CN206178478U - Can realize terrain following's unmanned aerial vehicle - Google Patents
Can realize terrain following's unmanned aerial vehicle Download PDFInfo
- Publication number
- CN206178478U CN206178478U CN201620869641.5U CN201620869641U CN206178478U CN 206178478 U CN206178478 U CN 206178478U CN 201620869641 U CN201620869641 U CN 201620869641U CN 206178478 U CN206178478 U CN 206178478U
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- flight
- steering gear
- multiaxis
- height
- detecting sensor
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Abstract
The utility model relates to an unmanned aerial vehicle, especially a can realize terrain following's unmanned aerial vehicle belong to high unmanned aerial vehicle's technical field surely. According to the utility model provides a technical scheme, can realize terrain following's unmanned aerial vehicle is including the many rotors body that can realize flight, set up the high detection sensor that can realize the flight height real -time detection on many rotors body, high detection sensor passes through the multiaxis and stablizes connection structure and install in the below of many rotors body, is used for the flight controller who controls the state of flight to be connected in high detection sensor and the many rotors body, flight controller stabilizes the connection structure electricity with the multiaxis and is connected. The utility model discloses compact structure can make to keep the same flight height under various complicated orographic conditions, improves the safety of unmanned aerial vehicle flight.
Description
Technical field
The utility model is related to a kind of unmanned plane, and especially a kind of unmanned plane of achievable terrain following, belongs to fixed nothing high
Man-machine technical field.
Background technology
Development and maturation with unmanned air vehicle technique, multi-rotor unmanned aerial vehicle be widely used in take photo by plane, agricultural plant protection, electric power
The industries such as line walking, express transportation.
Existing multi-rotor unmanned aerial vehicle realizes fixed function high in flight course by barometer, and barometer is easily dry by environment
Disturb, cutting cannot realize that unmanned plane adjusts height according to topography variation, therefore the safety of unmanned plane can not be completely secured.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, there is provided a kind of nothing of achievable terrain following
Man-machine, its compact conformation can cause to keep identical flying height under various MODEL OVER COMPLEX TOPOGRAPHYs, improve unmanned plane during flying
Safety.
According to the technical scheme that the utility model is provided, the unmanned plane of the achievable terrain following, including can realize flying
Capable many rotor bodies；Being set on many rotor bodies can realize the height detecting sensor of flying height real-time detection,
The height detecting sensor is stably connected with the lower section that structure is installed on many rotor bodies by multiaxis, height detecting sensor with
For controlling the flight controller of state of flight to connect in many rotor bodies, the flight controller is stably connected with structure with multiaxis
Electrical connection.
Many rotor bodies include Flight main body and are arranged at multiple rotor power systems of the Flight main body outer ring
System, the rotor power system is uniformly distributed in the outer ring of Flight main body, and rotor power system is led by connecting horn with flight
Body is connected, and flight controller is electrically connected with rotor power system.
The multiaxis is stably connected with structure for two axle heads or three axle heads.
When the multiaxis is stably connected with structure using two axle heads, the multiaxis is stably connected with structure to be included being used for and many rotations
The connecting plate of wing body connection, is provided with roll regulation steering gear and pitch regulation steering gear, institute below the connecting plate
State roll regulation steering gear to be arranged on connecting plate by roll steering gear connector, pitch regulation steering gear passes through roll pitching
Connector is connected with roll regulation steering gear, and height detecting sensor is arranged on pitch regulation steering gear by sensor connecting piece
On.
Advantage of the present utility model：Height between flying body and ground is obtained by height detecting sensor in real time,
Default flying height is set in flight controller, when the detection of height detecting sensor flying height with pre-set flight height not
When consistent, flight controller by controlling the power output of many rotor power systems, so as to the height for realizing flying body is adjusted,
So that the flying height that height detecting sensor is obtained is consistent with default flying height；Structure energy is stably connected with by multiaxis
So that height detecting sensor can keep horizontality in flying body flight course, improve height detecting sensor and flown
The accuracy of row height detecting, compact conformation improves the security of unmanned plane during flying.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the schematic diagram that the utility model multiaxis is stably connected with structure.
Fig. 3 be the utility model with height detecting transducer dwell when set up the schematic diagram of coordinate system.
Fig. 4 is the schematic diagram that the utility model keeps flying height.
Description of reference numerals：1- Flight main bodies, 2- rotor powers system, 3- linking arms, 4- multiaxises are stably connected with structure, 5-
Height detecting sensor, 6- pitching rolls connector, 7- sensor connecting pieces, 8- connecting plates, 9- roll steering gears connector,
10- laterally rolls steering gear and 11- pitch regulation steering gears.
Specific embodiment
With reference to specific drawings and Examples, the utility model is described in further detail.
As shown in Figure 1：In order to be able to cause that identical flying height is kept under various MODEL OVER COMPLEX TOPOGRAPHYs, unmanned plane is improved
The safety of flight, the utility model includes realizing many rotor bodies of flight；Being set on many rotor bodies to realize
The height detecting sensor 5 of flying height real-time detection, the height detecting sensor 5 is stably connected with structure 4 by multiaxis pacifies
Lower section loaded on many rotor bodies, is used to control the flight of state of flight to control in height detecting sensor 5 and many rotor bodies
Device is connected, and the flight controller is stably connected with structure 4 and electrically connects with multiaxis.
Specifically, the state of unmanned flight, many intrinsic flight controllers of rotor can be realized by many rotor bodies
The control of state of flight can be realized, the Remote signal of remote control is such as received, heading, stopping and height etc. is realized
The regulation of state, flight controller controls the detailed process of many rotor body state of flights known to those skilled in the art,
Here is omitted.Height detecting sensor 5 is stably connected with structure 4 installed in the lower section of many rotor bodies by multiaxis, passes through
Height detecting sensor 5 can realize the height detecting with horizontal plane, that is, detect the flying height of many rotor bodies, and will detection
The flying height of many rotor bodies transmit to flight controller, the flying height that flight controller will be detected flies with default
Row height is compared, and when the flying height of detection is inconsistent with default flying height, flight controller is more by controlling
The state of flight of rotor body, until the flying height of many rotor bodies is consistent with default flying height, so as to realize nothing
Identical is kept in man-machine flight course highly.It refers to logical that the flying height of many rotor bodies is consistent with default flying height
The flying height of the detection of height detection sensor 5 is crossed in the range of pre-set flight height, specially those skilled in the art institute
Know, here is omitted.
Further, many rotor bodies include Flight main body 1 and are arranged at the multiple of the outer ring of the Flight main body 1
Rotor power system 2, the rotor power system 2 is uniformly distributed in the outer ring of Flight main body 1, and rotor power system 2 is by connecting
The arm 3 that picks is connected with Flight main body 1, and flight controller is electrically connected with rotor power system 2.
It is arranged in the utility model embodiment, in flight controller in Flight main body 1, additionally, in Flight main body 1 also
The necessary devices such as power supply are set, and the concrete structure of Flight main body 1 can be selected as needed, specially the art people
Member is known, and here is omitted.During specific implementation, in four equally distributed many rotor power systems of the outer setting of Flight main body 1
System 2, each many rotor power system 2 is connected by connecting horn 3 with Flight main body 1, and many rotor power systems 2 are typically using electricity
Machine drives the form of propeller, and the working condition of many rotor power systems 2 is controlled by flight controller, realizes state of flight etc.
Control, specially known to those skilled in the art, here is omitted.
In the utility model embodiment, the multiaxis is stably connected with structure 4 for two axle heads or three axle heads.By multiaxis
It is stably connected with structure 4 and can guarantee that horizontality of the height detecting sensor 5 in many rotor body flight courses, improves height and visit
Surveying sensor 5 carries out the accuracy of flying height detection.
As shown in Fig. 2 when the multiaxis is stably connected with structure 4 using two axle heads, the multiaxis is stably connected with structure 4 and wraps
The connecting plate 8 for being connected with many rotor bodies is included, roll regulation steering gear 10 is provided with the lower section of the connecting plate 8 and is bowed
Regulation steering gear 11 is faced upward, the roll regulation steering gear 10 is arranged on connecting plate 8 by roll steering gear connector 9, pitching
Regulation steering gear 11 adjusts steering gear 10 and is connected by roll pitching connector 6 and roll, and height detecting sensor 5 is by sensing
Device connector 7 is arranged in pitch regulation steering gear 11.
In the utility model embodiment, connecting plate 8 carries shock-damping structure, is connected by the bottom surface of connecting plate 8 and Flight main body 1
Connect, the shock-damping structure of connecting plate 8 can reduce the vibration influence to Flight main body 1, and the concrete structure of connecting plate 8 is the art
Known to personnel, here is omitted.
Roll regulation steering gear 10 is arranged on the lower section of connecting plate 8, and laterally rolling steering gear 10 can realize the rolling of transverse direction,
Pitch regulation steering gear 11 can realize the rotation of pitch orientation, laterally roll steering gear 11 and pitch regulation steering gear 12 is adopted
With the mode of motorized adjustment, specific adjustment process is realized by flight controller, to cause height detecting sensor 5 in many rotors
Horizontal plane state is remained in body flight course.Laterally rolling steering gear 10 and pitch regulation steering gear 11 can be with
The structure type commonly used using the art, specially known to those skilled in the art, here is omitted.
As shown in figure 3, with height detecting sensor 5 it is static when select certain direction as X-axis sets up three-dimensional system of coordinate, wherein,
Flying body 1 and X-plane, Y plane angle a, b, a for formed with Z axis forward direction angle, b for formed with Z axis negative sense angle, when many
When gyroplane accelerates flight along X-axis, due to fuselage feature, flying body 1 can and X-plane, Y plane form angle b, now for
Adjustment height detecting sensor 5 keeps original state, and pitch regulation steering gear 11 can move required angle to the B directions of Fig. 3, directly
Back to the horizontal direction is adjusted to height detecting sensor 5, so as to realize the adjustment of the attitude of height detecting sensor 5；When many rotors fly
When machine is along X-axis decelerating flight, due to fuselage feature, flying body 1 can form angle a with X-plane, Y plane, now for adjustment is high
Degree detection sensor 5 keeps original state, and pitch regulation steering gear 12 can move required angle, Zhi Daogao to the A directions of Fig. 3
The degree adjustment back to the horizontal direction of detection sensor 5, so as to realize that height detecting sensor 5 is to maintain level in aspect change.
Additionally, the process of pitch regulation steering gear 11 is may be referred to for the specific regulation process of roll regulation steering gear 10, specifically not
Repeat again.
During specific implementation, height detecting sensor 5 selection Hunan receive thunder science and technology 24GHz millimetre-wave radars, its detection model
Enclose 0.01-50 meters, 0.02 meter of certainty of measurement, -55 DEG C to 85 DEG C of running temperature, power consumption 2.1W, standard TTL UART serial ports.
As shown in figure 4, mesorelief height in unmanned plane during flying direction rises and falls.Now set between flying body 1 and horizontal plane
Distance be H1, when flying body 1 be in A points when, height detecting sensor 5 to sensing range central point distance be H1, when fly
When row body 1 is to B point flights, by raise degree, the measurement of height detecting sensor 5 is with ground distance less than setting spacing
H1, now improves aircraft power and exports by flight controller, reaches aircraft default apart from H1, if by one section of descending
Degree, then reduce aircraft power output, aircraft is reached predeterminable range H1.
The utility model obtains the height between flying body 1 and ground by height detecting sensor 5 in real time, is controlled in flight
Default flying height is set in device processed, when the flying height of the detection of height detecting sensor 5 is highly inconsistent with pre-set flight
When, flight controller, so as to the height for realizing flying body 1 is adjusted, is made by controlling the power output of many rotor power systems 2
The flying height for obtaining the acquisition of height detecting sensor 5 is consistent with default flying height；The energy of structure 4 is stably connected with by multiaxis
So that height detecting sensor 5 can keep horizontality in the flight course of flying body 1, improve height detecting sensor 5 and enter
The accuracy of row flying height detection, compact conformation improves the security of unmanned plane during flying.
Claims (4)
1. a kind of unmanned plane of achievable terrain following, including many rotor bodies that flight can be realized；It is characterized in that：Described many
Being set on rotor body can realize the height detecting sensor (5) of flying height real-time detection, the height detecting sensor (5)
The lower section that structure (4) is installed on many rotor bodies is stably connected with by multiaxis, in height detecting sensor (5) and many rotor bodies
Flight controller for controlling state of flight is connected, and the flight controller is stably connected with structure (4) and electrically connects with multiaxis.
2. the unmanned plane of achievable terrain following according to claim 1, it is characterized in that：Many rotor bodies include flying
Row main body (1) and multiple rotor power systems (2) of the Flight main body (1) outer ring are arranged at, the rotor power system
(2) outer ring of Flight main body (1) is uniformly distributed in, rotor power system (2) is by connecting horn (3) with Flight main body (1) even
Connect, flight controller is electrically connected with rotor power system (2).
3. the unmanned plane of achievable terrain following according to claim 1 and 2, it is characterized in that：The multiaxis is stably connected with
Structure (4) is two axle heads or three axle heads.
4. the unmanned plane of achievable terrain following according to claim 3, it is characterized in that：The multiaxis is stably connected with structure
(4) when using two axle heads, the multiaxis is stably connected with structure (4) includes the connecting plate (8) for being connected with many rotor bodies,
Roll is provided with below the connecting plate (8) and adjusts steering gear (10) and pitch regulation steering gear (11), the roll is adjusted
By roll steering gear connector (9) on connecting plate (8), pitch regulation steering gear (11) is by horizontal stroke for section steering gear (10)
Rolling pitching connector (6) adjusts steering gear (10) and is connected with roll, and height detecting sensor (5) is by sensor connecting piece (7)
In pitch regulation steering gear (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620869641.5U CN206178478U (en) | 2016-08-11 | 2016-08-11 | Can realize terrain following's unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620869641.5U CN206178478U (en) | 2016-08-11 | 2016-08-11 | Can realize terrain following's unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206178478U true CN206178478U (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620869641.5U Expired - Fee Related CN206178478U (en) | 2016-08-11 | 2016-08-11 | Can realize terrain following's unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109032157A (en) * | 2018-07-23 | 2018-12-18 | 拓攻（南京）机器人有限公司 | Unmanned plane imitative ground operational method, device, equipment and storage medium |
-
2016
- 2016-08-11 CN CN201620869641.5U patent/CN206178478U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109032157A (en) * | 2018-07-23 | 2018-12-18 | 拓攻（南京）机器人有限公司 | Unmanned plane imitative ground operational method, device, equipment and storage medium |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170517 Termination date: 20180811 |