CN207992820U - A kind of unmanned plane self poisoning device - Google Patents
A kind of unmanned plane self poisoning device Download PDFInfo
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- CN207992820U CN207992820U CN201820172089.3U CN201820172089U CN207992820U CN 207992820 U CN207992820 U CN 207992820U CN 201820172089 U CN201820172089 U CN 201820172089U CN 207992820 U CN207992820 U CN 207992820U
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- unmanned plane
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- control module
- protective plate
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Abstract
The utility model discloses a kind of unmanned plane self poisoning devices, including the control module being set in the unmanned aerial vehicle body, the control module is connected separately with power module, pressure-altitude sensor module, obliquity sensor module, GPS module, wireless communication module and motor control module MCU, the motor control module MCU is connected with the motor for driving unmanned plane rotor rotational, the motor is by being provided with power module described in the connection of relay, the relay connects the control module, the wireless communication module communication link is connected to ground station and smart mobile phone, it is additionally provided with passive type active radio frequency identification on the unmanned aerial vehicle body.Can be when motor to break down, the connection cut off the power between module and motor avoids power module from burning, and can detect barrier in real time, and change of flight direction has damper, effectively slows down influence of the shock on when unmanned plane falls and ground to fuselage.
Description
Technical field
The utility model is related to unmanned machine positioning device technical fields, it particularly relates to a kind of unmanned plane self poisoning
Device.
Background technology
UAV, abbreviation unmanned plane (UAV) are a kind of new concept weapon equipments being in rapidly developing,
It is low to have the advantages that maneuverability, rapid reaction, unmanned flight, operation require.Unmanned plane, can be with by carrying multiclass sensor
It realizes image real-time Transmission, high-risk areas detecting function, is the strong supplement of satellite remote sensing and traditional air remote sensing.Currently, nothing
Man-machine use scope has widened military affairs, scientific research, civilian three big field, specifically in electric power, communication, meteorology, agricultural, sea
Ocean, he explores, photographs, preventing and reducing natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, the fields application such as public security anti-terrorism it is very wide.
Since the technology of unmanned plane is still limited at present, stability is not high, is frequently present of behaviour in practical flight in addition
Make the problems such as improper, thus the situation of unmanned plane " missing ", " air crash " etc. emerges one after another.Although in existing unmanned plane usually all
Equipped with positioning system, the position of unmanned plane can be positioned in real time in flight course, but when air crash occurs, the electricity of unmanned plane
Source module would generally be excessive or short-circuit due to internal current and be burnt out, thus each system typically each can not normal work in unmanned plane
Make, it is even more impossible to the position of unmanned plane is navigated to by the positioning system of the original carrying of unmanned plane.Once and air crash occurs for unmanned plane
It can not recover, be stored in carry-on precious television data etc. and all will be unable to recover, cause the loss of data information, lead to simultaneously
The price of normal unmanned plane is more expensive, then can also cause certain economic loss.
For the problems in the relevant technologies, currently no effective solution has been proposed.
Utility model content
For above-mentioned technical problem in the related technology, the utility model proposes a kind of unmanned plane self poisoning devices, can
It prevents power module from burning, avoids the problem that positioning system can not work.
To realize the above-mentioned technical purpose, the technical solution of the utility model is realized in：
A kind of unmanned plane self poisoning device, including the control module that is set in the unmanned aerial vehicle body, the control
Module is connected separately with power module, pressure-altitude sensor module, obliquity sensor module, GPS module, wireless communication module
It is connected with the motor for driving unmanned plane rotor rotational with motor control module MCU, the motor control module MCU, it is described
Motor connects the control module, the nothing by being provided with power module described in the connection of relay, the relay
Line communication module communication link is connected to ground station and smart mobile phone, and passive type active electrical is additionally provided on the unmanned aerial vehicle body
Subtab.
Further, the unmanned aerial vehicle body is connected with unmanned plane horn, and the unmanned plane rotor is spindle rotationally arranged in
On the unmanned plane horn, unmanned plane horn periphery is provided with the protective plate of annular, and the section of the protective plate is in circular arc
Shape is evenly equipped with several first distance measuring sensors and spin on the lateral surface of the protective plate, and the spin is rollably embedded in
On the protective plate, the radial distance of outermost to the protective plate of the spin is more than first distance measuring sensor most
Outside is to the radial distance of the protective plate, and the height of the protective plate upper edge is more than the height at the top of unmanned plane rotor, institute
The medial surface for stating protective plate is fixedly connected by connecting rod with the unmanned plane horn, and the lower part of the connecting rod, which is connected with, to be vertically arranged
Damper, the damper is connected with stabilizer blade, and the unmanned aerial vehicle body is arranged above spherical plate, the spherical plate it is upper
Side is evenly equipped with several second distance measuring sensors, and the downside of the spherical plate passes through supporting rod and unmanned aerial vehicle body top
It is fixedly connected, several first distance measuring sensors pass through conducting wire and the unmanned plane with several second distance measuring sensors
Control module connection in fuselage.
Further, the protective plate is spliced by two parts.
Further, the damper includes cylinder, and piston and spring are provided in the cylinder, and the piston connects institute
State stabilizer blade.
Further, the supporting rod includes first body of rod and second body of rod, lower end and the nothing of first body of rod
It is fixedly connected at the top of man-machine fuselage, the upper end of first body of rod is stretched into casing and is fixedly connected with described sleeve pipe, described
The upper end of second body of rod is fixedly connected with the downside of the spherical plate, and the lower end of second body of rod is stretched into described sleeve pipe simultaneously
It is slidably connected with described sleeve pipe, spring is provided between the upper end of first body of rod and the lower end of second body of rod, it is described
The upper end of first body of rod is additionally provided with limit switch corresponding with second body of rod, and the limit switch connects the control
Module.
The beneficial effects of the utility model：Can be when motor break down, the connection cut off the power between module and motor,
It avoids power module from burning, barrier can be detected in real time, change of flight direction has damper, effectively slows down unmanned plane pendant
Influence of the shock on when falling and ground to fuselage.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the functional block diagram of the unmanned plane self poisoning device according to the utility model embodiment；
Fig. 2 is the schematic diagram of the anti-collision protection device according to the utility model embodiment.
In figure：
1, unmanned aerial vehicle body；2, unmanned plane horn；3, unmanned plane rotor；4, connecting rod；5, protective plate；6, spin；7, stabilizer blade；
8, spherical plate；9, cylinder；10, piston；11, first body of rod；12, second body of rod；13, casing；14, limit switch.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, the every other embodiment that those of ordinary skill in the art are obtained all belongs to
In the range of the utility model protection.
As shown in Figs. 1-2, a kind of unmanned plane self poisoning device according to the utility model embodiment, including setting
Control module in the unmanned aerial vehicle body 1, the control module are connected separately with power module, pressure-altitude sensor mould
Block, obliquity sensor module, GPS module, wireless communication module and motor control module MCU, the motor control module MCU companies
It is connected to the motor for driving unmanned plane rotor 3 to rotate, the motor is by being provided with power supply described in the connection of relay
Module, the relay connect the control module, and the wireless communication module communication link is connected to ground station and intelligent hand
Machine is additionally provided with passive type active radio frequency identification on the unmanned aerial vehicle body 1.
In a specific embodiment of the utility model, the unmanned aerial vehicle body 1 is connected with unmanned plane horn 2, described
Unmanned plane rotor 3 is spindle rotationally arranged on the unmanned plane horn 2, and 2 periphery of unmanned plane horn is provided with the anti-of annular
The section of backplate 5, the protective plate 5 is arc-shaped, and several first distance measuring sensors are evenly equipped on the lateral surface of the protective plate 5
With spin 6, the spin 6 is rollably embedded on the protective plate 5, the outermost of the spin 6 to the protective plate 5
Radial distance is more than the outermost of first distance measuring sensor to the radial distance of the protective plate 5,5 top of the protective plate
The height on edge is more than the height at 3 top of unmanned plane rotor, and the medial surface of the protective plate 5 passes through connecting rod 4 and the unmanned plane machine
Arm 2 is fixedly connected, and the lower part of the connecting rod 4 is connected with the damper being vertically arranged, and the damper is connected with stabilizer blade 7, described
Unmanned aerial vehicle body 1 is arranged above spherical plate 8, and the upper side of the spherical plate 8 is evenly equipped with several second distance measuring sensors, institute
The downside for stating spherical plate 8 is fixedly connected by supporting rod with 1 top of the unmanned aerial vehicle body, several first ranging sensings
Device is connect by conducting wire with the control module in the unmanned aerial vehicle body 1 with several second distance measuring sensors.
In a specific embodiment of the utility model, the protective plate 5 is spliced by two parts.
In a specific embodiment of the utility model, the damper includes cylinder 9, is provided in the cylinder 9
Piston 10 and spring, the piston 10 connect the stabilizer blade 7.
In a specific embodiment of the utility model, the supporting rod includes first body of rod 11 and second body of rod 12,
The lower end of first body of rod 11 is fixedly connected with the top of the unmanned aerial vehicle body 1, and the upper end of first body of rod 11 is stretched into
It is fixedly connected in casing 13 and with described sleeve pipe 13, the upper end and the downside of the spherical plate 8 of second body of rod 12 are fixed
The lower end of connection, second body of rod 12 is stretched into described sleeve pipe 13 and is slidably connected with described sleeve pipe 13, first body of rod
Spring is provided between 11 upper end and the lower end of second body of rod 12, the upper end of first body of rod 11 is additionally provided with and institute
Second body of rod, 12 corresponding limit switch 14 is stated, the limit switch 14 connects the control module.
In order to facilitate the above-mentioned technical proposal of the utility model is understood, below by way of specifically used mode to the utility model
Above-mentioned technical proposal be described in detail.
The conventional technical means such as be spirally connected, be bonded can be used in the mode described in the utility model that is fixedly connected.The side of being slidably connected
The conventional technical means such as socket, guide rail can be used in formula.
Power module includes accumulator.Control module includes CPU.Wireless communication module includes WIFI module or 4G modules.
In general, be directed to unmanned plane, if only with single elevation carrection mode come acquire altitude information all can be because of
The self-defect of harvester and lead to collected altitude information there are validity and error.For example, pressure-altitude sensor
The collected altitude information of module error can occur with atmosphere zone variable density, can also be missed because of temperature and humidity
Difference, when unmanned plane being caused to fly at low altitude, lack of resolution；GPS module uses above standard 0 (i.e. horizontal plane) measurement and high-altitude
The relative position of satellite, therefore height really from the ground cannot be provided.
Therefore, in order to improve the accuracy of drone height measurement, as an implementation, unmanned plane can will be by not
With the collected a variety of altitude informations of harvester by way of mutually correcting, to improve the standard of entire drone height measurement
True property.
Pressure-altitude sensor module, the first altitude information for acquiring the first moment in unmanned plane during flying.Inclination angle passes
Sensor is for acquiring in unmanned plane during flying, the horizontal tilt angle signal caused by horizontal tilt.GPS module is for acquiring nobody
Machine the second altitude information that in-flight the first moment acquired, then sends these data to control module, so that control module
After these data processings, will treated data by radio communication module forwards to ground station.
Control module can be based on the first altitude information, the second altitude information, and average height data is calculated；Based on pre-
If pressure altitude data weighting computation rule and average height data, pressure altitude data weighting is calculated, based on pre-
If GPS data weight calculation rule and average height data, GPS module data weighting is calculated；Compare pressure altitude
Data weighting and GPS module data weighting compare to obtain the difference of this two kinds of weights, at least one difference, which is more than, to be preset just
It counts, it is to measure height value that higher value is uniquely obtained using weight, coordinate where obtaining in unmanned plane during flying and at coordinate and ground
The high-precision high number of degrees between facial plane intersection point, and the high-precision high number of degrees are wirelessly transmitted to ground station.
Wherein, it is based on hn=(h1+h2)/n, average height data hn is calculated, wherein h1 is the first altitude information,
H2 is the second altitude information, and numerical value is not 0 number during n is the first altitude information h1 and the second altitude information h2, and hn is flat
Equal altitude information.Based on preset pressure altitude data weighting computation rule and average height data, air pressure height is calculated
Degrees of data weight, including：Based on w1=a × hn+b, pressure altitude data weighting is calculated, wherein hn is the mean height number of degrees
According to a is preset constant, and b is preset constant, and w1 is pressure altitude data weighting.Wherein, the numerical value of a and b can be intended by data
Conjunction method obtains.Similarly, GPS module data weighting w2 can also be obtained by aforesaid way.
Electric machine controller MCU is core power electronic unit, and by receiving the control instruction of control module, control motor is defeated
Go out specified torque and rotating speed, drives unmanned plane rotor 3, meanwhile, electric machine controller MCU has motor system fault diagnosis protection
And store function.
When motor breaks down, and air crash occurs, electric machine controller MCU detects fault-signal, and sends a signal to control
Molding block, control module control the actuating of relay, cut off the connection between motor and power module immediately, prevent power module by
It is excessive or short-circuit in internal current and burn out, while the location information that control module measures fault message and GPS module is sent out
Ground station and the smart mobile phone of staff are given, staff is reminded to come to handle as early as possible.
If staff fails to rush to when leading to dead battery capability or GPS module failure for a long time, for convenience of the people that works
Member smoothly finds unmanned plane, and passive type active radio frequency identification is provided on unmanned plane, and staff carries reader in air crash
When neighbouring place is found, the signal that reader is sent out can wake up passive type active radio frequency identification, it is made to carry out data with reader
Transmission, and carry out by parameters such as communication signal strengths between reader and passive type active radio frequency identification the positioning in space.
Anti-collision protection device is additionally provided on unmanned plane, anti-collision protection device includes protective plate, damper etc..
Laser range sensor or infrared distance sensor may be used in first distance measuring sensor and the second distance measuring sensor.
The position of protective plate 5 and height should be mark not interfere and not influence unmanned plane normal flight with unmanned plane rotor 3
Standard, since protective plate 5 is arc-shaped, multiple first distance measuring sensors also arc-shaped arrangement, when multiple first distance measuring sensors are sent out
The ranging light gone out after the radial direction of protective plate 5 projects, the range that is detected than horizontal layout detection range more
Greatly, similarly its detection range is also considerably increased since multiple second distance measuring sensors are arranged in spherical plate 8.
Whether the first distance measuring sensor and the second distance measuring sensor have the barrier for interfering and flying for complete detection all directions
Hinder object, when finding obstacle occur, information is returned to the control module of unmanned plane in time, control module is according to barrier
The heading of unmanned plane is automatically adjusted apart from situation, unmanned plane is avoided to collide with the barrier in environment.
Have little time to dodge or the first distance measuring sensor and the second distance measuring sensor failure when unmanned plane occurs suddenly in barrier
When, to reduce the damaged condition after unmanned plane and barrier collide, it is provided with spin 6 on protective plate 5, spin 6 can be with
360 degree rotation, when spin 6 encounters barrier, occurs to play the role of guiding under the action of unmanned plane during flying inertia
It rolls, is oriented to change the heading of unmanned plane by force for unmanned plane.And the outermost of spin 6 is to the diameter of protective plate 5
It is more than the outermost of the first distance measuring sensor to the radial distance of protective plate 5 to distance, can avoid the first distance measuring sensor and barrier
Object is hindered to contact and damage, protective plate 5 is spliced by two parts, is easily installed spin 6, is both provided on two parts and spin 6
Matched ball groove.
Occur occurring suddenly barrier unmanned plane right over the unmanned plane to have little time to dodge or the second distance measuring sensor failure
When, spherical plate 8 collides with barrier, and spherical plate 8 moves down and make second body of rod, 12 downward compressed spring, is delayed
Punching, when spring-compressed to a certain extent, second body of rod 12 touches limit switch 14, and limit switch 14 sends a signal to control
Module, control module control unmanned plane fly downwards.Certainly it is to avoid the distance measuring sensor of spherical plate 8 when being collided with barrier
Damage, can open up groove in spherical plate 8, distance measuring sensor is placed in groove.
For convenience of line is crossed, can cable-through hole be set on connecting rod 4 and supporting rod.
Piston 10 can be slided up and down with respect to cylinder 9.
When unmanned plane landing or aerial catastrophic failure are fallen, to avoid unmanned plane and collision on the ground from damaging, if
Damper and stabilizer blade 7 are set, stabilizer blade 7 contacts ground prior to unmanned plane, and the piston 10 in cylinder 9 is driven to move up, and piston 10 is pressed
Contracting spring is into row buffering.
In conclusion by means of the above-mentioned technical proposal of the utility model, it can be when motor breaks down, mould of cutting off the power
Connection between block and motor, avoids power module from burning, and can detect barrier in real time, and change of flight direction has damping
Device effectively slows down influence of the shock on when unmanned plane falls and ground to fuselage.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (5)
1. a kind of unmanned plane self poisoning device, including it is set to the unmanned aerial vehicle body（1）Interior control module, feature exist
In, the control module be connected separately with power module, pressure-altitude sensor module, obliquity sensor module, GPS module,
Wireless communication module and motor control module MCU, the motor control module MCU are connected with for driving unmanned plane rotor（3）
The motor of rotation, the motor is by being provided with power module described in the connection of relay, described in the relay connection
Control module, the wireless communication module communication link are connected to ground station and smart mobile phone, the unmanned aerial vehicle body（1）It is upper to go back
It is provided with passive type active radio frequency identification.
2. unmanned plane self poisoning device according to claim 1, which is characterized in that the unmanned aerial vehicle body（1）Connection
There is unmanned plane horn（2）, the unmanned plane rotor（3）It is spindle rotationally arranged in the unmanned plane horn（2）On, the unmanned plane
Horn（2）Periphery is provided with the protective plate of annular（5）, the protective plate（5）Section be arc-shaped, the protective plate（5）'s
Several first distance measuring sensors and spin are evenly equipped on lateral surface（6）, the spin（6）Rollably it is embedded in the protective plate
（5）On, the spin（6）Outermost to the protective plate（5）Radial distance be more than first distance measuring sensor most
Outside is to the protective plate（5）Radial distance, the protective plate（5）The height of upper edge is more than unmanned plane rotor（3）Top
Height, the protective plate（5）Medial surface pass through connecting rod（4）With the unmanned plane horn（2）It is fixedly connected, the connecting rod
（4）Lower part be connected with the damper being vertically arranged, the damper is connected with stabilizer blade（7）, the unmanned aerial vehicle body（1）On just
Side is provided with spherical plate（8）, the spherical plate（8）Upper side be evenly equipped with several second distance measuring sensors, the spherical plate（8）
Downside pass through supporting rod and the unmanned aerial vehicle body（1）Top is fixedly connected, if several first distance measuring sensors with
It does second distance measuring sensor and passes through conducting wire and the unmanned aerial vehicle body（1）Interior control module connection.
3. unmanned plane self poisoning device according to claim 2, which is characterized in that the protective plate（5）By two parts
It is spliced.
4. unmanned plane self poisoning device according to claim 2, which is characterized in that the damper includes cylinder（9）,
The cylinder（9）Inside it is provided with piston（10）And spring, the piston（10）Connect the stabilizer blade（7）.
5. unmanned plane self poisoning device according to claim 2, which is characterized in that the supporting rod includes first body of rod
（11）With second body of rod（12）, first body of rod（11）Lower end and the unmanned aerial vehicle body（1）Top be fixedly connected, institute
State first body of rod（11）Upper end stretch into casing（13）Interior and and described sleeve pipe（13）It is fixedly connected, second body of rod（12）'s
Upper end and the spherical plate（8）Downside be fixedly connected, second body of rod（12）Lower end stretch into described sleeve pipe（13）It is interior
And and described sleeve pipe（13）It is slidably connected, first body of rod（11）Upper end and second body of rod（12）Lower end between set
It is equipped with spring, first body of rod（11）Upper end be additionally provided with and second body of rod（12）Corresponding limit switch
（14）, the limit switch（14）Connect the control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820172089.3U CN207992820U (en) | 2018-02-01 | 2018-02-01 | A kind of unmanned plane self poisoning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820172089.3U CN207992820U (en) | 2018-02-01 | 2018-02-01 | A kind of unmanned plane self poisoning device |
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| Publication Number | Publication Date |
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| CN207992820U true CN207992820U (en) | 2018-10-19 |
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ID=63822572
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| CN201820172089.3U Active CN207992820U (en) | 2018-02-01 | 2018-02-01 | A kind of unmanned plane self poisoning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649652A (en) * | 2018-11-01 | 2019-04-19 | 广西康纳环保有限公司 | A kind of unmanned plane and fire-extinguishing |
| CN110650439A (en) * | 2019-09-10 | 2020-01-03 | 清研讯科（北京）科技有限公司 | Target searching method and device, storage medium and computer equipment |
-
2018
- 2018-02-01 CN CN201820172089.3U patent/CN207992820U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109649652A (en) * | 2018-11-01 | 2019-04-19 | 广西康纳环保有限公司 | A kind of unmanned plane and fire-extinguishing |
| CN110650439A (en) * | 2019-09-10 | 2020-01-03 | 清研讯科（北京）科技有限公司 | Target searching method and device, storage medium and computer equipment |
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