CN210741494U - Bad visual environment unmanned aerial vehicle detection system based on ultrasonic wave - Google Patents
Bad visual environment unmanned aerial vehicle detection system based on ultrasonic wave Download PDFInfo
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- CN210741494U CN210741494U CN201922178058.6U CN201922178058U CN210741494U CN 210741494 U CN210741494 U CN 210741494U CN 201922178058 U CN201922178058 U CN 201922178058U CN 210741494 U CN210741494 U CN 210741494U
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Abstract
The utility model provides an unmanned aerial vehicle detection system based on ultrasonic wave for severe visual environment, which comprises an airborne detection system, an unmanned aerial vehicle and a ground station; the airborne detection system comprises a base, a control unit, a power module, a vertical shaft motor module, a first connecting arm, a horizontal shaft motor module, a second connecting arm and an ultrasonic ranging module. The utility model discloses an aerial unmanned aerial vehicle carries out complicated topography survey, to if the abominable visual environment such as dense smoke, fog have very big advantage. The utility model discloses an unmanned aerial vehicle surveys and data receiving and dispatching, and measurement efficiency is high, convenient operation, and the reliability is high.
Description
Technical Field
The utility model belongs to the technical field of the engineering survey, especially, relate to a abominable visual environment unmanned aerial vehicle detecting system based on ultrasonic wave.
Background
The acquisition of the environmental topographic data has important significance in the fields of fire-fighting operation, disaster rescue, industrial construction, national defense and military and the like. At present, measurement equipment based on photoelectric sensors, infrared sensors, ultrasonic sensors and the like is commonly used for medium and short distance measurement and environmental terrain detection. However, photoelectric sensors and infrared sensors are greatly interfered or even cannot be used under severe visual conditions, such as environments with dense smoke, fog, fire and the like, and if the environmental temperature is high, the infrared sensing device is disabled. Therefore, the above-described technology is subject to environmental restrictions. Compared with the prior art, the ultrasonic wave has the advantages of good penetrability, strong directivity, high reliability, low cost and the like, and is suitable for measurement under the severe visual conditions of dense smoke, fog and the like.
And, perfect day by day along with unmanned aerial vehicle technique, rely on its powerful function to release diversified application, and based on unmanned aerial vehicle system, utilize ultrasonic technology under the abominable visual condition, can realize surveying distance and topography, can replace the manpower to survey adverse circumstances.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a abominable visual environment unmanned aerial vehicle detecting system based on ultrasonic wave, adaptation in unmanned aerial vehicle mainly surveys the task to the topography of abominable imaging environment to light nimble, little to unmanned aerial vehicle bearing burden, do not influence unmanned aerial vehicle mobility.
The utility model provides an unmanned aerial vehicle detection system based on ultrasonic wave for severe visual environment, which comprises an airborne detection system, an unmanned aerial vehicle and a ground station; the airborne detection system comprises a base, a control unit, a power supply module, a vertical shaft motor module, a first connecting arm, a horizontal shaft motor module, a second connecting arm and an ultrasonic ranging module;
the ultrasonic ranging device comprises a vertical shaft motor module, a horizontal shaft motor module, a first connecting arm, a second connecting arm, an ultrasonic ranging module and a base, wherein the vertical shaft motor module is fixedly arranged on the base, one end of the first connecting arm is connected with an output shaft of the vertical shaft motor module, the other end of the first connecting arm is fixedly connected with the horizontal shaft motor module, an output shaft of the horizontal shaft motor module is fixedly connected with one end of the second connecting arm, the other end of the second connecting arm is fixedly connected with the ultrasonic ranging module, and the extension direction of the output shaft of the vertical shaft motor module and the extension;
the control unit is connected with the power supply module, the vertical shaft motor module, the horizontal shaft motor module and the ultrasonic ranging module;
an angle position sensor is arranged in the vertical shaft motor module, and an output shaft of the vertical shaft motor module deflects according to a specified angle under the control of an output signal of the control unit;
an angle position sensor is arranged in the transverse shaft motor module, and the output shaft of the transverse shaft motor module deflects according to a specified angle under the control of an output signal of the control unit;
the unmanned aerial vehicle comprises an inertial measurement unit, a GPS (global positioning system), a data interface, an airborne transceiver module for carrying out data communication with a ground station and a rechargeable airborne power supply comprising a power supply output interface;
the ground station comprises a control computer, a ground transceiving module and a rechargeable mobile power supply, wherein the ground transceiving module is used for sending a control command to the unmanned aerial vehicle and receiving data, and the rechargeable mobile power supply comprises a power supply output interface.
Furthermore, rechargeable airborne power of unmanned aerial vehicle and airborne detection system's power module can connect the rechargeable portable power source's of ground station power output interface and charge.
Further, the base adopts carbon fiber material, and four angles of base are equipped with the installation hole site that is used for fixed connection unmanned aerial vehicle.
Further, the control unit contains data interface, can be connected with the data interface on the unmanned aerial vehicle, carries out data communication with the ground satellite station through unmanned aerial vehicle's machine year transceiver module.
Furthermore, a rechargeable lithium battery is arranged in the power supply module, and can independently supply power to the control unit, the vertical shaft motor module, the horizontal shaft motor module and the ultrasonic ranging module.
Further, power module still includes power input interface, can connect the rechargeable power output interface who carries the power of unmanned aerial vehicle and the rechargeable portable power source's of ground station power output interface, to the power supply of control unit, vertical axis motor module, cross axle motor module and ultrasonic ranging module, charges to built-in lithium cell simultaneously.
The control computer of the ground station sends an instruction to change the position, height and posture of the unmanned aerial vehicle, the output shaft angle of the vertical shaft motor module and the output shaft angle of the horizontal shaft motor module, so that objects in different areas can be detected; and finally, establishing a three-dimensional terrain model by using the height data of all detected objects and the horizontal positions relative to the reference origin by using a control computer of the ground station.
The utility model has the advantages that: compared with the prior art, the utility model discloses to abominable visual environment such as dense cigarette, dense fog keep good detection condition. The airborne detection system who carries on is adapted in unmanned aerial vehicle, and is light nimble, and is little to unmanned aerial vehicle bearing burden, does not influence unmanned aerial vehicle mobility.
Drawings
Fig. 1 is an overall schematic view of the present invention;
fig. 2 is a schematic structural diagram of the airborne detection system of the present invention;
reference numerals:
1-an onboard detection system; 101-a base; 102-control unit; 103-power supply module; 104-vertical axis motor module; 105-first connecting arm; 106-transverse axis motor module; 107-second connecting arm; 108-ultrasonic ranging module; 2-unmanned aerial vehicle; and 3, a ground station.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2: the utility model provides an unmanned aerial vehicle detection system based on ultrasonic wave for severe visual environment, which comprises an airborne detection system 1, an unmanned aerial vehicle 2 and a ground station 3; the airborne detection system 1 comprises a base 101, a control unit 102, a power supply module 103, a vertical shaft motor module 104, a first connecting arm 105, a horizontal shaft motor module 106, a second connecting arm 107 and an ultrasonic ranging module 108;
the vertical shaft motor module 104 is fixedly installed on the base 101, one end of the first connecting arm 105 is connected with an output shaft of the vertical shaft motor module 104, the other end of the first connecting arm 105 is fixedly connected with the horizontal shaft motor module 106, an output shaft of the horizontal shaft motor module 106 is fixedly connected with one end of the second connecting arm 107, the other end of the second connecting arm 107 is fixedly connected with the ultrasonic distance measuring module 108, and the extension direction of the output shaft of the vertical shaft motor module 104 and the extension direction of the output shaft of the horizontal shaft motor module 106 are orthogonally distributed in space;
the control unit 102 is connected with a power supply module 103, a vertical shaft motor module 104, a horizontal shaft motor module 106 and an ultrasonic ranging module 108;
an angle position sensor is arranged in the vertical shaft motor module 104, and an output shaft of the vertical shaft motor module 104 deflects according to a specified angle under the control of an output signal of the control unit 102; an angle position sensor is arranged in the transverse shaft motor module 106, and the deflection of the output shaft of the transverse shaft motor module 106 according to a specified angle is realized under the control of an output signal of the control unit 102;
the unmanned aerial vehicle 2 comprises an inertia measurement unit, a GPS (global positioning system), a data interface, an airborne transceiver module for carrying out data communication with the ground station 3 and a rechargeable airborne power supply comprising a power supply output interface;
the ground station 3 comprises a control computer, a ground transceiving module for sending control commands to the unmanned aerial vehicle 2 and receiving data, and a rechargeable mobile power supply comprising a power supply output interface.
In this embodiment, the control unit 102 employs an ARM processor, and the vertical axis motor module 104 and the horizontal axis motor module 106 both employ brushless motors with built-in hall angular position sensors. The unmanned aerial vehicle 2 adopts an IMU inertial measurement unit to internally arrange an accelerometer, a gyroscope, a magnetic compass and an air pressure sensor.
Further, the rechargeable onboard power supply of the unmanned aerial vehicle 2 and the power supply module 103 of the onboard detection system 1 can be connected to the power supply output interface of the rechargeable mobile power supply of the ground station 3 for charging.
Further, the base 101 is made of carbon fiber materials, and mounting hole sites for fixedly connecting the unmanned aerial vehicle 2 are arranged at four corners of the base 101; the control unit 102 comprises a data interface, can be connected with the data interface on the unmanned aerial vehicle 2, and is in data communication with the ground station 3 through an airborne transceiver module of the unmanned aerial vehicle 2; the power module 103 is internally provided with a rechargeable lithium battery and can independently supply power to the control unit 102, the vertical shaft motor module 104, the horizontal shaft motor module 106 and the ultrasonic ranging module 108; the power module 103 further comprises a power input interface, which can be connected with a power output interface of a rechargeable onboard power supply of the unmanned aerial vehicle 2 and a power output interface of a rechargeable mobile power supply of the ground station 3, and supplies power to the control unit 102, the vertical axis motor module 104, the horizontal axis motor module 106 and the ultrasonic ranging module 108, and charges a built-in lithium battery.
Finally, the above disclosure is only for the preferred embodiments of the present invention, and certainly, the scope of the present invention should not be limited thereby. Various changes in form and details may be made therein by those skilled in the art without departing from the spirit and scope of the invention as set forth in the appended claims, which are intended to be encompassed by the claims.
Claims (6)
1. Abominable visual environment unmanned aerial vehicle detecting system based on ultrasonic wave, its characterized in that: the system comprises an airborne detection system, an unmanned aerial vehicle and a ground station; the airborne detection system comprises a base, a control unit, a power supply module, a vertical shaft motor module, a first connecting arm, a horizontal shaft motor module, a second connecting arm and an ultrasonic ranging module;
the ultrasonic ranging device comprises a vertical shaft motor module, a horizontal shaft motor module, a first connecting arm, a second connecting arm, an ultrasonic ranging module and a base, wherein the vertical shaft motor module is fixedly arranged on the base, one end of the first connecting arm is connected with an output shaft of the vertical shaft motor module, the other end of the first connecting arm is fixedly connected with the horizontal shaft motor module, an output shaft of the horizontal shaft motor module is fixedly connected with one end of the second connecting arm, the other end of the second connecting arm is fixedly connected with the ultrasonic ranging module, and the extension direction of the output shaft of the vertical shaft motor module and the extension;
the control unit is connected with the power supply module, the vertical shaft motor module, the horizontal shaft motor module and the ultrasonic ranging module;
an angle position sensor is arranged in the vertical shaft motor module, and an output shaft of the vertical shaft motor module deflects according to a specified angle under the control of an output signal of the control unit;
an angle position sensor is arranged in the transverse shaft motor module, and the output shaft of the transverse shaft motor module deflects according to a specified angle under the control of an output signal of the control unit;
the unmanned aerial vehicle comprises an inertial measurement unit, a GPS (global positioning system), a data interface, an airborne transceiver module for carrying out data communication with a ground station and a rechargeable airborne power supply comprising a power supply output interface;
the ground station comprises a control computer, a ground transceiving module and a rechargeable mobile power supply, wherein the ground transceiving module is used for sending a control command to the unmanned aerial vehicle and receiving data, and the rechargeable mobile power supply comprises a power supply output interface.
2. The ultrasonic-based bad-vision-environment unmanned aerial vehicle detection system of claim 1, wherein: the rechargeable airborne power supply of unmanned aerial vehicle and the power module of airborne detection system can be connected with the power output interface of the rechargeable portable power source of ground station and charge.
3. The ultrasonic-based bad-vision-environment unmanned aerial vehicle detection system of claim 1, wherein: the base adopts carbon fiber material, and four angles of base are equipped with the installation hole site that is used for fixed connection unmanned aerial vehicle.
4. The ultrasonic-based bad-vision-environment unmanned aerial vehicle detection system of claim 1, wherein: the control unit contains data interface, can be connected with the data interface on the unmanned aerial vehicle, carries out data communication through unmanned aerial vehicle's machine year transceiver module and ground station.
5. The ultrasonic-based bad-vision-environment unmanned aerial vehicle detection system of claim 1, wherein: the power module is internally provided with a rechargeable lithium battery and can independently supply power for the control unit, the vertical shaft motor module, the horizontal shaft motor module and the ultrasonic ranging module.
6. The ultrasonic-based bad-vision-environment unmanned aerial vehicle detection system of claim 1, wherein: the power module further comprises a power input interface, a power output interface of a rechargeable airborne power supply of the unmanned aerial vehicle and a power output interface of a rechargeable mobile power supply of the ground station can be connected, power is supplied to the control unit, the vertical shaft motor module, the horizontal shaft motor module and the ultrasonic ranging module, and meanwhile, the built-in lithium battery is charged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922178058.6U CN210741494U (en) | 2019-12-09 | 2019-12-09 | Bad visual environment unmanned aerial vehicle detection system based on ultrasonic wave |
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| CN201922178058.6U CN210741494U (en) | 2019-12-09 | 2019-12-09 | Bad visual environment unmanned aerial vehicle detection system based on ultrasonic wave |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736451A (en) * | 2019-12-09 | 2020-01-31 | 西南大学 | Bad visual environment unmanned aerial vehicle detection system based on ultrasonic waves and detection method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736451A (en) * | 2019-12-09 | 2020-01-31 | 西南大学 | Bad visual environment unmanned aerial vehicle detection system based on ultrasonic waves and detection method thereof |
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Granted publication date: 20200612 Termination date: 20201209 |