avoiding and unmanned flight's equipment of shooting, it is characterized in that, described unmanned flight's equipment includes find range avoidance instrument and filming apparatus, and described range finding avoidance instrument and filming apparatus are each attached on the fuselage of described unmanned flight's equipment, 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 barrier each several part and the distance of described range finding avoidance instrument.
2. unmanned flight's equipment as claimed in claim 1, it is characterised in that described range finding avoidance instrument also includes fixing seat, one end of described fixing seat is fixing with described shooting camera to be connected, and the other end is removably secured with described light barrier transmitter and is connected.
3. unmanned flight's equipment as claimed in claim 2, it is characterised in that described fixing seat is connected by clip is fixing with described light barrier transmitter.
4. unmanned flight's equipment as claimed in claim 2, it is characterised in that described fixing seat is fixed by snap with described light barrier transmitter to be connected.
5. unmanned flight's equipment as claimed in claim 1, it is characterised in that the grating type that the camera lens filter of described shooting camera is launched with described light barrier transmitter mates.
6. unmanned flight's equipment as claimed in claim 1, it is characterised in that described filming apparatus includes:
First illuminator；
Second illuminator, is oppositely arranged with the reflective surface of described first illuminator；
Support, described support includes:
Link；
First rotating seat, is rotatably fixed with one end of described link and is connected, and described first rotating seat is used for clamping described first illuminator；
Second rotating seat, is rotatably fixed with the other end of described link and is connected, and described second rotating seat is used for clamping described second illuminator；
Drive assembly, including for driving described first rotating seat and the first actuator of described second rotating seat rotation and the second actuator respectively；
Shooting camera, is oppositely arranged with the reflective surface of described second illuminator；
Wherein, light path, through described first illuminator, described second illuminator, reflexes to the camera lens of described shooting camera, described shooting camera shooting photograph.
7. unmanned flight's equipment as claimed in claim 6, it is characterised in that the reflective surface of described first illuminator is 90 degree with the angle of the reflective surface of described second illuminator.
8. unmanned flight's equipment as claimed in claim 6, it is characterised in that described first actuator and described second actuator drive described first rotating seat and described second rotating seat of reciprocating vibration with predeterminated frequency respectively.
9. unmanned flight's equipment as claimed in claim 8, it is characterised in that described angle of reciprocating vibration is ± 40 °.
10. unmanned flight's equipment as claimed in claim 9, it is characterised in that described angle of reciprocating vibration is ± 20 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520976379.XU CN205418133U (en) | 2015-11-30 | 2015-11-30 | Automatic unmanned aerial vehicle equipment of keeping away barrier and shooing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520976379.XU CN205418133U (en) | 2015-11-30 | 2015-11-30 | Automatic unmanned aerial vehicle equipment of keeping away barrier and shooing |
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| CN205418133U true CN205418133U (en) | 2016-08-03 |
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| CN201520976379.XU Expired - Fee Related CN205418133U (en) | 2015-11-30 | 2015-11-30 | Automatic unmanned aerial vehicle equipment of keeping away barrier and shooing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094873A (en) * | 2016-08-26 | 2016-11-09 | 深圳市中航佳智能科技有限公司 | A kind of novel have avoidance and the unmanned plane of distance measurement function and avoidance and distance-finding method |
-
2015
- 2015-11-30 CN CN201520976379.XU patent/CN205418133U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094873A (en) * | 2016-08-26 | 2016-11-09 | 深圳市中航佳智能科技有限公司 | A kind of novel have avoidance and the unmanned plane of distance measurement function and avoidance and distance-finding method |
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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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