CN209938944U

CN209938944U - Rotor unmanned aerial vehicle based on barrier function is kept away to two mesh vision

Info

Publication number: CN209938944U
Application number: CN201920352444.XU
Authority: CN
Inventors: 罗飞; 李长锋; 杜永红; 陈子扬; 欧阳国生
Original assignee: Foshan Whole Smart Technology Co Ltd; South China University of Technology SCUT
Current assignee: Foshan Whole Smart Technology Co Ltd; South China University of Technology SCUT
Priority date: 2019-03-20
Filing date: 2019-03-20
Publication date: 2020-01-14
Anticipated expiration: 2029-03-20

Abstract

The utility model discloses a rotor unmanned aerial vehicle based on barrier function is kept away to two mesh vision, which comprises a bod, the organism upper end sets up the platform, and the platform intermediate position is opened there is an inner chamber, the inner chamber sets up GPS navigation, gyroscope, gravity sensor, controller and accelerometer, the dead ahead of organism sets up two mesh vision units, four angle installation brushless motor of platform, brushless motor's bottom mounting are on the platform, and the screw is connected on the top, and rotatory expansion 180 degrees when driving the screw paddle and taking off, two paddles are fold condition when stopping flying. The utility model provides high flight performance.

Description

Rotor unmanned aerial vehicle based on barrier function is kept away to two mesh vision

Technical Field

The utility model relates to an automatic field, concretely relates to rotor unmanned aerial vehicle based on barrier function is kept away to two mesh vision.

Background

Along with the increasing research and development investment of China on unmanned aerial vehicle products, the continuous maturity of related technologies and the active introduction of foreign related technologies, in recent years, domestic unmanned aerial vehicles develop faster, the application range in the fields of military, civil and the like is wider and wider, and the industrial development prospect is better. The research and development of domestic unmanned aerial vehicles accumulates certain experience in a plurality of technical fields and has certain technical foundation. However, unmanned aerial vehicle equipment in China still has a certain gap compared with developed countries, and especially, a mature core technology for unmanned aerial vehicle autonomous flight control does not exist. Therefore, the task of developing the full-autonomous flight control technology of the unmanned aerial vehicle with the autonomous intellectual property is urgent, and the full-autonomous flight control technology has important significance for improving the mobility and stability of the unmanned aerial vehicle, detecting the applications in the complex fields of anti-terrorism and the like, and promoting the development of the industry.

SUMMERY OF THE UTILITY MODEL

In order to solve the shortcoming and the insufficiency that prior art exists, the utility model provides a rotor unmanned aerial vehicle based on barrier function is kept away to two mesh vision.

The utility model adopts the following technical scheme:

the utility model provides a rotor unmanned aerial vehicle based on barrier function is kept away to binocular vision, includes the organism, the organism upper end sets up the platform, and the platform intermediate position is opened there is an inner chamber, the inner chamber sets up GPS navigation, gyroscope, gravity sensor, controller and accelerometer, the dead ahead of organism sets up binocular vision unit, four angle installation brushless motor of platform, brushless motor's bottom mounting are on the platform, and the screw is connected on the top, and rotatory 180 degrees that expand when driving the screw paddle and take off, two paddles are fold condition when stopping flying.

The utility model discloses still include barometer and thermometer, set up the center at the platform.

The controller is a Pixhawk4 flight controller.

The model of the camera of the binocular vision unit is HNV-CV-003B.

The utility model has the advantages that:

(1) the rotary vane of the propeller of the utility model is in a foldable form, and the rotary vane is spread by external force during flying, folded and recovered during flying stopping, easy to place and space-saving;

(2) the utility model is provided with a cavity on the platform, and is provided with a GPS, a gyroscope, a gravity sensor, an accelerometer, a barometer and a thermometer, which is easy to detect and increases the stability of the unmanned aerial vehicle;

(3) the utility model discloses a set up two mesh visual unit, realize the target tracking and keep away the barrier function.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the right-hand side view of the present invention;

fig. 3 is a schematic top view of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.

Examples

As shown in fig. 1-3, a rotor unmanned aerial vehicle based on barrier function is kept away to binocular vision, including organism 1, platform 2 of organism upper end fixed mounting, the platform is the rectangle, installs brushless motor 3 in the platform four corners, brushless motor's bottom mounting is on the platform, brushless motor's top fixed connection screw 4, and the screw has two paddles, and when unmanned aerial vehicle takes off, brushless motor drive screw paddle rotatory expansion 180 degrees take off, and flight process drive paddle is rotatory, and two paddles of drive screw are fold condition during the landing, and this fold condition can be that two paddles are parallel.

An inner cavity is formed in the middle of the platform, a GPS navigation system 5, a gyroscope 6, a gravity sensor 7 and an accelerometer 8 are arranged in the inner cavity, and a barometer 9 and a thermometer 10 are further arranged on the platform. The GPS navigation system acquires the geographic position of the unmanned aerial vehicle, the gyroscope acquires the three-dimensional posture of the unmanned aerial vehicle, the gravity sensor and the accelerometer acquire the three-axis acceleration value of the unmanned aerial vehicle, the barometer acquires an ambient air pressure value, and the thermometer acquires an ambient temperature value. The aircraft comprises a machine body, and is characterized in that a binocular vision unit is arranged right in front of the machine body, a camera of the binocular vision unit transmits image data to a ground station and a flight controller, the model of the camera is HNV-CV-003B, and the binocular vision unit is composed of two cameras.

The GPS navigation system, the gyroscope 6, the gravity sensor 7, the accelerometer 8, the barometer 9, the thermometer 10 and the binocular vision camera 11 are respectively connected with a flight controller, and the controller is a Pixhawk4 flight controller.

This rotor unmanned aerial vehicle can be by remote control (wired or wireless), and the technique about remote control is prior art, does not have redundantly to describe again.

The working process of the utility model is as follows:

the ground station has set up unmanned aerial vehicle's flight task, starts the automatic back of flying of unmanned aerial vehicle, and unmanned aerial vehicle will arrive the destination according to the flight task that the ground station set up, people alright in order to remove the automatic flight function, descending unmanned aerial vehicle, completion flight task.

Before the flight begins, the controller performs a self-checking function, and meanwhile, the ground station also obtains an inspection report. The GPS navigation system accurately returns the geographical position of the unmanned aerial vehicle, including longitude, latitude and height, and the gyroscope accurately returns the three-axis attitude of the unmanned aerial vehicle, so that the horizontal position of the unmanned aerial vehicle is ensured to return to zero. After the self-checking is finished, the controller sends a control signal to the brushless motor to drive the propeller blades to be unfolded for 180 degrees and rotate at a high speed, and the unmanned aerial vehicle takes off completely. The GPS navigation system feeds back the position data of the unmanned aerial vehicle to the controller, the gyroscope 6 continuously feeds back the three-axis attitude value of the unmanned aerial vehicle to the controller, and the controller dynamically adjusts the flight attitude of the unmanned aerial vehicle. Meanwhile, the gravity sensor 7 and the accelerometer 8 acquire the acceleration value of the unmanned aerial vehicle in real time, the acceleration value is used for dynamically adjusting the flying speed and the flying direction, and the barometer 9 and the thermometer 10 acquire the altitude change and the temperature change in the flying altitude rising process respectively. In the whole flight process, the binocular vision unit 11 must work continuously, when the obstacle is detected, the image processing system can analyze the volume, direction and distance of the obstacle and timely return the measured value to the flight controller, and the flight controller uses the obtained value to perform vector operation and attitude operation so that the unmanned aerial vehicle can timely make correspondence to avoid the obstacle. After the whole process is finished, the unmanned aerial vehicle finishes the flight task, arrives the destination sky by oneself, and people alright remove the automatic flight function this moment, and manual descending is shut down.

The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims

1. The utility model provides a rotor unmanned aerial vehicle based on barrier function is kept away to binocular vision, a serial communication port, which comprises a bod, the organism upper end sets up the platform, and the platform intermediate position is opened there is an inner chamber, the inner chamber sets up GPS navigation, gyroscope, gravity sensor, controller and accelerometer, the dead ahead of organism sets up binocular vision unit, four angle installation brushless motor of platform, brushless motor's bottom mounting are on the platform, and the screw is connected on the top, and rotatory expansion 180 degrees when driving the screw paddle and taking off, the paddle is fold condition when stopping flying.

2. A rotary-wing drone according to claim 1, further comprising a barometer and a thermometer, centrally located on the platform.

3. A rotary-wing drone according to claim 1, wherein the controller is a Pixhawk4 flight controller.

4. A rotary-wing drone according to claim 1, wherein the binocular vision unit has a camera model of HNV-CV-003B.