CN213974470U

CN213974470U - Multi-rotor unmanned aerial vehicle

Info

Publication number: CN213974470U
Application number: CN202023169052.1U
Authority: CN
Inventors: 王春阳; 焦环宇
Original assignee: Changchun University of Science and Technology
Current assignee: Changchun University of Science and Technology
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-08-17
Anticipated expiration: 2030-12-25

Abstract

The utility model relates to an unmanned aerial vehicle laser radar surveys the field, especially relates to a many rotor unmanned aerial vehicle. This many rotor unmanned aerial vehicle includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a first laser radar with a horizontal scanning function and a second laser radar with a vertical scanning function; the laser radar support comprises a support assembly and a support assembly, wherein the support assembly comprises a frustum pyramid-shaped support seat, a first connecting part arranged on the small-diameter end face of the support seat and a second connecting part arranged on the side wall of the support seat; coupling assembling, coupling assembling set up in the big footpath terminal surface of supporting seat to make supporting component can dismantle with the bottom of unmanned aerial vehicle fuselage and be connected. This many rotor unmanned aerial vehicle, under the prerequisite that has realized improving the vertical direction angle and the vertical resolution of the space point cloud that many rotor unmanned aerial vehicle acquireed, can also enlarge detection range.

Description

Multi-rotor unmanned aerial vehicle

Technical Field

The utility model relates to an unmanned aerial vehicle laser radar surveys technical field, especially relates to a many rotor unmanned aerial vehicle.

Background

Laser radar can realize real-time, developments, a large amount of collection space point cloud information, forms laser radar point cloud data, conveniently carries on at many rotor unmanned aerial vehicle, can wide application in fields such as topographic survey, square measurement, road survey, cadastral survey, electric power patrols line.

In the related art, the detection angles of the laser radar in the horizontal and vertical directions are referred to as a horizontal azimuth angle and a vertical azimuth angle, respectively. In the practical application process, the number of the scanning curves simultaneously emitted by the laser radar is called the line number, the higher the line number is, the higher the scanning range and the scanning precision can be, and the cost is also greatly increased. In order to reduce the cost, a rotatable lens is adopted, the subject part of the laser radar is fixed on a base of a rotating motor, the lens continuously rotates along the horizontal direction during work, and the 360-degree scanning of the surrounding environment along the horizontal direction can be carried out, but the laser radar has the defect that the detection angle along the vertical direction is very limited and can only reach 20 degrees generally, if the vertical azimuth angle is required to be improved, the size and the cost of the laser radar are greatly increased, the laser radar is inconvenient to carry on a multi-rotor unmanned aerial vehicle with limited load carrying capacity, and the laser radar is not suitable for the use requirement with limited cost.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a many rotor unmanned aerial vehicle to solve to a certain extent and to have among the prior art the laser radar's the perpendicular azimuth and the less technical problem of vertical resolution ratio of the space point cloud information that many rotor unmanned aerial vehicle acquireed.

In order to achieve the above object, the present invention provides the following technical solutions;

based on the above-mentioned purpose, the utility model provides a many rotor unmanned aerial vehicle, include:

the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a first laser radar with a horizontal scanning function and a second laser radar with a vertical scanning function;

the laser radar support comprises a support assembly and a support assembly, wherein the support assembly comprises a support seat in a frustum pyramid shape, a first connecting part arranged on the small-diameter end face of the support seat and a second connecting part arranged on the side wall of the support seat, the first laser radar is detachably connected with the small-diameter end face through the first connecting part, and the second laser radar is detachably connected with the side wall of the support seat through the second connecting part;

coupling assembling, coupling assembling set up in the big footpath terminal surface of supporting seat, so that the supporting component can be dismantled with the bottom of unmanned aerial vehicle fuselage and be connected.

In any of the above technical solutions, optionally, the side walls of the supporting seat include a first number of sub side walls that are sequentially surrounded, so that the supporting seat is in a regular frustum shape;

each sub-side wall is provided with a second connecting portion, so that the second laser radar can be connected to any one of the sub-side walls through the second connecting portion.

In any of the above technical solutions, optionally, the number of the second lidar is multiple.

In any of the above technical solutions, optionally, the first connecting portion and the second connecting portion each include at least one cross through hole and at least one arc hole, and any cross through hole and any arc hole form a sub-connecting portion, so that the first lidar or the second lidar is connected to the sub-connecting portion through a fastener.

In any of the above technical solutions, optionally, the connection assembly includes a mounting substrate, and a first connection column and a second connection column located on a top side of the mounting substrate, where the mounting substrate is used for detachably mounting the support base;

the first connecting column comprises a first bolt used for being connected with the unmanned aerial vehicle body and a first sleeve sleeved outside the first bolt, a spring is arranged between the first end of the first sleeve and the head of the first bolt, and the second end of the first sleeve is connected to the mounting substrate;

the second spliced pole including be used for with the second bolt that the unmanned aerial vehicle fuselage is connected and cup joint in the outside second sleeve of second bolt, the telescopic first end of second with be provided with cushion rubber between the head of second bolt, the telescopic second end of second connect in mounting substrate.

In any of the above technical solutions, optionally, the number of the first connecting columns and the number of the second connecting columns are two;

the first connecting columns and the second connecting columns are alternately arranged along the circumferential direction of the mounting substrate.

In any of the above technical solutions, optionally, the large-diameter end surface of the support seat is open, and the large-diameter end surface is provided with a first connecting beam;

the mounting substrate comprises a frame and a second connecting beam connected inside the frame, and the first connecting beam and the second connecting beam are detachably connected through a clamp or a binding piece.

In any of the above technical solutions, optionally, the edge of the large-diameter end surface is provided with a first connecting lug;

the mounting substrate comprises a substrate body and a second connecting lug arranged at the edge of the substrate body;

the first connecting lug and the second connecting lug are detachably connected through a fastener.

In any one of the above technical solutions, optionally, the unmanned aerial vehicle fuselage includes the fuselage body, set up in a plurality of rotors of the fuselage body and set up in this internal automatically controlled subassembly of fuselage.

In any one of the above technical solutions, optionally, the small-diameter end surface is provided with a first line concentration hole communicated with the inside of the supporting seat, and the body is provided with a second line concentration hole corresponding to the inside of the supporting seat, so that both the first laser radar and the second laser radar can be electrically connected with the electronic control assembly through the first line concentration hole and the second line concentration hole.

Adopt above-mentioned technical scheme, the beneficial effects of the utility model are that:

the utility model provides a many rotor unmanned aerial vehicle, including unmanned aerial vehicle fuselage, first laser radar, second laser radar, supporting component and coupling assembling. Wherein, coupling assembling can dismantle the connection with the bottom of the big footpath terminal surface of supporting component and unmanned aerial vehicle fuselage, the first laser radar that has the horizontal scanning function sets up in the path terminal surface of the supporting seat of the terrace with edge form of supporting component, in order to obtain the point cloud information of horizontal direction, the second laser radar that has the vertical scanning function sets up in the lateral wall of the supporting seat of the terrace with edge form of supporting component, in order to obtain the point cloud information of vertical direction, can obtain comprehensive three-dimensional space point cloud information through the point cloud information fusion with horizontal direction and vertical direction, because the weight of first laser radar and second laser radar, size and cost are all lower, therefore under the prerequisite that has realized improving the vertical direction angle and the vertical resolution ratio of the space point cloud that many rotor unmanned aerial vehicle obtained, can enlarge the detection range, can also the effective control cost.

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 first schematic structural diagram of a multi-rotor drone provided by an embodiment of the present invention;

fig. 2 is a second schematic structural view of the multi-rotor drone provided by the embodiment of the present invention;

fig. 3 is a schematic structural diagram of a support assembly of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a connection assembly of a multi-rotor drone according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first connection post of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6 is the embodiment of the utility model provides a many rotor unmanned aerial vehicle's second spliced pole's schematic structure diagram.

Icon: 1-a multi-rotor drone; 10-unmanned aerial vehicle fuselage; 11-a first lidar; 12-a second lidar; 13-a support assembly; 130-subpart wall; 131-minor diameter end face; 132-major diameter end face; 133-a first connecting beam; 134-cross through hole; 135-arc shaped hole; 14-a connecting assembly; 140-a mounting substrate; 142-a second connecting beam; 143-a first connecting column; 1430-a first bolt; 1431 — a first sleeve; 1432-spring; 144-a second connecting column; 1440-a second bolt; 1441 — second sleeve; 1442-cushion rubber.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, 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.

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.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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.

Examples

Referring to fig. 1-6, the present embodiment provides a multi-rotor drone; fig. 1 is a schematic view of a first structure of a multi-rotor drone provided in the present embodiment; fig. 2 is a second schematic structural diagram of the multi-rotor drone provided in the present embodiment; fig. 3 is a schematic structural diagram of a support assembly of the multi-rotor drone according to the present embodiment; fig. 4 is a schematic structural diagram of a connection assembly of a multi-rotor drone according to the present embodiment; fig. 5 is a schematic structural diagram of the first connecting column provided in this embodiment; fig. 6 is a schematic structural diagram of the second connecting column provided in this embodiment. Wherein, in order to express the structure more clearly, fig. 1 adopts an exploded view of the multi-rotor unmanned aerial vehicle, fig. 2 adopts an assembled view, and fig. 5 and 6 adopt cross-sectional views; in addition, in order to express the difference in the scanning manner of the first and second laser radars, the scanning ranges of the first and second laser radars are respectively and simply shown by broken lines in fig. 2.

Referring to fig. 1 to 6, the multi-rotor drone 1 provided in the present embodiment includes a drone fuselage 10, a first lidar 11, a second lidar 12, a support component 13, and a connection component 14.

Hereinafter, the above components of the multi-rotor drone 1 will be described in detail.

In this embodiment, the unmanned aerial vehicle fuselage 10 includes the fuselage body, sets up in a plurality of rotors of fuselage body and sets up the automatically controlled subassembly in the fuselage body. Accomplish through automatically controlled subassembly to this many rotor unmanned aerial vehicle 1's automatically controlled operations such as power supply, data processing and communication interaction, flight action such as the flight speed, flight direction, lift or hover of the rotatory control fuselage body through a plurality of rotors. Wherein, the unmanned aerial vehicle fuselage 10 can be selected from the existing unmanned aerial vehicle fuselage according to specific service environment.

Optionally, in order to improve the flight stability and lightweight of multi-rotor unmanned aerial vehicle 1, the fuselage body is an all-carbon fiber fuselage body. Further, in order to guarantee many rotor unmanned aerial vehicle 1's flight safety, the outside of fuselage body is provided with the safety cover.

In the present embodiment, the first laser radar 11 has a horizontal scanning function. The second laser radar 12 has a vertical scanning function. Specifically, the first laser radar 11 is a laser radar in which a scanning lens in the related art can rotate by 360 ° in the horizontal direction, the second laser radar 12 is a laser radar in which a scanning lens in the related art is fixed in the horizontal direction and is tilted up and down within a predetermined angle in the vertical direction by driving of a rotation motor, and the second laser radar 12 in which a tilting angle of a lens in the vertical direction is not less than 60 °, such as 60 °, 90 °, 120 °, 150 °, or 180 °, may be selected in order to improve the vertical azimuth and the vertical resolution of the second laser radar 12.

Carry on the first laser radar 11 that has the horizontal scanning function and the second laser radar 12 of vertical scanning function simultaneously on many rotor unmanned aerial vehicle 1, acquire 360 spatial point cloud information of horizontal direction through first laser radar 11, rethread second laser radar 12 acquires the at least 60 spatial point cloud information of vertical direction, obtain three-dimensional point cloud information with the spatial point cloud information fusion of horizontal direction and vertical direction again, not only can improve many rotor unmanned aerial vehicle 1's scanning range also can enlarge the detection range, and first laser radar 11 and second laser radar 12's weight, size and cost are compared and are not less than 60 horizontal laser radar in current vertical azimuth and show and reduce, therefore can reduce collective unmanned aerial vehicle's load burden and equipment purchase cost.

In this embodiment, the number of the second laser radars 12 is plural, so as to obtain more comprehensive spatial point cloud information in the vertical direction.

In this embodiment, the supporting component 13 includes a support base in a shape of a frustum of a pyramid, a first connecting portion disposed on the small-diameter end surface 131 of the support base, and a second connecting portion disposed on the side wall of the support base. The major diameter terminal surface 132 of supporting seat passes through coupling assembling 14 and can dismantle the connection with the bottom of unmanned aerial vehicle fuselage 10.

First laser radar 11 can dismantle with path terminal surface 131 through first connecting portion and be connected to make first laser radar 11 can dismantle with unmanned aerial vehicle fuselage 10 and be connected.

Second laser radar 12 can dismantle with the lateral wall of supporting seat through the second connecting portion and be connected, so under the user state, second laser radar 12 set up the position and compare with first laser radar 11 set up the position and lean on, therefore through setting up the supporting seat to the terrace with edge form make the lateral wall of supporting seat present the state of tilt down, can increase the overlap ratio of the vertical scanning scope of second laser radar 12 and first laser radar 11's horizontal scanning scope, thereby make the vertical azimuth of second laser radar 12 obtain make full effective use of, further improve the vertical resolution ratio of this many rotor unmanned aerial vehicle 1's space point cloud information.

It should be emphasized that the supporting seat is not limited to the triangular frustum shown in fig. 1 to 3, and the supporting seat may be a rectangular frustum, a pentagonal frustum, or the like according to actual requirements.

In this embodiment, the side wall of the supporting seat includes a first number of sub-side walls 130 sequentially surrounded, so that the supporting seat is in a regular frustum shape, and the uniformity and stability of the mechanical properties of the supporting seat are improved.

All be provided with the second connecting portion on every sub-lateral wall 130 to make second laser radar 12 can connect in arbitrary sub-lateral wall 130 through the second connecting portion, be convenient for carry a plurality of second laser radar 12 in unmanned aerial vehicle fuselage 10, and because second laser radar 12 can dismantle with sub-lateral wall 130, therefore be convenient for change the second laser radar 12 of different models according to the actual measurement demand on the one hand, on the other hand as long as the quantity of second laser radar 12 is not more than first quantity, can arbitrary selection second laser radar 12's installation quantity.

In this embodiment, the first connecting portion and the second connecting portion each include at least one cross through hole 134 and at least one arc hole 135, and a sub-connecting portion formed by any cross through hole 134 and any arc hole 135 can form at least one sub-connecting portion, so that the first laser radar 11 or the second laser radar 12 can be connected to any sub-connecting portion through a fastener.

Wherein, the relative position relationship between the cross through hole 134 and the arc-shaped hole 135 in different sub-connecting parts is different, so that the laser radar device is respectively suitable for the second laser radars 12 with different models. In addition, the cross through hole 134 in each set of sub-connection portions provides an adjustable range in the horizontal and vertical directions for the connection position between the second lidar 12 and the sub-side wall 130 on the one hand, and the connection attitude between the second lidar 12 and the sub-side wall 130 can be adjusted by adjusting the connection position between the second lidar 12 and the arc-shaped hole 135 of the sub-connection portion on the other hand. Therefore, the flexibility and diversity of the connection position and the connection posture of the second laser radar 12 can be improved through the sub-side wall 130 comprising the cross-shaped through hole 134 and the arc-shaped hole 135, and the installation and carrying of the second laser radars 12 of various models can be supported.

In the present embodiment, the connecting assembly 14 includes a mounting substrate 140, and a first connecting column 143 and a second connecting column 144 located on the top side of the mounting substrate 140, and the mounting substrate 140 is used for detachably mounting the supporting base. Thereby earlier be connected supporting seat and mounting substrate 140, then be connected first spliced pole 143 and second spliced pole 144 with unmanned aerial vehicle fuselage 10, can make the supporting component 13 that carries on first laser radar 11 and second laser radar 12 be connected with unmanned aerial vehicle fuselage 10.

The first connecting post 143 includes a first bolt 1430 for connecting with the unmanned aerial vehicle fuselage 10 and a first sleeve 1431 sleeved outside the first bolt 1430, a spring 1432 is provided between a first end of the first sleeve 1431 and a head of the first bolt 1430, and a second end of the first sleeve 1431 is connected to the mounting substrate 140. The second connecting column 144 includes a second bolt 1440 for connecting with the drone body 10 and a second sleeve 1441 sleeved outside the second bolt 1440, a cushion rubber 1442 is provided between a first end of the second sleeve 1441 and a head of the second bolt 1440, and a second end of the second sleeve 1441 is connected to the mounting substrate 140.

Specifically, it is fixed with the base of first bolt 1430 and unmanned aerial vehicle fuselage 10 through the bolt, and the rethread bolt is fixed with the base of second bolt 1440 and unmanned aerial vehicle fuselage 10, can make the mounting substrate 140 who installs the supporting seat be connected with unmanned aerial vehicle fuselage 10. The first connecting column 143 also has the function of an elastic element on the basis of having the connecting function, and the second connecting column 144 also has the function of a damping element on the basis of having the connecting function. Connect between supporting component 13 and unmanned aerial vehicle fuselage 10 through first spliced pole 143 that has the elastic element effect and the second spliced pole 144 that has the damping element effect jointly, can play the effect of shock attenuation and buffering to the vibrations of unmanned aerial vehicle fuselage 10, show the vibrations that weaken supporting component 13 to guarantee the scanning stability of first laser radar 11 and second laser radar 12.

In this embodiment, the number of the first connecting columns 143 and the second connecting columns 144 is two, so that four connecting points are formed between the mounting substrate 140 and the unmanned aerial vehicle body 10 through the two first connecting columns 143 and the two second connecting columns 144, and the connection stability and reliability are ensured.

The first connection posts 143 and the second connection posts 144 are alternately arranged along the circumferential direction of the mounting substrate 140 to optimize the uniformity of the distribution of the shock-absorbing and damping effects.

In this embodiment, the large-diameter end surface 132 of the supporting seat is open, and the first connecting beam 133 is disposed on the large-diameter end surface 132; the mounting substrate 140 includes a frame and a second connection beam 142 connected to the inside of the frame, and the first connection beam 133 and the second connection beam 142 are detachably connected by a clip or a binding member, so that the mounting and dismounting operation is simple, and the connection is reliable.

Optionally, the number of the first connecting beams 133 and the second connecting beams 142 is multiple, and the predetermined first connecting beams 133 and the predetermined second connecting beams 142 are selected from all the first connecting beams 133 and the second connecting beams 142, so that the connection position between the support base and the mounting substrate 140 can be adjusted according to different selected combinations, the overall weight distribution of the multi-rotor unmanned aerial vehicle 1 is optimized, and the flying stability of the multi-rotor unmanned aerial vehicle 1 is improved.

Alternatively, in the present embodiment, the edge of the large-diameter end surface 132 is provided with a first connecting lug; the mounting substrate 140 includes a substrate body and a second engaging lug disposed at an edge of the substrate body; first engaging lug passes through the fastener with the second engaging lug and can dismantle and be connected, dismouting simple structure, and connection structure rigidity is big, avoids the supporting seat to take place to rock, further improves first laser radar 11 and second laser radar 12's scanning stability.

In this embodiment, path terminal surface 131 is provided with the inside first line concentration hole of intercommunication supporting seat, and the fuselage body is seted up corresponding to the inside second line concentration hole of supporting seat to make first laser radar 11 and second laser radar 12 homoenergetic be connected with the wired electricity of automatically controlled subassembly through first line concentration hole and second line concentration hole, play the guard action to the cable of wired electricity connection use through the supporting seat, be favorable to improving line concentration convenience and line concentration security.

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. Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, any of the claimed embodiments may be used in any combination. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

Claims

1. A multi-rotor unmanned aerial vehicle, comprising:

2. The multi-rotor drone of claim 1, wherein the side walls of the support base include a first number of sub-side walls that are sequentially enclosed to make the support base a regular frustum shape;

3. A multi-rotor drone according to claim 2, wherein the second lidar is plural in number.

4. A multi-rotor drone according to claim 2, wherein the first and second connection portions each include at least one cross-hole and at least one arcuate hole, any one of the cross-holes and any one of the arcuate holes forming a sub-connection portion, such that the first or second lidar is connected to the sub-connection portion by a fastener.

5. The multi-rotor drone of claim 1, wherein the connection assembly includes a mounting base plate for removably mounting the support base and first and second connection posts on a top side of the mounting base plate;

6. The multi-rotor drone of claim 5, wherein the first and second connection posts are two in number;

7. The multi-rotor unmanned aerial vehicle of claim 5, wherein the large diameter end of the support base is open, and a first connecting beam is disposed on the large diameter end;

8. The multi-rotor drone of claim 5, wherein an edge of the large diameter end face is provided with a first connection ear;

9. The multi-rotor unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle fuselage comprises a fuselage body, a plurality of rotors disposed in the fuselage body, and an electronic control assembly disposed in the fuselage body.

10. The multi-rotor unmanned aerial vehicle of claim 9, wherein the minor-diameter end surface is provided with a first line concentration hole communicating with the inside of the support seat, and the body is provided with a second line concentration hole corresponding to the inside of the support seat, so that the first laser radar and the second laser radar can be electrically connected with the electronic control component through the first line concentration hole and the second line concentration hole.