CN205554567U - Take many rotors unmanned vehicles of buffer stop - Google Patents
Take many rotors unmanned vehicles of buffer stop Download PDFInfo
- Publication number
- CN205554567U CN205554567U CN201620198823.4U CN201620198823U CN205554567U CN 205554567 U CN205554567 U CN 205554567U CN 201620198823 U CN201620198823 U CN 201620198823U CN 205554567 U CN205554567 U CN 205554567U
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- support arm
- measuring sensor
- frame
- distance measuring
- rotor unmanned
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Abstract
The utility model provides a take many rotors unmanned vehicles of buffer stop for improve many rotors unmanned vehicles's anticollision performance. This many rotor unmanned vehicles include: distance measuring sensor (1), crashproof support arm (2), motor (3), frame (4), battery tray (5) and flight controller (6), distance measuring sensor (1) is connected with crashproof support arm (2), motor (3) are connected with frame (4), anticollision support arm (2) is connected with frame (4), battery tray (5) are connected with frame (4), distance measuring sensor (1) is connected with flight controller (6), many rotors of distance adjustment unmanned vehicles's of the barrier that flight controller (6) are used for measuring according to distance measuring sensor (1) flight gesture.
Description
Technical field
The application relates to unmanned vehicle technology, particularly to be many rotor unmanned aircrafts of a kind of band anticollision device, collision-prevention device.
Background technology
Many rotor unmanned aircrafts are typically to utilize radio robot and the not manned vehicle of the programed control in the flight controller provided for oneself.Major part civil aircraft controls to be by directly carrying out data communication between earth station and aircraft at present, by earth station, control instruction is passed to carry-on flight controller, is controlled the flight attitude of aircraft by flight controller.
Since the nearly century, many rotor unmanned aircrafts, with advantages such as its low-loss, zero injures and deaths, high maneuverabilities, play an important role in military, civilian and the big field of scientific research three, the most militarily can be used for monitoring, Strike；On civilian, may be used for electrical network and make an inspection tour, Monitoring Urban Environment；In scientific research, can be used for the sampling to domestic pollution region.Many rotor unmanned aircrafts possess the flying quality advantage flexibly such as vertical lift, hovering, have the preferably suitability than fixed-wing unmanned vehicle the most in some environments.Many rotor unmanned aircrafts would be more suitable for working under rugged environment dangerous.All will have broad application prospects in military and civilian field.
For in overhead, city, jungle, bridge is neighbouring waits many rotor unmanned aircrafts of flight under complex environment, it is easy to building, trees, bridge etc. collides.The many rotor unmanned aircrafts of tradition can only manipulate heading artificially, and this suitability in the environment of more spacious is preferable, but under above-mentioned complex environment during artificial manipulation flight, its crashworthiness is poor.
Utility model content
Based on above-mentioned technical problem, the embodiment of the present application provides many rotor unmanned aircrafts of a kind of band anticollision device, collision-prevention device, for improving the crashworthiness of many rotor unmanned aircrafts.
The embodiment of the present application solves its technical problem and be the technical scheme is that many rotor unmanned aircrafts of a kind of band anticollision device, collision-prevention device, including: distance measuring sensor, crashproof support arm, motor, frame, battery holder and flight controller, described distance measuring sensor is connected with crashproof support arm, described motor is connected with frame, described crashproof support arm is connected with frame, described battery holder is connected with frame, described distance measuring sensor is connected with flight controller, and the distance of the described flight controller barrier for measuring according to distance measuring sensor adjusts the flight attitude of many rotor unmanned aircrafts.
Preferably, described distance measuring sensor is ultrasonic distance-measuring sensor.
Preferably, the crashproof support arm of at least two is perpendicular to frame support arm upward and/or is positioned on the extended line direction of frame support arm, and each crashproof support arm and is mounted on a distance measuring sensor.
The quantity of the crashproof support arm being preferably located at the extended line direction of frame support arm is equal with the quantity of the frame support arm of described many rotor unmanned aircrafts.
Preferably, the quantity of the crashproof support arm being perpendicular to frame support arm upward is 1.
Preferably, farther including protective cover, described protective cover is enclosed in the outside of distance measuring sensor.
Many rotor unmanned aircrafts of the band anticollision device, collision-prevention device that the embodiment of the present application provides, by installing distance measuring sensor on many rotor unmanned aircrafts, to measure the distance of the barrier near aircraft in real time, the flight attitude of the distance many rotor unmanned aircrafts of adjustment of the barrier that flight controller is measured according to distance measuring sensor evades the collision of self and barrier, it is particularly suitable in the complex environments such as jungle, building, bridge flight, the collision problem occurred during greatly reducing aircraft flight, decreases the technology requirement to flying vehicles control personnel simultaneously.Additionally many rotor unmanned aircrafts simple in construction of the band anticollision device, collision-prevention device that the embodiment of the present application provides, novel in design reasonable, cost is relatively low, it is simple to promote the use of.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing further understanding of the present application, constitutes the part of the application, and the schematic description and description of the application is used for explaining the application, is not intended that the improper restriction to the application.In the accompanying drawings:
Fig. 1 is many rotor unmanned aircrafts structural representation of a kind of band anticollision device, collision-prevention device that the embodiment of the present application provides；
Fig. 2 is many rotor unmanned aircrafts structure top view of a kind of band anticollision device, collision-prevention device that the embodiment of the present application provides；
Fig. 3 is many rotor unmanned aircrafts structure right view of a kind of band anticollision device, collision-prevention device that the embodiment of the present application provides；
Fig. 4 is many rotor unmanned aircrafts structural front view of a kind of band anticollision device, collision-prevention device that the embodiment of the present application provides；
Description of reference numerals: 1 distance measuring sensor；2 crashproof support arms；3 motors；4 frames；5 battery holders, 6 flight controllers.
Detailed description of the invention
For making the purpose of the application, technical scheme and advantage clearer, below in conjunction with the application specific embodiment and corresponding accompanying drawing, technical scheme is clearly and completely described.Obviously, described embodiment is only some embodiments of the present application rather than whole embodiments.Based on the embodiment in the application, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of the application protection.
For improving the crashworthiness of many rotor unmanned aircrafts, the embodiment of the present application provides many rotor unmanned aircrafts of a kind of band anticollision device, collision-prevention device, as shown in Figures 1 to 4, mainly includes distance measuring sensor 1, crashproof support arm 2, motor 3, frame 4, battery holder 5 and flight controller 6.
Described distance measuring sensor is connected with crashproof support arm, and shown in Fig. 1, the crashproof support arm being positioned at aircraft side is shaft-like and stretches out from the center of aircraft, is positioned at the crashproof support arm above aircraft and is perpendicular to the plane that the frame support arm of aircraft is formed.Distance measuring sensor is positioned at the outermost end of crashproof support arm, and the design of such structure can measure the distance of the obstacle distance aircraft of aircraft side or top easily, and is not disturbed by aircraft self parts.
Described motor is connected with frame, motor is positioned at the outermost end of the support arm of frame, aircraft rotor it is above motor, rotor wing rotation is driven by motor, and then provide the power advanced to whole aircraft, to with six rotorcraft for, the quantity of frame support arm is 6, and the number of motors of same support arm termination can also be 6.
Described motor is connected with frame, same crashproof support arm is also connected with frame, and two junction points can be at one, the most as shown in Figure 1, crashproof support arm and the base that junction point is tabular of frame, the bottom surface of described base is parallel to the plane that the frame of aircraft is formed, and in one embodiment, motor is bolted to connection with frame support arm, by the screwed hole arranged on base, by above-mentioned bolt and then by motor, frame support arm, the base three of crashproof support arm links together.
Described battery holder is connected with frame and battery holder is positioned at the lower section of frame central position, owing to battery occupies certain quality proportion in whole aircraft, by battery holder being arranged on the lower section of the position of form center of frame, battery is arranged in battery holder, and then makes the Mass Distribution of whole aircraft more equalize.Certainly being also equipped with foot rest in the lower section of frame, the quantity of foot rest can be two, by arranging above-mentioned foot rest, to reach to support the effect of whole aircraft in aircraft takeoff or landing.
Described distance measuring sensor is connected with flight controller, the distance of the barrier near the flight path of distance measuring sensor tracking measurement aircraft, the distance value of above-mentioned barrier is sent flight controller, or be the distance value measured of flight controller active obtaining distance measuring sensor, described flight controller can adjust the flight attitude of many rotor unmanned aircrafts according to the distance of the barrier that distance measuring sensor is measured.The such as obstacle distance of aircraft flight dead ahead is less than predetermined threshold value, and now flight controller controls aircraft and keeps unsettled, stops continuing flight forward, or makes a return voyage a segment distance etc. along former flight path.The distance value that the side distance measuring sensor of the most such as aircraft direction of advance sends is less than predetermined threshold value, and now aircraft can be to opposite direction somewhat yawed flight, to ensure that the distance of aircraft side is big and predetermined threshold value, i.e. flight safety distance.
For above-mentioned the flight attitude of many rotor unmanned aircrafts " flight controller can adjust according to the distance of the barrier that distance measuring sensor is measured ", first in flight controller, need pre-set programs, pre-set programs also to have some parameters, such as safe distance value, the most above-mentioned predetermined threshold value, by being compared by the distance value that the distance measuring sensor of above-mentioned safe distance value with aircraft is measured, and then adjust the flight attitude of aircraft according to pre-set programs." adjustment " described here, can also show steady-error coefficient when the distance of the barrier that distance measuring sensor is measured is less than safe distance value, the most only carry out the comparison of two distance values, do not do and change on the flight attitude of aircraft.
Many rotor unmanned aircrafts of the band anticollision device, collision-prevention device that the embodiment of the present application provides, by installing distance measuring sensor on many rotor unmanned aircrafts, to measure the distance of the barrier near aircraft in real time, the flight attitude of the distance many rotor unmanned aircrafts of adjustment of the barrier that flight controller is measured according to distance measuring sensor evades the collision of self and barrier, it is particularly suitable in the complex environments such as jungle, building, bridge flight, the collision problem occurred during greatly reducing aircraft flight, decreases the technology requirement to flying vehicles control personnel simultaneously.Additionally many rotor unmanned aircrafts simple in construction of the band anticollision device, collision-prevention device that the embodiment of the present application provides, novel in design reasonable, cost is relatively low, it is simple to promote the use of.
In the above-described embodiments, it is arranged on carry-on distance measuring sensor and is specifically as follows laser range sensor, infrared distance sensor, electro-optical distance measurement sensor etc., its main purpose is to measure the distance of the barrier on aircraft flight track, then above-mentioned distance value is sent to flight controller, or is the distance value measured of flight controller active obtaining distance measuring sensor.In one embodiment, above-mentioned distance measuring sensor is specially ultrasonic distance-measuring sensor, ultrasound distance sensor uses ultrasonic echo range measurement principle, by ultrasonic emitting and received ultrasonic signal, thus realize the distance measuring between self and barrier, use accurate time difference measurement technology, use low-angle, the advantages such as small blind zone supersonic sensor, has measurement accurately, low cost.
Generally it is perpendicular to the direction of frame support arm upward at aircraft or is positioned at the extended line direction of frame support arm and distance measuring sensor is installed can realize improving the purpose of the crashworthiness of many rotor unmanned aircrafts, in one embodiment, the crashproof support arm of at least two is perpendicular to frame support arm upward and/or is positioned on the extended line direction of frame support arm, and each crashproof support arm and is mounted on a distance measuring sensor.All there is a crashproof support arm termination at each frame support arm in another embodiment, all being provided with distance measuring sensor on each crashproof support arm, the quantity of the distance measuring sensor being i.e. positioned at many rotor unmanned aircrafts side is equal with the quantity of the frame support arm of described many rotor unmanned aircrafts.Simultaneously with being also provided with 1 distance measuring sensor above frame central position, by arranging above-mentioned distance measuring sensor, the distance of the barrier of aircraft side surface direction and top will be accurately measured, adjust to evade self collision with barrier to aircraft flight track by flight controller.
Above-mentioned many rotor unmanned aircrafts can also include protective cover further; described protective cover is enclosed in the outside of distance measuring sensor; by arranging above-mentioned protective cover and crashproof support arm; not only act as fixing, the purpose of protection distance measuring sensor; and providing further guarantee to the crashworthiness of aircraft, it is to avoid the critical components such as the rotor of aircraft collide with barrier.Specifically, above-mentioned protective cover and crashproof support arm, in the termination of frame support arm, are positioned at the outermost of whole aircraft, during accident collision at first with bar contact, it is to avoid some critical components such as aircraft rotor collide impaired.
These are only embodiments herein, be not limited to the application.To those skilled in the art, the application can have various modifications and variations.All any modification, equivalent substitution and improvement etc. made within spirit herein and principle, within the scope of should be included in claims hereof.
Claims (6)
1. many rotor unmanned aircrafts of a band anticollision device, collision-prevention device, it is characterized in that, including: distance measuring sensor (1), crashproof support arm (2), motor (3), frame (4), battery holder (5) and flight controller (6), described distance measuring sensor (1) is connected with crashproof support arm (2), described motor (3) is connected with frame (4), described crashproof support arm (2) is connected with frame (4), described battery holder (5) is connected with frame (4), described distance measuring sensor (1) is connected with flight controller (6), the distance of the described flight controller (6) barrier for measuring according to distance measuring sensor (1) adjusts the flight attitude of many rotor unmanned aircrafts.
Many rotor unmanned aircrafts the most according to claim 1, it is characterised in that described distance measuring sensor (1) is ultrasonic distance-measuring sensor.
Many rotor unmanned aircrafts the most according to claim 2, it is characterized in that, the crashproof support arm of at least two (2) is perpendicular to frame support arm upward and/or is positioned on the extended line direction of frame support arm, and each crashproof support arm (2) and is mounted on a distance measuring sensor (1).
Many rotor unmanned aircrafts the most according to claim 3, it is characterised in that the quantity of the crashproof support arm (2) being positioned at the extended line direction of frame support arm is equal with the quantity of the frame support arm of described many rotor unmanned aircrafts.
Many rotor unmanned aircrafts the most according to claim 4, it is characterised in that the quantity of the crashproof support arm (2) being perpendicular to frame support arm upward is 1.
Many rotor unmanned aircrafts the most according to claim 1, it is characterised in that farther include protective cover, described protective cover is enclosed in the outside of distance measuring sensor (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620198823.4U CN205554567U (en) | 2016-03-15 | 2016-03-15 | Take many rotors unmanned vehicles of buffer stop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620198823.4U CN205554567U (en) | 2016-03-15 | 2016-03-15 | Take many rotors unmanned vehicles of buffer stop |
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| Publication Number | Publication Date |
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| CN205554567U true CN205554567U (en) | 2016-09-07 |
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| CN201620198823.4U Expired - Fee Related CN205554567U (en) | 2016-03-15 | 2016-03-15 | Take many rotors unmanned vehicles of buffer stop |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857590A (en) * | 2016-04-28 | 2016-08-17 | 东北大学 | Flight control method of four-rotor aerocraft |
| CN106477028A (en) * | 2016-11-23 | 2017-03-08 | 北京小米移动软件有限公司 | Aircraft and its foot rest structure |
| CN107108030A (en) * | 2016-09-21 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN107571991A (en) * | 2017-09-07 | 2018-01-12 | 闫淑萍 | Unmanned plane collision avoidance system |
| WO2018053712A1 (en) | 2016-09-21 | 2018-03-29 | SZ DJI Technology Co., Ltd. | Systems and methods for uav sensor placement |
| CN108248817A (en) * | 2018-01-18 | 2018-07-06 | 倪惠芳 | A kind of unmanned plane wing anti-wrap device |
| CN108974339A (en) * | 2017-05-03 | 2018-12-11 | 李秀荣 | A kind of anticollision unmanned plane |
| CN110667832A (en) * | 2019-10-01 | 2020-01-10 | 西安爱生技术集团公司 | Gradient control method for vertical pitching attitude of sixteen-rotor aircraft |
| CN111976957A (en) * | 2020-09-12 | 2020-11-24 | 广东寻夏科技有限公司 | 5G-based aircraft obstacle avoidance device and control method thereof |
| WO2022160325A1 (en) * | 2021-02-01 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and apparatus, and unmanned aerial vehicle |
| RU2814297C1 (en) * | 2023-10-12 | 2024-02-28 | федеральное государственное бюджетное образовательное учреждение высшего образования "Санкт-Петербургский горный университет императрицы Екатерины II" | Unmanned aerial vehicle |
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2016
- 2016-03-15 CN CN201620198823.4U patent/CN205554567U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857590B (en) * | 2016-04-28 | 2018-09-18 | 东北大学 | A kind of flight control method of quadrotor |
| CN105857590A (en) * | 2016-04-28 | 2016-08-17 | 东北大学 | Flight control method of four-rotor aerocraft |
| US20200339251A1 (en) * | 2016-09-21 | 2020-10-29 | SZ DJI Technology Co., Ltd. | Systems and methods for uav sensor placement |
| US10710711B2 (en) | 2016-09-21 | 2020-07-14 | SZ DJI Technology Co., Ltd. | Systems and methods for UAV sensor placement |
| WO2018053712A1 (en) | 2016-09-21 | 2018-03-29 | SZ DJI Technology Co., Ltd. | Systems and methods for uav sensor placement |
| WO2018053715A1 (en) * | 2016-09-21 | 2018-03-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| CN112173096A (en) * | 2016-09-21 | 2021-01-05 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN107108030A (en) * | 2016-09-21 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| EP3515817A4 (en) * | 2016-09-21 | 2019-08-28 | SZ DJI Technology Co., Ltd. | Systems and methods for uav sensor placement |
| CN106477028A (en) * | 2016-11-23 | 2017-03-08 | 北京小米移动软件有限公司 | Aircraft and its foot rest structure |
| CN108974339A (en) * | 2017-05-03 | 2018-12-11 | 李秀荣 | A kind of anticollision unmanned plane |
| CN108974339B (en) * | 2017-05-03 | 2020-11-24 | 汕头市瀛寰智能科技有限公司 | Anticollision unmanned aerial vehicle |
| CN107571991A (en) * | 2017-09-07 | 2018-01-12 | 闫淑萍 | Unmanned plane collision avoidance system |
| CN108248817A (en) * | 2018-01-18 | 2018-07-06 | 倪惠芳 | A kind of unmanned plane wing anti-wrap device |
| CN108248817B (en) * | 2018-01-18 | 2022-11-11 | 倪惠芳 | Unmanned aerial vehicle wing anti-winding device |
| CN110667832A (en) * | 2019-10-01 | 2020-01-10 | 西安爱生技术集团公司 | Gradient control method for vertical pitching attitude of sixteen-rotor aircraft |
| CN111976957A (en) * | 2020-09-12 | 2020-11-24 | 广东寻夏科技有限公司 | 5G-based aircraft obstacle avoidance device and control method thereof |
| WO2022160325A1 (en) * | 2021-02-01 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and apparatus, and unmanned aerial vehicle |
| RU2814297C1 (en) * | 2023-10-12 | 2024-02-28 | федеральное государственное бюджетное образовательное учреждение высшего образования "Санкт-Петербургский горный университет императрицы Екатерины II" | Unmanned aerial vehicle |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160907 Termination date: 20180315 |