CN210455209U

CN210455209U - Visual support, aircraft and plant protection unmanned aerial vehicle of aircraft

Info

Publication number: CN210455209U
Application number: CN201921404916.8U
Authority: CN
Inventors: 刘厚臣
Original assignee: Suzhou Eavision Robotic Technologies Co Ltd
Current assignee: Suzhou Eavision Robotic Technologies Co Ltd
Priority date: 2019-08-27
Filing date: 2019-08-27
Publication date: 2020-05-05
Anticipated expiration: 2029-08-27

Abstract

The utility model provides a vision support, aircraft and plant protection unmanned aerial vehicle of aircraft relates to unmanned air vehicle technical field, and the vision support includes: connecting piece and installed part, the one end and the head of aircraft of connecting piece are connected, and the other end is connected with the installed part, and the installed part includes overhead gage and lower baffle, is provided with the vision camera between overhead gage and the lower baffle, and the vision camera is fixed on the overhead gage. When the aircraft meets the collision, the stress of the vision camera can be reduced, the vision camera is not easy to deform, repeated calibration of the vision camera is avoided, and meanwhile, the installation and the disassembly of the vision camera are convenient.

Description

Visual support, aircraft and plant protection unmanned aerial vehicle of aircraft

Technical Field

The utility model belongs to the technical field of the unmanned air vehicle technique and specifically relates to a vision support, aircraft and plant protection unmanned aerial vehicle of aircraft are related to.

Background

The aircraft is the component of unmanned aerial vehicle, usually includes fuselage, power device and navigation control device etc. and it does not carry on operating personnel, can fly automatically or long-range guide flight. A visual camera can be arranged on the aircraft to judge whether an obstacle exists in a visual range.

The existing vision camera is usually arranged on the fuselage of the aircraft, and in actual use, the vision camera needs to be calibrated before being used. However, if the aircraft body collides with a bird or other obstacle during the flight, the visual camera is easily deformed, which affects the accuracy of the visual camera, and the aircraft needs to be calibrated again for use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a vision support, aircraft and plant protection unmanned aerial vehicle of aircraft can meet when the collision at the aircraft, reduces the atress of vision camera, makes vision camera non-deformable, avoids the repeated calibration of vision camera, and simultaneously, the installation and the dismantlement of the vision camera of being convenient for.

The utility model provides a pair of vision support of aircraft, include: a connector and a mounting member;

one end of the connecting piece is connected with the head of the aircraft, the other end of the connecting piece is connected with the mounting piece, the mounting piece comprises an upper baffle and a lower baffle, a vision camera is arranged between the upper baffle and the lower baffle, and the vision camera is fixed on the upper baffle.

Further, the lower baffle has a convex portion with respect to the vision camera along the front of the aircraft.

Furthermore, the connecting piece includes the head rod and the second connecting rod, head rod and second connecting rod parallel arrangement.

The utility model provides an aircraft, which comprises the visual support of the aircraft and a fuselage, wherein both sides of the front end of the fuselage are provided with front arms, and the end part of the front arms far away from the fuselage is provided with a front motor and a rotor wing connected with the front motor;

in the direction of the axis of the fuselage, the vision bracket protrudes out of the front motor, and in the direction perpendicular to the direction of the axis of the fuselage, the vision bracket and the rotor wing are arranged at intervals to prevent the rotor wing from entering the vision range of the vision camera.

Further, in the fuselage axis direction, the vision support with the first length of predetermineeing in interval between the preceding motor, perpendicular to in the fuselage axis direction, the vision support with the length is predetermine to the interval second between the rotor.

Furthermore, rear arms are arranged on two sides of the rear end of the machine body, and a rear motor is arranged at the end part of each rear arm far away from the machine body;

the front motor and the rear motor are sequentially connected and distributed around the machine body, and connecting lines of the front motor and the rear motor are rectangular.

Furthermore, the length of a connecting line between the front motor and the rear motor, which is arranged on the same side of the machine body, is smaller than the length of a connecting line between the two front motors, which are arranged on the two sides of the machine body correspondingly.

Furthermore, the connecting lines of the front motor and the rear motor, which are positioned on two sides of the machine body, comprise a first connecting line and a second connecting line, and an included angle between the first connecting line and the second connecting line is a preset angle.

Further, the rear end of the machine body is at least provided with a container frame, and the intersection point of the first connecting line and the second connecting line coincides with the center of the container frame.

The utility model provides a plant protection unmanned aerial vehicle, including the aircraft as above, still include controlling means, the aircraft carries on and broadcasts the device or pesticide application device;

and the control device is used for controlling the aircraft to broadcast or spray.

The utility model provides a vision support of above-mentioned aircraft, with the head of connecting piece be connected, the other end is connected with the installed part that is used for installing the vision camera for the vision camera has certain interval with the fuselage of aircraft; and the visual camera is arranged between the lower baffle and the upper baffle and fixed on the upper baffle, so that the visual camera is not influenced by the acting force of the lower baffle and has a protection effect on the visual camera. When the aircraft runs into the collision, compare in directly setting up the vision camera on the fuselage, can reduce the atress of vision camera with the vision camera setting on above-mentioned vision support, make vision camera non-deformable, avoid the repeated calibration of vision camera, simultaneously, the installation and the dismantlement of the vision camera of being convenient for.

The utility model provides an aircraft includes above-mentioned vision support, so also can realize above-mentioned beneficial effect. In addition, the vision support is arranged at the head of the aircraft, a front arm is arranged at the front end of the aircraft body, a front motor and a rotor wing connected with the front motor are arranged at the end part of the front arm, the vision support is protruded out of the front motor in the axis direction of the aircraft body in order to prevent the rotor wing of the front arm from blocking the sight line of the vision camera, the vision support is arranged at an interval with the rotor wing in the axis direction of the aircraft body, and the rotor wing of the front arm can not enter the vision range of the vision camera.

The utility model provides a plant protection unmanned aerial vehicle includes above-mentioned aircraft, so also can realize above-mentioned beneficial effect. In addition, plant protection unmanned aerial vehicle can also realize broadcasting or spraying the operation.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a vision support of an aircraft according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an aircraft provided in an embodiment of the present invention;

fig. 3 is a schematic view of a first included angle of the front arm and a second included angle of the rear arm according to an embodiment of the present invention;

fig. 4 is a top view of an aircraft provided by an embodiment of the present invention.

Icon: 1-a visual support; 11-a connector; 111-a first connecting rod; 112-a second connecting rod; 12-a mounting member; 121-upper baffle plate; 122-lower baffle; 13-a visual camera; 2-a fuselage; 21-an upper substrate; 22-lower substrate; 3-front arm; 4-rear arm; 5-a rotor wing; 6-a first motor; 7-a second motor; 8-a third motor; 9-a fourth motor; 10-a container frame; 14-battery frame.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

At present, a vision camera of an aircraft is usually arranged on a fuselage, and in practical use, the vision camera needs to be calibrated before being used. However, if the aircraft body collides with a bird or other obstacle during flight, the visual camera is easily deformed, and the visual camera needs to be recalibrated for use. Based on this, the embodiment of the utility model provides a pair of vision support, aircraft and plant protection unmanned aerial vehicle of aircraft can reduce the atress of vision camera when the aircraft meets the collision, makes vision camera non-deformable, avoids the calibration problem of vision camera, simultaneously, the installation and the dismantlement of the vision camera of being convenient for.

For the understanding of the present embodiment, the visual support of the aircraft disclosed in the embodiments of the present invention will be described in detail first.

Referring to fig. 1, an embodiment of the present invention provides a vision support for an aircraft, including: a connector 11 and a mounting 12; one end of the connecting piece 11 is connected with the head of the aircraft, the other end is connected with the mounting piece 12, the mounting piece 12 comprises an upper baffle and a lower baffle, a vision camera 13 is arranged between the upper baffle and the lower baffle, and the vision camera 13 is fixed on the upper baffle.

The vision camera 13 is used to determine whether an obstacle exists in the vision range and the distance between the obstacles. When the vision camera 13 is installed, the vision camera 13 needs to be accurately calibrated to be normally used, and after calibration is finished, once the vision camera 13 is deformed under the action of external force, a calibration result is easily influenced, so that the vision judgment is influenced.

According to the visual support 1 of the aircraft, a certain interval can be formed between the visual camera 13 and the aircraft body of the aircraft, and the visual camera can be conveniently mounted and dismounted through the arrangement of the connecting rod; and the vision camera 13 is arranged between the lower baffle and the upper baffle and fixed on the upper baffle, so that the vision camera 13 is not influenced by the acting force of the lower baffle, and the vision camera 13 is protected. When the aircraft encounters a collision, the visual camera 13 is arranged on the fuselage, and the stress of the visual camera 13 can be greatly reduced by arranging the visual camera 13 on the visual support 1, so that the visual camera 13 is not easy to deform, and the influence on the calibration of the visual camera 13 is avoided.

In practical applications, if the aircraft has an unexpected situation during flight, the head may land first, and in order to reduce the impact of the ground on the vision camera 13, the lower baffle of the present embodiment may be provided with a protruding portion along the front of the aircraft, opposite to the vision camera 13. The protruding portion can prevent the visual camera 13 from contacting the ground and causing damage. When the projection portion impacts the ground, since the vision camera 13 is disposed on the upper barrier 121 with a space from the lower barrier 122, the impact force at the time of impact is prevented from directly contacting the vision camera 13, reducing the possibility that the vision camera 13 is impacted.

In order to allow the connection member 11 to be stably connected between the aircraft and the mounting member 12, the connection member 11 of the present embodiment may include a first connection rod 111 and a second connection rod 112, and the first connection rod 111 and the second connection rod 112 are disposed in parallel. It is understood that a plurality of connecting rods may be provided, without limitation. The connecting piece 11 is arranged, so that the weight of the vision bracket 1 can be reduced, and the influence on the power consumption of an aircraft carrying the vision bracket due to overlarge weight is avoided.

The vision camera 13 of this embodiment may adopt a binocular camera, and can accurately determine the obstacle and the obstacle distance in the visual range.

As shown in fig. 2, the embodiment of the present invention provides an aircraft, including the vision support 1 of the above aircraft, further including the fuselage 2, the front end both sides of the fuselage 2 are provided with the front horn 3, the tip of the front horn 3 sets up the front motor and the rotor 5 connected with the front motor.

In the direction of the axis of the fuselage, the vision bracket 1 protrudes from the front motor and is arranged at an interval with the rotor 5 in the direction perpendicular to the axis of the fuselage to prevent the rotor 5 from entering the vision range of the vision camera.

In order to further prevent the front motor, the front horn and the rotor from entering the visual range of the visual camera, further, a first preset length is arranged between the visual support 1 and the front motor in the axial direction of the fuselage, and a second preset length is arranged between the visual support 1 and the rotor 5 in the direction perpendicular to the axial direction of the fuselage.

Specifically, one end of the vision camera on the vision bracket 1, which is close to the body, or one end of the mounting part 12, which is close to the body, and the central position of the front motor are arranged in the axial direction of the body, and a first preset length is formed between the two ends, so that the vision bracket protrudes out of the front motor, and the influence of the front motor, the rotor 5 on the front motor and the front horn on the vision camera mounted on the mounting part 12 is avoided; simultaneously, on the perpendicular to fuselage axis direction, the side that the vision camera on the vision support 1 is close to the front point motor also can be that installed part 12 is close to the side of preceding motor, and the length is predetermine to the second between the tip of keeping away from preceding motor with rotor 5, further avoids rotor 5, preceding motor and preceding horn to the influence of installing the vision camera on installed part 12. Through the first length of predetermineeing of simultaneous design and the second length of predetermineeing, guarantee that preceding motor, rotor 5 and preceding horn are outside the visual range of vision camera, avoid influencing its vision and judge.

Optionally, the connecting member 11 has a third preset length, and the interval between the vision bracket 1 and the front motor can be adjusted by the third preset length of the connecting member 11, so that the requirement that the front motor and the rotor wing are out of the visual range of the vision camera is met. Of course, the present invention is not limited thereto, and the space between the vision bracket 1 and the front motor can be adjusted by other means, such as designing the position of the vision camera relative to the mounting member 12, the position of the front motor, and the like. Likewise, the width of the vision camera can be adjusted appropriately to meet the requirement of the space between the vision camera and the rotor 5, and the space is not limited herein.

It should be noted that the aircraft in this embodiment may be a folding aircraft or a non-folding aircraft, and when the aircraft is a folding aircraft, the solution in this embodiment is applied to a structure in which the horn is in the unfolded state.

The embodiment of the utility model provides an aircraft includes above-mentioned vision support 1, the installation and the dismantlement of the vision camera of being convenient for to can make vision camera 13 non-deformable, avoid vision camera 13's repeated calibration problem, improve the life of vision camera. In addition, the front motor of the front horn 3 and the rotor 5 can be prevented from blocking the view of the vision camera 13.

For the global design of cooperation aircraft, make its structure more reasonable, the flight control of being convenient for, in this embodiment, the rear end both sides of fuselage are provided with back horn 4, back horn is kept away from the tip of fuselage 2 is provided with back motor, connect in order distribute in preceding motor and back motor around the fuselage, its line is the rectangle. Referring to fig. 4 specifically, the front booms 3 are disposed on two sides of the front end of the body 2, the rear booms 4 are disposed on two sides of the rear end of the body 2, the ends of the two front booms 3 far away from the body 2 are respectively provided with a first motor 6 and a second motor 7, and the ends of the two rear booms 4 far away from the body 2 are respectively provided with a third motor 8 and a fourth motor 9; four motors are used to drive the rotor at the end of the front horn 3 and the rotor at the end of the rear horn 4, respectively.

As an optional implementation mode, the first motor 6, the second motor 7, the third motor 8 and the fourth motor 9 are connected in sequence, connecting lines of the first motor 6, the second motor 7 and the third motor 8 can be arranged in a rectangular shape, namely the first motor 6 is connected with the second motor 7, the second motor 7 is connected with the third motor 8, the third motor 8 is connected with the fourth motor 9, and after the fourth motor 9 is connected with the first motor 6, the connecting lines of the third motor 8 and the fourth motor 9 can form a rectangular shape, so that a lift force center of the aircraft is relatively compact, the situation that control is influenced due to excessive redundancy of a fuselage.

Further, the length of a connection line between the front motor and the rear motor, which are arranged on the same side of the body 2, is smaller than the length of a connection line between the two front motors, which are arranged on the two sides of the body 2. For example, the length of the connecting line between the first motor 6 and the fourth motor 9 is smaller than the length of the connecting line between the first motor 6 and the second motor 7, so that the overall structure of the aircraft is more compact, the length of the fuselage of the aircraft is as short as possible, and the fuselage is prevented from being too long and difficult to control.

Specifically, be located the line of 2 both sides of fuselage preceding motors and back motor includes first line and second line, and first line and second line are two diagonals of above-mentioned rectangle respectively promptly, contained angle between first line and the second line is predetermined the angle.

Here, the angle between the first line and the second line is an angle toward the axis of the body, for example, the line between the first motor 6 and the third motor 8 is a first line, the line between the second motor 7 and the fourth motor 9 is a second line, the angle between the first line and the second line may be an obtuse angle toward the head of the body, and the predetermined angle may be 90 to 110 °, preferably 95 to 105 °, or 96 to 100 °, and so on. The included angle of a connecting line between the front motor and the rear motor on the aircraft is set, so that the situation that the flight control is unstable due to the fact that the included angle of the front motor and the rear motor is too large or too small is avoided.

Usually, the nodical position of first line and second line is located the central point of aircraft to this guarantees normal flight, because the front end of aircraft is provided with vision support 1 to extend a section distance, so the aircraft can be longer, if still set the fuselage into ordinary size, unable normal flight, so shorten the fuselage length of aircraft, with the structure of rational design aircraft, make its control of being more convenient for. In an alternative embodiment, the rear end of the body 2 is provided with at least a container frame, and the intersection point of the first connecting line and the second connecting line coincides with the center of the container frame. Because the weight of the container frame accounts for the most part of the total weight of the aircraft, the intersection point of the first connecting line and the second connecting line is superposed at the center of the container frame, so that the aircraft is easier to control. The intersection point of the first connecting line and the second connecting line is the lift center of the aircraft, the lift center of the aircraft is coincided with the center of the container frame, even if the weight of the container frame is changed due to changes of the materials stored in the container frame, the lift center is still coincided with the center of the container frame, and the control of the aircraft is not influenced.

In this embodiment, the body 2 includes an upper substrate 21 and a lower substrate 22, the front end of the lower substrate 22 is a base, and a receiving cavity is formed between the upper substrate 21 and the base and used for receiving an electronic device.

In addition, a container frame 10 and a battery frame 14 may be disposed at the rear end of the lower base plate 22, and a work tool may be placed in the container frame 10 and a battery may be placed in the battery frame 14. The work tool is controlled to work by the control device, and the battery is used for providing kinetic energy for the aircraft.

It should be noted that, the positions of the front motor and the rear motor are set by the front arm 3 and the rear arm 4, the front motor is disposed at the end of the front arm 3 away from the machine body, and the rear motor is disposed at the end of the rear arm 4 away from the machine body, where the positions of the front arm 3, the rear arm 4 and the machine body are not limited, as long as the positions of the front motor and the rear motor can be set to meet the requirements.

As an alternative embodiment, the included angle between the axis of the front arm 3 and the axis of the fuselage extending in the direction of the tail of the aircraft may be set to be a first included angle, as shown in a in fig. 3, the front arm 3 extends in the direction of the head of the aircraft, so the first included angle is generally an obtuse angle, but the present invention is not limited thereto, and the size of the first included angle may be set as required. The angle of the first contained angle that can adjust preceding horn 3 makes it be less than or equal to the second and predetermines the angle to motor, rotor are in outside the visual range of vision camera before guaranteeing. Simultaneously, the 4 axes of back horn are the second contained angle with the contained angle to the fuselage axis that aircraft nose direction extends, as shown in angle b in fig. 3, generally, and back horn extends backward, so the second contained angle generally is the obtuse angle, but the utility model discloses be not limited to this, can set up the size of second contained angle as required.

Usually, the first included angle a of the front arm 3 and the second included angle b of the rear arm 4 are the same, so as to ensure that the lift center of the aircraft is at the central position, in this embodiment, in order to make the front arm 3 be disposed at the front portion of the fuselage as much as possible, the length of the fuselage is reduced, and at the same time, the rotor 5 on the front arm 3 does not obstruct the view of the vision camera 13, the size of a may need to be adjusted, so that a is smaller than b, and at the same time, in order to ensure that the second included angle of the rear arm 4 of the aircraft is not too small, which results in instability of the aircraft, and therefore, the angle of the second included angle of the rear arm 4 is greater than or equal to that of the first included angle.

In this example, both can increase the setting of vision support 1, and not disturbed by the rotor on the preceding horn, consider again that the aircraft needs to load more operation instrument and the focus is unstable, motor structure sets up through the front and back and makes the fuselage of aircraft shorter, and its lift center coincides mutually with the focus of aircraft, and through the structural design who comprehensively considers and then confirm the aircraft for the arrangement framework of aircraft is more reasonable, controls easily.

The embodiment of the utility model provides a plant protection unmanned aerial vehicle, including above aircraft, still include controlling means, the aircraft carries on and broadcasts the device or pesticide application device; and the control device is used for controlling the aircraft to broadcast or spray.

In particular, the spreading device or the applicator device may be placed in a container frame of the aircraft described above. This plant protection unmanned aerial vehicle can be used to plant protection operation etc.. For example, the broadcasting device can contain plant seeds and the like, the pesticide applying device can contain liquid medicine or powder and the like, and the control device controls the aircraft to broadcast the seeds or spray the liquid medicine or the powder and the like.

The plant protection unmanned aerial vehicle of this embodiment includes above-mentioned aircraft, so also can realize the above-mentioned beneficial effect of aircraft. In addition, plant protection unmanned aerial vehicle can also realize broadcasting or spraying the operation.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A vision support for an aircraft, comprising: a connector and a mounting member;

2. The vision bracket of claim 1, wherein the lower baffle has a convex portion relative to the vision camera along the front of the aircraft.

3. The vision bracket of claim 1, wherein the connector comprises a first connector bar and a second connector bar, the first and second connector bars being arranged in parallel.

4. An aircraft, characterized by comprising the visual support of the aircraft of any one of claims 1 to 3, and further comprising a fuselage, wherein front arms are arranged on two sides of the front end of the fuselage, and a front motor and a rotor connected with the front motor are arranged on the end part of the front arm far away from the fuselage;

5. The aircraft of claim 4 wherein said vision bracket is spaced from said forward motor by a first predetermined length in a direction along said fuselage axis and is spaced from said rotor by a second predetermined length in a direction perpendicular to said fuselage axis.

6. The aircraft of claim 4, wherein rear arms are arranged on both sides of the rear end of the fuselage, and a rear motor is arranged at the end of the rear arm away from the fuselage;

7. The aircraft of claim 6, wherein a connection length of the front motor and the rear motor disposed on the same side of the fuselage is shorter than a connection length of two corresponding front motors disposed on two sides of the fuselage.

8. The aircraft of claim 6, wherein the connecting lines of the front motor and the rear motor on both sides of the fuselage comprise a first connecting line and a second connecting line, and an included angle between the first connecting line and the second connecting line is a preset angle.

9. The aircraft according to claim 8, characterized in that the rear end of said fuselage is provided with at least a container frame, the intersection of said first and second lines coinciding with the centre of said container frame.

10. A plant protection unmanned aerial vehicle, characterized by comprising the aircraft of any one of claims 5 to 9, and further comprising a control device, wherein the aircraft is provided with a broadcast sowing device or a pesticide application device;