CN205787918U - A kind of detection system of the automatic decision unmanned plane direction of motion - Google Patents
A kind of detection system of the automatic decision unmanned plane direction of motion Download PDFInfo
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- CN205787918U CN205787918U CN201620498909.9U CN201620498909U CN205787918U CN 205787918 U CN205787918 U CN 205787918U CN 201620498909 U CN201620498909 U CN 201620498909U CN 205787918 U CN205787918 U CN 205787918U
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- motion
- unmanned plane
- steering mechanism
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- detecting devices
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Abstract
The utility model discloses the detection system of a kind of automatic decision unmanned plane direction of motion, including a direction of motion detection module, for acceleration induction device or GPS system, be used for detecting the direction of motion information of unmanned plane；One central processing module, the computer module carrying for flight control system or being independently arranged, electrically connect with direction of motion detection module；Least one set steering mechanism, electrically connects with central processing module, and its action is controlled by central processing module；Least one set detecting devices, is installed in steering mechanism, can rotate with steering mechanism and convert detection direction.This practicality can realize detecting devices and be automatically adjusted, and remains that detection direction is consistent with the direction of motion of unmanned plane, meet take photo by plane, avoidance, the requirement such as detection.
Description
Technical field
This utility model relates to the matching component of unmanned plane, particularly relates to one and is arranged on unmanned plane
On, for the automatic decision unmanned plane direction of motion and the system of detection can be carried out following.
Background technology
The development in unmanned plane field is in the ascendant at present.Unmanned plane has many purposes, uses unmanned
Machine aloft completes to shoot the core application that work is unmanned plane.In specialty occasion, can apply
Special scenes is shot by the photographic head on unmanned plane, and such as film shooting, geography information are surveyed
Paint, combat a natural disaster to recover；In consumer level market, domestic consumer can be by the shooting on unmanned plane
The aerial picture that head shooting is interesting, forms modish playing method and experience, it is also possible to by photographic head
Aerial visual angle preferably manipulate and observe the state of flight of unmanned plane.
Unmanned plane only installs the detecting devices such as photographic head or radar in head orientation at present, works as machine
Motionless, when unmanned plane translates towards side, detecting devices just cannot obtain visual angle or the barrier of side
Hinder thing, if unmanned plane is comprehensive all detecting devices is installed if, high cost.Also have
Photographic head is installed on board the aircraft by The Cloud Terrace by prior art, and photographic head can be relative to unmanned
360 degree of machine fuselage turns to, and ground control person needs to observe the scene in which direction, just operates cloud
Platform makes photographic head turn to corresponding direction.But this mode of operation is entirely artificial Non-follow control,
On the one hand manipulator needs to operate the flight of unmanned plane, operates turning to of The Cloud Terrace the most again,
The most heavy in hand, and many times manipulator be not aware that aircraft true directions or
Direction is got the wrong sow by the ear by person, then by cause cannot shooting clear or shooting less than the picture of needs.
Utility model content
In view of current unmanned plane is taken photo by plane the above-mentioned deficiency of mode, this utility model provide a kind of automatically
Judge the detection system of the unmanned plane direction of motion, this system is applied and can realize on unmanned plane
Automatically follow consistent with the unmanned plane direction of motion of detecting devices.
For reaching above-mentioned purpose, embodiment of the present utility model adopts the following technical scheme that
A kind of detection system of the automatic decision unmanned plane direction of motion, including:
One direction of motion detection module, for acceleration induction device or GPS system, is installed on nothing
On man-machine fuselage, for detecting the direction of motion information of unmanned plane；
One central processing module, electrically connects with described direction of motion detection module, receives and locate
Manage the direction of motion information of described direction of motion detection module transmission；
Least one set steering mechanism, is installed on unmanned aerial vehicle body, with described central processing module
Electrical connection, its action is controlled by described central processing module；
Least one set detecting devices, is installed in described steering mechanism, can be with described steering mechanism
Rotate and convert detection direction.
According to an aspect of the present utility model, described central processing module is that flight control system carries
Or the computer module being independently arranged.
According to an aspect of the present utility model, described detecting devices is photographic head, radar, red
External plant or ultrasonic equipment.
According to an aspect of the present utility model, the quantity of described steering mechanism and detecting devices is
One group, the slewing area of described steering mechanism and detecting devices covers whole detection range of needs.
According to an aspect of the present utility model, the quantity of described steering mechanism and detecting devices is
At least two groups, the slewing area of Ge Zu steering mechanism and detecting devices is independent, is each responsible for one
Dividing detection range of needs, the superposition of the slewing area of all steering mechanism and detecting devices covers whole
Individual detection range of needs.
The advantage that this utility model is implemented:
This utility model is according to the direction of motion of the infomation detection unmanned plane such as acceleration or GPS, logical
Cross central processing module, control steering mechanism's action according to the direction of motion of unmanned plane, automatically adjust
Joint detecting devices towards, remain that detection direction is consistent with the direction of motion of unmanned plane, expire
The requirements such as foot is taken photo by plane, avoidance, detection.This utility model is for the control of unmanned plane detecting devices
Scheme is with low cost, accurate, efficient, safe and reliable, can apply in agricultural plant protection unmanned
The plant protection operation of machine and any needs often change in the scene of heading, and practicality is the highest.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in this utility model embodiment, below will be to reality
Execute the required accompanying drawing used in example to be briefly described, it should be apparent that, in describing below
Accompanying drawing is only embodiments more of the present utility model, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is theory diagram of the present utility model.
Fig. 2 is the first enforcement illustration of this utility model.
Fig. 3 is that this utility model the second implements illustration.
Fig. 4 is the third enforcement illustration of this utility model.
Fig. 5 is control flow chart of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, in this utility model embodiment
Technical scheme be clearly and completely described, it is clear that described embodiment be only this
The a part of embodiment of utility model rather than whole embodiments.Based in this utility model
Embodiment, those of ordinary skill in the art are obtained under not making creative work premise
Every other embodiment, broadly falls into the scope of this utility model protection.
As it is shown in figure 1, primary structure of the present utility model is as follows:
Direction of motion detection module, for acceleration induction device 1 or GPS system 2, is installed on unmanned
On machine fuselage, for detecting the direction of motion information of unmanned plane.
Central processing module 3, the computer module carrying for flight control system or being independently arranged, and add
Speed sensor 1 and GPS system 2 electrically connect, and can receive and process acceleration induction device 1 He
The direction of motion information of GPS system 2 transmission.
Least one set steering mechanism 4, is installed on unmanned aerial vehicle body, with central processing module 3 electricity
Connecting, its action is by the control of central processing module 3.
Least one set detecting devices 5, is installed in steering mechanism 4, can turning with steering mechanism 4
Move and convert detection direction.
[embodiment 1]
As in figure 2 it is shown, be the vertical view visual angle figure of unmanned plane.In this embodiment, steering mechanism 4
It it is 1 group with the quantity of detecting devices 5.If the set of whole detection direction to be imagined as a ball
Face, and define in horizontal direction, in definition figure, positive true north orientation is 0 degree of orientation, with side clockwise
To increasing the number of degrees, then the slewing area of steering mechanism 4 and detecting devices 5 is level 0～360 degree
Whole sphere, i.e. cover whole investigative range with 1 group of steering mechanism 4 and detecting devices 5.
[embodiment 2]
As it is shown on figure 3, be similarly the vertical view visual angle figure of unmanned plane.In this embodiment, turn to
The quantity of mechanism 4 and detecting devices 5 is 2 groups.If the set of whole detection direction is imagined as
One sphere, and define in horizontal direction, in figure, positive true north orientation is 0 degree of orientation, with clockwise
Direction increases the number of degrees, and the slewing area of Ze#1Zu steering mechanism 4 and detecting devices 5 is level
Half sphere of 0～180 degree, the slewing area of #2 group steering mechanism 4 and detecting devices 5 is
Level 180～half sphere of 360 degree, i.e. their slewing area are separate, each
It is responsible for a part of scope, after the superposition of the slewing area of all steering mechanism 4 and detecting devices 5
I.e. cover whole investigative range.During control, central processing module 3 only control one of which with
Target direction closer to be operated, the advantage of this scheme is that often group turns to machine
The slewing area of structure 4 and detecting devices 5 is less, then its turn to the speed of angle on target fast,
Precision is high.
[embodiment 3]
As shown in Figure 4, the vertical view visual angle figure of unmanned plane it is similarly.In this embodiment, turn to
The quantity of mechanism 4 and detecting devices 5 is 4 groups.If the set of whole detection direction is imagined as
One sphere, and define in horizontal direction, in figure, positive true north orientation is 0 degree of orientation, with clockwise
Direction increases the number of degrees, and the slewing area of Ze#1Zu steering mechanism 4 and detecting devices 5 is level
/ 4th spheres of 0～90 degree, #2 group steering mechanism 4 and the rotation of detecting devices 5
Scope is 1/4th spheres of level 90～180 degree, #3 group steering mechanism 4 and detection
The slewing area of equipment 5 is 1/4th spheres of level 180～270 degree, and #4 group turns to
The slewing area of mechanism 4 and detecting devices 5 is 1/4th spheres of level 270～360 degree,
Their slewing area i.e. is separate, is each responsible for a part of scope, all turns to machine
Whole investigative range is i.e. covered after the superposition of the slewing area of structure 4 and detecting devices 5.Control
Time, central processing module 3 only control one of which and target direction closer to be operated
, the advantage of this scheme is Mei Zu steering mechanism 4 and the slewing area of detecting devices 5
Less, then its turn to the speed of angle on target faster, precision higher.
As it is shown in figure 5, workflow of the present utility model is as follows:
First carrying out Spacial domain decomposition, the dividing mode of area of space can refer to Fig. 2's～Fig. 4
Scheme.Then it is that each area of space distributes corresponding steering mechanism 4 and detecting devices 5.Flying
During row, acceleration induction device 1 or GPS system 2 detect the information such as acceleration or GPS,
The direction of motion of unmanned plane is determined, then by the meter of central processing module 3 according to these information
Calculation machine module processes, and according to the direction of motion of unmanned plane, selects that of additional space region
One group of steering mechanism 4 and detecting devices 5, control steering mechanism 4 action, drives detecting devices 5
Rotate so that it is detection direction remains consistent with the direction of motion of unmanned plane.
The above, detailed description of the invention the most of the present utility model, but guarantor of the present utility model
The scope of protecting is not limited thereto, and any those skilled in the art is at this utility model
In disclosed technical scope, the change that can readily occur in or replacement, all should contain in this practicality new
Within the protection domain of type.Therefore, protection domain of the present utility model should be with described claim
Protection domain be as the criterion.
Claims (5)
1. the detection system of an automatic decision unmanned plane direction of motion, it is characterised in that including:
One direction of motion detection module, for acceleration induction device or GPS system, is installed on nothing
On man-machine fuselage, for detecting the direction of motion information of unmanned plane；
One central processing module, electrically connects with described direction of motion detection module, receives and locate
Manage the direction of motion information of described direction of motion detection module transmission；
Least one set steering mechanism, is installed on unmanned aerial vehicle body, with described central processing module
Electrical connection, its action is controlled by described central processing module；
Least one set detecting devices, is installed in described steering mechanism, can be with described steering mechanism
Rotate and convert detection direction.
The detection system of the automatic decision unmanned plane direction of motion the most according to claim 1,
It is characterized in that, described central processing module is the computer that flight control system carries or is independently arranged
Module.
The detection system of the automatic decision unmanned plane direction of motion the most according to claim 1,
It is characterized in that, described detecting devices is that photographic head, radar, infrared equipment or ultrasound wave set
Standby.
4. according to the spy of the automatic decision unmanned plane direction of motion described in claim 1 or 2 or 3
Examining system, it is characterised in that the quantity of described steering mechanism and detecting devices is one group, described
The slewing area of steering mechanism and detecting devices covers whole detection range of needs.
5. according to the spy of the automatic decision unmanned plane direction of motion described in claim 1 or 2 or 3
Examining system, it is characterised in that the quantity of described steering mechanism and detecting devices is at least two groups,
The slewing area of Ge Zu steering mechanism and detecting devices is independent, is each responsible for a part of detection demand
Scope, the superposition of the slewing area of all steering mechanism and detecting devices covers whole detection demand
Scope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620498909.9U CN205787918U (en) | 2016-05-26 | 2016-05-26 | A kind of detection system of the automatic decision unmanned plane direction of motion |
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| CN201620498909.9U CN205787918U (en) | 2016-05-26 | 2016-05-26 | A kind of detection system of the automatic decision unmanned plane direction of motion |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107003678A (en) * | 2016-12-15 | 2017-08-01 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and moveable platform |
| CN108475074A (en) * | 2017-04-10 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Holder follow-up control method and control device |
| CN108700888A (en) * | 2017-04-18 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, flight controller and the unmanned vehicle of unmanned vehicle |
| WO2023155195A1 (en) * | 2022-02-21 | 2023-08-24 | 深圳市大疆创新科技有限公司 | Obstacle detection method and device, movable platform, and program product |
-
2016
- 2016-05-26 CN CN201620498909.9U patent/CN205787918U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107003678A (en) * | 2016-12-15 | 2017-08-01 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and moveable platform |
| CN107003678B (en) * | 2016-12-15 | 2019-08-20 | 深圳市大疆创新科技有限公司 | Control method, device, equipment and moveable platform |
| CN108475074A (en) * | 2017-04-10 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Holder follow-up control method and control device |
| WO2018187916A1 (en) * | 2017-04-10 | 2018-10-18 | 深圳市大疆创新科技有限公司 | Cradle head servo control method and control device |
| CN108700888A (en) * | 2017-04-18 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, flight controller and the unmanned vehicle of unmanned vehicle |
| WO2018191869A1 (en) * | 2017-04-18 | 2018-10-25 | 深圳市大疆创新科技有限公司 | Method for controlling unmanned aerial vehicle, flight controller and unmanned aerial vehicle |
| WO2023155195A1 (en) * | 2022-02-21 | 2023-08-24 | 深圳市大疆创新科技有限公司 | Obstacle detection method and device, movable platform, and program product |
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| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 214000 Room 411, building A1, 999 Gao Lang Dong Road, Binhu District, Wuxi, Jiangsu. Patentee after: Jiangsu digital Eagle Polytron Technologies Inc Address before: 214000 Room 411, building A1, 999 Gao Lang Dong Road, Binhu District, Wuxi, Jiangsu. Patentee before: Jiangsu numeral Accipitridae skill Development Co., Ltd |
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| CP01 | Change in the name or title of a patent holder |