CN207020537U - A kind of unmanned plane - Google Patents
A kind of unmanned plane Download PDFInfo
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- CN207020537U CN207020537U CN201720398771.XU CN201720398771U CN207020537U CN 207020537 U CN207020537 U CN 207020537U CN 201720398771 U CN201720398771 U CN 201720398771U CN 207020537 U CN207020537 U CN 207020537U
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- 238000004891 communication Methods 0.000 description 6
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Abstract
The utility model discloses a kind of unmanned plane, including frame, the first radar, the second radar, the 3rd radar, winged control device and power set；First radar, the second radar, the 3rd radar, winged control device and power set are mounted in the frame of unmanned plane；First radar, for sensorcraft head, tail and the obstacle information of side；Second radar, for the obstacle information above sensorcraft；3rd radar, for the flying height of sensorcraft, and/or for the obstacle information below sensorcraft；The winged control device, described the first radar, the second radar and the 3rd radar are connected respectively, and control the flight of the unmanned plane by the power set according to the obstacle information that each radar gathers.Unmanned plane barrier avoiding function of the present utility model enhancing, can in various environment safe flight.
Description
Technical field
The utility model belongs to unmanned plane field, specifically, be related to it is a kind of can in various environment safe flight nothing
It is man-machine.
Background technology
Unmanned plane has been widely used in all trades and professions in recent years, for every profession and trade production and development bring it is huge just
Profit, existing small-sized civilian unmanned plane usually require to carry out remote control by exterior terminal.Wherein, user need to be by outside whole
End control unmanned plane state of flight, described state of flight include control unmanned plane accelerate flight, decelerating flight, rising or under
Drop.However, small-sized unmanned plane needs avoidance when awing running into barrier.Existing civilian unmanned plane seldom has detection
The function of surrounding environment, or vicinity environment detection ability are weak, it is impossible to surrounding environment are completely grasped, so as to cause at nobody
Operator is needed in machine flight course by remote control control unmanned plane avoidance, therefore the application field of the unmanned plane of Small Civil
It is extremely limited.In outside spacious place, or it is higher aerial, and user can also easily manipulate unmanned plane, and work as
It is complicated in external environment condition, such as indoor or city, then barrier is more, directly increases the difficulty that operator manipulates unmanned plane
Degree, so that the flight of unmanned plane has larger potential safety hazard, it and hence, limit the application neck of Small Civil unmanned plane
Domain.
In view of this it is special to propose the utility model.
Utility model content
The technical problems to be solved in the utility model is overcome the deficiencies in the prior art, there is provided a kind of unmanned plane, the nothing
Man-machine detecting function is strong, has good avoidance function, safe flight can be carried out in various environment, the unmanned plane Automated water
Flat height, Consumer's Experience is good, and safe and reliable awing, suitable for promoting.
In order to solve the above technical problems, the utility model is using the basic conception of technical scheme：
A kind of unmanned plane, including frame, the first radar, the second radar, the 3rd radar, winged control device and power set；Institute
The first radar, the second radar, the 3rd radar, winged control device and power set are stated to be mounted in the frame of unmanned plane；
First radar, for sensorcraft head, tail and the obstacle information of side；
Second radar, for the obstacle information above sensorcraft；
3rd radar, for the flying height of sensorcraft, and/or for the barrier below sensorcraft
Information；
The winged control device, described the first radar, the second radar and the 3rd radar are connected respectively, and adopted according to each radar
The obstacle information of collection controls the flight of the unmanned plane by the power set.
In such scheme, the first radar includes multiple, is distributed in unmanned plane head, tail and both sides, each radar difference
It is arranged on towards different directions on unmanned plane, the first radar is mainly used for sensorcraft awing positioned at its fuselage week
The obstacle information and obstacle enclosed is relative to the velocity amplitude of unmanned plane and the topography and geomorphology information in detection direction farther out.Need
It is noted that the unmanned plane refers to unmanned plane in regular flight condition in one week, unmanned plane is surround in the horizontal direction one week,
The top and bottom of unmanned plane are not included.The second described radar is used to detect the obstacle information above unmanned plane, leads to
The setting for crossing the second radar extends the application field of the unmanned plane so that and the unmanned plane can be used for being flown indoors, and
Second radar is then used for distance of the sensorcraft apart from roof.3rd radar is set except with sensorcraft bottom
The flying height of sensorcraft is additionally operable to outside the function of obstacle information.
Preferably, the obstacle information includes barrier relative to the distance value of unmanned plane, barrier relative to nobody
The velocity amplitude of machine, the image information of barrier.
Preferably, first radar includes multiple, is separately positioned on the head, tail and both sides of unmanned plane；Described
Second radar comprises at least one, is arranged on the top of unmanned plane；The 3rd described radar comprises at least one, is arranged on nobody
The bottom of machine.Each radar separately detects the distance between the barrier of different directions and unmanned plane around unmanned plane, so as to strengthen
The detection performance of unmanned plane, is advantageous to unmanned plane and is flown in various environment.
Preferably, the first described radar, the second radar and the 3rd radar can further be uniformly arranged on unmanned plane
Surface on, unmanned plane surrounding environment is detected, it is ensured that the flight safety of unmanned plane.
Wherein, in the utility model, the effect of each radar includes ranging, surveys high, measurement surrounding terrain and environment letter
Breath.Such as the undulating state of measurable unmanned plane front landform.Such as each radar can measure unmanned plane apart from metope or
The distance of tree and the speed of relative metope or tree, the flight of unmanned plane can be adjusted in real time by flying control device according to these information
State or flight attitude such as control the actions such as unmanned plane slows down or avoidance detours, so as to ensure that unmanned plane carries out flying for safety
OK.
In the utility model, radar, i.e. the first described radar, second can be provided with all directions of unmanned plane
Radar and the 3rd radar cooperate with the environmental information outside the comprehensive sensorcraft of panorama, so as to be advantageous to unmanned plane
Programme path, described winged control device are analyzed according to the environmental information of each radar detection, and planning is advantageous to unmanned plane during flying
Course line.
Preferably, the fuselage of first radar and unmanned plane is installed into predetermined angle so that the first radar can detect
The landform and obstacle information on ground, are arranged such around unmanned plane, detection of the unmanned plane to ground are enhanced, so as to reduce
The setting quantity of 3rd radar, it is cost-effective.
Preferably, described unmanned plane also includes GPS module, and described GPS module is with flying control device communication connection, GPS
Module gathers the positional information of unmanned plane, and described winged control device is believed according to the environment around the positional information and unmanned plane
Breath forms flight parameter to control the flight of unmanned plane.Wherein described flight parameter includes the flying height of unmanned plane, flight
Flight attitude of speed and unmanned plane etc..
In such scheme, the positional information of GPS module collection unmanned plane, and the first radar, the second radar and the 3rd thunder
Up to then gathering the unmanned plane awing airspeed information of the obstacle information of all directions and unmanned plane, and fly control device
The data for then receiving GPS module and the collection of each radar carry out data processing to control unmanned plane to carry out the flight of safety.
Preferably, described unmanned plane also includes the light stream module being arranged on unmanned plane, for obtaining flying for unmanned plane
Row attitude data, the light stream module include light stream sensor, altitude meter and light stream plate, the light stream sensor and altitude meter point
It is not connected with light stream plate, the light stream plate is connected with flying control device.Wherein, described flight attitude data include unmanned plane to
It is preceding to fly, fly backward, flying to the left, flying to the right, flying upwards, declining, the inclination of unmanned plane and the position of pitching change and unmanned plane
And the data such as flying speed.
Preferably, described altitude meter is the 3rd described radar, and the 3rd described radar is connected with light stream plate, the 3rd thunder
Up to the elevation information for gathering unmanned plane and it is sent to light stream plate.
In such scheme, by the 3rd radar application in surveying the high structure for then simplifying unmanned plane, saved for light stream module
Altitude meter, also reduce the cost of unmanned plane.
Preferably, described altitude meter includes the ultrasonic sensor for being arranged on uav bottom, and described ultrasonic wave passes
Sensor is connected with light stream plate, and the elevation information of ultrasonic sensor collection unmanned plane is simultaneously sent to light stream plate.
Preferably, described light stream sensor includes the camera for being arranged on uav bottom.
In such scheme, camera collection view data, and altitude meter collection unmanned plane altitude information, light stream sensor and
The data of collection are sent to light stream plate by altitude meter, and described light stream plate carries out data processing to the data of collection, after processing
The relevant informations such as unmanned plane during flying speed are obtained, and the relevant informations such as the unmanned plane during flying speed are sent to and fly control device.
Preferably, in addition to the inertial navigation module that is arranged in frame, the inertial navigation module connect with flying control device
Connect, inertial navigation module and light stream module obtain the flight attitude data of unmanned plane and sent to and fly control device, fly control device root
According to described flight attitude data and environmental information control unmanned plane during flying.
In the utility model, flying control device can realize that the flight to unmanned plane controls by two kinds of control modes, first
Kind mode is analyzed to fly the data that the first radar of control device reception, the second radar, the 3rd radar and GPS module gather
The state of flight for handling to control or coordinate unmanned plane.The second way is, fly control device receive the first radar, the second radar,
The flight attitude of the unmanned plane ambient condition information and unmanned plane of 3rd radar and the collection of light stream module and inertial navigation module
Data simultaneously carry out Data Analysis Services so as to control the flight of unmanned plane safety.Wherein, when unmanned plane is in spacious environment flight,
Because flight environment of vehicle is more spacious simple, therefore can use the flight of first way control unmanned plane, and when unmanned plane is in ring
When the complex region in border carries out flight, for example, indoors or city flight or in the weak local flight of gps signal, then
By the second way unmanned plane can also be controlled to carry out safe flight.
Preferably, at least one in first radar, the second radar and the 3rd radar is microwave radar, microwave radar
The flying speed of detectable unmanned plane, and be sent to and fly control device progress Data Analysis Services, select microwave in the utility model
Radar is because microwave radar can accurately measure the flying speed of unmanned plane, so as to which the airspeed information is sent into winged control
Device carries out Data Analysis Services, to control the flight of unmanned plane safety by flying control device.
Preferably, in the utility model, in order to further improve the detection performance of unmanned plane, the detection for increasing unmanned plane is covered
Lid scope, then its first radar, the second radar, the 3rd radar be arranged to it is mobilizable be arranged on unmanned plane on, then radar passes through
Activity can adjust the direction of its antenna, and so as to change the direction of radar detection, each radar, which cooperates, can be achieved unmanned plane without blind
Environmental information around area's detection.
In the utility model, radar is respectively provided with so as to enhance unmanned plane ring to around towards multiple directions on unmanned plane
The detection in border, the barrier avoiding function of unmanned plane is improved, be advantageous to the flight that unmanned plane carries out safety in various environment.
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Accompanying drawing is further understood from, this practicality as a part of the present utility model for providing to of the present utility model
New schematic description and description is used to explain the utility model, but does not form to improper restriction of the present utility model.
Obviously, drawings in the following description are only some embodiments, to those skilled in the art, are not paying creation
Property work on the premise of, can also according to these accompanying drawings obtain other accompanying drawings.In the accompanying drawings：
Fig. 1 is unmanned plane structural representation of the present utility model；
Fig. 2 is a kind of system block diagram of unmanned plane of the present utility model；
Fig. 3 is a kind of system block diagram of unmanned plane of the present utility model；
Fig. 4 is the light stream module diagram of unmanned plane of the present utility model；
Fig. 5 is another schematic diagram of light stream module of unmanned plane of the present utility model；
Fig. 6 is a kind of system block diagram of unmanned plane of the present utility model；
In figure：1st, the first radar；2nd, the second radar；3rd, the 3rd radar；4th, frame.
It should be noted that these accompanying drawings and word description are not intended as limits design of the present utility model in any way
Scope, but be that those skilled in the art illustrate concept of the present utility model by reference to specific embodiment.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in embodiment is clearly and completely described, following examples are used to illustrate this
Utility model, but it is not limited to the scope of the utility model.
, it is necessary to explanation in description of the present utility model, term " on ", " under ", "front", "rear", "left", "right",
The orientation or position relationship of the instruction such as " vertical ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
It is easy to describe the utility model and simplified description, rather than indicates or imply that signified device or element must be with specifically square
Position, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " communication connection ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；It can be direct communication connection, intermediary can also be passed through
Indirect communication connects.For the ordinary skill in the art, it can understand that above-mentioned term is new in this practicality with concrete condition
Concrete meaning in type.
Referring to shown in Fig. 1 and Fig. 2, the utility model provides a kind of unmanned plane, including：
Frame 4, the first radar 1, the second radar 2, the 3rd radar 3, winged control device and power set；First radar 1,
Second radar 2, the 3rd radar 3, winged control device and power set are mounted in the frame 4 of unmanned plane；
First radar 1, for sensorcraft head, tail and the obstacle information of side；
Second radar 2, for the obstacle information above sensorcraft；
3rd radar 3, for the flying height of sensorcraft, and/or for the obstacle below sensorcraft
Thing information；
The winged control device, described the first radar 1, the second radar 2 and the 3rd radar 3 are connected respectively, and according to each thunder
The flight for passing through the power set control unmanned plane up to the obstacle information of collection.
The first radar 1 described in such scheme is mainly used for sensorcraft and is awing located at its fuselage plane
The obstacle information in direction, each barrier are relative to the velocity amplitude of unmanned plane and the topography and geomorphology information in detection direction farther out.
Second radar 2 is used to detect the obstacle information above unmanned plane, and the unmanned plane is extended by the setting of the second radar 2
Application field so that the unmanned plane can be used for flown indoors, second radar 2 then be used for sensorcraft apart from room
The distance on top.3rd radar 3 is set is additionally operable to sensorcraft in addition to the function of the barrier with sensorcraft bottom
Flying height.
In an embodiment of the present utility model, the first described radar 1 is set for one week around frame 4 including multiple,
The second described radar 2 comprises at least one, and the 3rd described radar 3 also comprises at least one, and each radar separately detects nobody
The distance between the barrier of different directions and unmanned plane around machine, so as to enhance the detection performance of unmanned plane, are advantageous to nothing
It is man-machine to be flown in various environment.
Preferably, the first described radar 1, the second radar 2 and the 3rd radar 3 can further be uniformly arranged on nobody
On machine, unmanned plane surrounding environment is detected, it is ensured that the flight safety of unmanned plane.
In the utility model, the effect of each radar includes ranging, surveys high, measurement surrounding terrain and environmental information.Than
Such as the undulating state of landform in front of measurable unmanned plane.For example each radar can measure unmanned plane apart from metope or tree
Distance and the speed of relative metope or tree, the state of flight of unmanned plane can be adjusted in real time by flying control device according to these information
Or flight attitude such as controls the actions such as unmanned plane slows down or avoidance detours, so as to ensure that unmanned plane carries out the flight of safety.
In the utility model, radar can be provided with all directions of unmanned plane, i.e. the first described radar 1, the
Two radars 2 and the 3rd radar 3 cooperate with the environmental information outside the comprehensive sensorcraft of panorama, so as to be advantageous to nothing
Man-machine programme path, described winged control device are analyzed according to the environmental information of each radar detection, and planning is advantageous to unmanned plane
The course line of flight.
Preferably, the obstacle information includes barrier relative to the distance value of unmanned plane, barrier relative to nobody
The velocity amplitude of machine, the image information of barrier.
Preferably, first radar includes multiple, is separately positioned on the head, tail and both sides of unmanned plane；Described
Second radar comprises at least one, is arranged on the top of unmanned plane；The 3rd described radar comprises at least one, is arranged on nobody
The bottom of machine.
In an embodiment of the present utility model, the fuselage of first radar 1 and unmanned plane is installed into predetermined angle, is made
The first radar 1 can around sensorcraft ground landform and obstacle information, be arranged such, then enhance unmanned plane pair
The detection on ground is cost-effective so as to reduce the setting quantity of the 3rd radar 3.
Shown in Figure 3, in an embodiment of the present utility model, described unmanned plane also includes GPS module, described
GPS module gathers the positional information of unmanned plane with flying control device communication connection, GPS module, and described winged control device is according to
Environmental information around positional information and unmanned plane forms flight parameter to control the flight of unmanned plane.Wherein, GPS module is adopted
Collect unmanned plane positional information, and the first radar 1, the second radar 2 and the 3rd radar 3 then gather unmanned plane awing around
The airspeed information of obstacle information and unmanned plane, and fly control device and then receive GPS module and the data of each radar collection
Carry out data processing and the flight for controlling unmanned plane to carry out safety by power set.
Shown in Figure 4, in an embodiment of the present utility model, described unmanned plane also includes being arranged on unmanned plane
Light stream module, for obtaining the flight attitude data of unmanned plane, the light stream module includes light stream sensor, altitude meter and light
Flowing plate, the light stream sensor and altitude meter are connected with light stream plate respectively, and the light stream plate is connected with flying control device, the present embodiment
In, the altitude meter is the 3rd radar 3, and the 3rd radar 3 is connected with light stream plate, and the 3rd radar 3 gathers the height of unmanned plane
Information is simultaneously sent to light stream plate.
Shown in Figure 5, in the present embodiment, the unmanned plane includes the light stream module being arranged on unmanned plane, described
Light stream module includes light stream sensor, altitude meter and light stream plate, and the light stream sensor and altitude meter are connected with light stream plate respectively,
The light stream plate is connected with flying control device, and in the present embodiment, the altitude meter is ultrasonic sensor, the ultrasonic sensor
It is connected with light stream plate, the elevation information of ultrasonic sensor collection unmanned plane is simultaneously sent to light stream plate.
In scheme shown in above-mentioned Fig. 4, the 3rd radar 3 is applied to survey the high structure for then simplifying unmanned plane, is light stream
Module saves altitude meter, also reduces the cost of unmanned plane.
In scheme shown in above-mentioned Fig. 5, described ultrasonic sensor is connected with light stream board communications, and ultrasonic sensor is adopted
Collect the elevation information of unmanned plane and be sent to light stream plate.It is small as altitude meter cost from ultrasonic sensor, it is cost-effective.
Preferably, described light stream sensor includes the camera for being arranged on uav bottom.Camera gathers view data, and
Altitude meter gathers unmanned plane altitude information, and the data of collection are sent to light stream plate by light stream sensor and altitude meter, described
Light stream plate carries out data processing to the data of collection, obtains the relevant informations such as unmanned plane during flying speed after processing, and by this nobody
The relevant informations such as machine flying speed, which are sent to, flies control device.
In an embodiment of the present utility model, described unmanned plane also includes the inertial navigation mould being arranged on unmanned plane
Block, the inertial navigation module are connected with flying control device, the flight attitude of inertial navigation module and light stream module acquisition unmanned plane
Data simultaneously send winged control device to, fly control device and are flown according to described flight attitude data and environmental information control unmanned plane
OK.
In the utility model, flying control device can realize that the flight to unmanned plane controls by two kinds of control modes, first
Kind mode is divided to fly the data that the first radar 1 of control device reception, the second radar 2, the 3rd radar 3 and GPS module gather
The state of flight that analysis handles to control or coordinate unmanned plane.Shown in Figure 6, the second way is to fly control device to receive first
Radar 1, the second radar 2, the 3rd radar 3 and light stream module and inertial navigation module collection unmanned plane ambient condition information and
The flight attitude data of unmanned plane simultaneously carry out Data Analysis Services so as to control the flight of unmanned plane safety.Wherein, unmanned plane is worked as
In spacious environment flight, because flight environment of vehicle is more spacious simple, therefore flying for first way control unmanned plane can be used
OK, and when unmanned plane carries out flight in the complex region of environment, for example, indoors or city flight or in gps signal
During weak local flight, then by the second way unmanned plane can also be controlled to carry out the flight of safety.
Preferably, first radar 1, the second radar 2, the 3rd radar 3 are microwave radar, and described microwave radar detects
The flying speed of unmanned plane, and be sent to and fly control device progress Data Analysis Services, it is from microwave radar in the utility model
Because microwave radar can accurately measure the flying speed of unmanned plane, enter so as to which the airspeed information is sent into winged control device
Row Data Analysis Services, to control the flight of unmanned plane safety by flying control device.
Preferably, in the utility model, in order to further improve the detection performance of unmanned plane, the detection for increasing unmanned plane is covered
Lid scope, then its first radar 1, the second radar 2, the 3rd radar 3 be arranged to mobilizable on the fuselage of unmanned plane, then
Radar can adjust the direction of its antenna by activity, and so as to change the direction of radar detection, each radar, which cooperates, can be achieved nothing
Environmental information around man-machine non-blind area detection.
In the utility model, radar is respectively provided with so as to enhance unmanned plane ring to around towards multiple directions on unmanned plane
The detection in border, the barrier avoiding function of unmanned plane is improved, be advantageous to the flight that unmanned plane carries out safety in various environment, improve
The automatization level of civil small-scale unmanned plane, enhances Consumer's Experience.Unmanned plane of the present utility model is safe and reliable awing,
Suitable for promoting.
Described above is only preferred embodiment of the present utility model, not the utility model is made any formal
Limitation, although the utility model is disclosed above with preferred embodiment, but is not limited to the utility model, any to be familiar with
The technical staff of this patent is not being departed from the range of technical solutions of the utility model, when the technology contents work using above-mentioned prompting
Go out a little change or be modified to the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solutions of the utility model,
Any simple modification, equivalent change and modification made according to the technical essence of the utility model to above example, still belongs to
In the range of the utility model.
Claims (9)
1. a kind of unmanned plane, it is characterised in that including frame, the first radar, the second radar, the 3rd radar, winged control device and move
Power apparatus；First radar, the second radar, the 3rd radar, winged control device and power set are mounted on the frame of unmanned plane
On；
First radar, for sensorcraft head, tail and the obstacle information of side；
Second radar, for the obstacle information above sensorcraft；
3rd radar, for the flying height of sensorcraft, and/or for the barrier letter below sensorcraft
Breath；
The winged control device, described the first radar, the second radar and the 3rd radar are connected respectively, and gathered according to each radar
Obstacle information controls the flight of the unmanned plane by the power set.
A kind of 2. unmanned plane according to claim 1, it is characterised in that first radar include it is multiple, set respectively
In the head, tail and both sides of unmanned plane；The second described radar comprises at least one, is arranged on the top of unmanned plane；It is described
The 3rd radar comprise at least one, be arranged on the bottom of unmanned plane.
3. unmanned plane according to claim 2, it is characterised in that first radar is earthward tiltedly mounted on nothing in side
On man-machine fuselage so that the first radar can around sensorcraft ground landform and obstacle information.
A kind of 4. unmanned plane according to claim 3, it is characterised in that also including GPS module, described GPS module with
Fly control device connection, GPS module gathers the positional information of unmanned plane, and described winged control device is according to the positional information and nothing
Environmental information around man-machine forms flight parameter to control the flight of unmanned plane.
5. unmanned plane according to claim 4, it is characterised in that also include the light stream module being arranged on unmanned plane, use
In the flight attitude data for obtaining unmanned plane, the light stream module includes light stream sensor, altitude meter and light stream plate, the light stream
Sensor and altitude meter are connected with light stream plate respectively, and the light stream plate is connected with flying control device.
6. unmanned plane according to claim 5, it is characterised in that the altitude meter is the 3rd radar, the 3rd radar
It is connected with light stream plate, the elevation information of the 3rd radar collection unmanned plane is simultaneously sent to light stream plate；
Or the altitude meter is the ultrasonic sensor for being arranged on uav bottom, the ultrasonic sensor and light stream plate
Connection, the elevation information of ultrasonic sensor collection unmanned plane are simultaneously sent to light stream plate.
7. a kind of unmanned plane according to claim 5 or 6, it is characterised in that described light stream sensor includes being arranged on
The camera of uav bottom.
8. unmanned plane according to claim 7, it is characterised in that also include the inertial navigation mould being arranged on unmanned plane
Block, the inertial navigation module are connected with flying control device, the flight attitude of inertial navigation module and light stream module acquisition unmanned plane
Data simultaneously send winged control device to, fly control device and are flown according to described flight attitude data and environmental information control unmanned plane
OK.
9. unmanned plane according to claim 1, it is characterised in that in first radar, the second radar and the 3rd radar
It is at least one be microwave radar.
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| CN201720398771.XU CN207020537U (en) | 2017-04-17 | 2017-04-17 | A kind of unmanned plane |
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| CN201720398771.XU CN207020537U (en) | 2017-04-17 | 2017-04-17 | A kind of unmanned plane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109085852A (en) * | 2018-09-20 | 2018-12-25 | 清华四川能源互联网研究院 | A kind of flying robot's system suitable for high-rise non-flat configuration |
| CN109795705A (en) * | 2019-01-18 | 2019-05-24 | 深圳市鼎峰无限电子有限公司 | A kind of unmanned plane landing detection device of dynamic monitoring ground obstacle |
| CN112334788A (en) * | 2019-11-11 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Radar component, unmanned aerial vehicle, obstacle detection method, equipment and storage medium |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
-
2017
- 2017-04-17 CN CN201720398771.XU patent/CN207020537U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109085852A (en) * | 2018-09-20 | 2018-12-25 | 清华四川能源互联网研究院 | A kind of flying robot's system suitable for high-rise non-flat configuration |
| CN109085852B (en) * | 2018-09-20 | 2020-05-08 | 清华四川能源互联网研究院 | Flying robot system suitable for high-rise uneven structure |
| CN109795705A (en) * | 2019-01-18 | 2019-05-24 | 深圳市鼎峰无限电子有限公司 | A kind of unmanned plane landing detection device of dynamic monitoring ground obstacle |
| CN112334788A (en) * | 2019-11-11 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Radar component, unmanned aerial vehicle, obstacle detection method, equipment and storage medium |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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