CN216660303U - Multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle formation target tracking system - Google Patents

Abstract

The utility model discloses a multi-rotor unmanned aerial vehicle and a target tracking system for formation of the multi-rotor unmanned aerial vehicle, comprising a body; the plurality of machine arms are fixedly connected with the machine body and are distributed in pairwise symmetry; the horn comprises a first end far away from the machine body, and the first end of the horn is provided with a motor; a plurality of rotor wings fixedly connected with the motor respectively; the body comprises a first surface and a second surface which are oppositely arranged along the direction vertical to the plane of the body; the first surface includes first communication module, second communication module, GPS orientation module and laser radar, and first communication module is used for with the ground satellite station communication, and second communication module is used for with the communication of other many rotor unmanned aerial vehicles. Many rotor unmanned aerial vehicle formation target tracking system includes: ground station and unmanned aerial vehicle formation, unmanned aerial vehicle formation include four above-mentioned many rotor unmanned aerial vehicles, and this system can obtain more accurate target position information, has solved the blind area problem when single many rotor unmanned aerial vehicle carries out the target tracking.

Description

Multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle formation target tracking system

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a multi-rotor unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle formation target tracking system.

Background

Unmanned aerial vehicle can independently accomplish given task under multiple environment, effectively reduces the human cost, and four rotor unmanned aerial vehicle have small, with low costs, the flexibility is strong, can VTOL and a great deal of advantages such as freely hover as unmanned aerial vehicle's an important type, therefore obtain wide application in a plurality of fields.

Generally, a single drone has a limited number and performance of sensors, and its ability to perform a target tracking task is correspondingly limited; among the correlation technique, four rotor unmanned aerial vehicle carry on single communication module, and the in-process of carrying out the task only needs to accomplish to be connected with the communication of ground satellite station to carry out simple formation of image to the target, but when long-range formation of image to the target, four rotor unmanned aerial vehicle hardly carry out pinpointing to the target. Compare with four rotor unmanned aerial vehicle of single-frame, many four rotor unmanned aerial vehicle formations have more powerful advantage, however, four rotor unmanned aerial vehicle's communication bandwidth is difficult for satisfying stable a large amount of instruction data exchange when formation flies among the prior art, can only act alone, and the independent action can not avoid having the blind area, hardly carries out stable tracking to the target, probably loses the target even.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, the utility model provides a multi-rotor unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle formation target tracking system. The technical problem to be solved by the utility model is realized by the following technical scheme:

in a first aspect, the present invention provides a multi-rotor drone comprising: a body;

the plurality of machine arms are fixedly connected with the machine body, and are distributed in pairwise symmetry;

the machine arms comprise first ends far away from the machine body, and the first ends of the plurality of machine arms are provided with motors;

the rotor wings are fixedly connected with the motor respectively;

the plane of the body is perpendicular to the direction of the plane of the body, and the body comprises a first surface and a second surface which are oppositely arranged; the first surface includes first communication module, second communication module, GPS orientation module and lidar, wherein, first communication module be used for with the ground satellite station communication, second communication module be used for with the communication of other many rotor unmanned aerial vehicles, lidar is arranged in the barrier of perception environment, GPS orientation module is used for right many rotor unmanned aerial vehicle self is fixed a position.

In one embodiment of the utility model, four horn arms are included.

In one embodiment of the utility model, the lidar is a single-threaded lidar.

In one embodiment of the utility model, the rotor has a diameter of 200 mm.

In an embodiment of the utility model, the first communication module and the second communication module are symmetrically distributed on two sides of the laser radar.

In one embodiment of the utility model, the second surface comprises: the device comprises a holder, a distance measuring device and an infrared camera, wherein the distance measuring device and the infrared camera are positioned on the surface of one side, far away from the machine body, of the holder;

the cloud platform is used for adjusting the orientation of the distance measuring device and the infrared camera, the camera is used for imaging a target, and the distance measuring device is used for measuring the distance of the target.

In a second aspect, the present invention provides a multi-rotor drone formation target tracking system comprising: ground station and unmanned aerial vehicle formation, the unmanned aerial vehicle formation includes four many rotor unmanned aerial vehicles as described above in the first aspect.

In one embodiment of the utility model, in the formation of the unmanned aerial vehicles, the four multi-rotor unmanned aerial vehicles have the same height, the formation form is a square, and the four multi-rotor unmanned aerial vehicles are respectively positioned at the vertexes of the square.

In one embodiment of the utility model, the square has a side length of 200 meters.

Compared with the prior art, the utility model has the beneficial effects that:

the utility model provides a multi-rotor unmanned aerial vehicle and a target tracking system for formation of the multi-rotor unmanned aerial vehicle. Many rotor unmanned aerial vehicle formation target tracking system of constituteing by above-mentioned many rotor unmanned aerial vehicle fixes a position the target simultaneously through many rotor unmanned aerial vehicles, not only can obtain more accurate target position information, has also solved the blind area problem when single many rotor unmanned aerial vehicle carries out the target tracking. In addition, many the many rotor unmanned aerial vehicles that carry on laser radar can share environment perception information each other for the perception speed to the environmental situation, so alright react to the barrier more rapidly, improve the airspeed of unmanned aerial vehicle in the complex environment.

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic structural diagram of a multi-rotor drone provided by an embodiment of the present invention;

fig. 2 is another schematic structural diagram of a multi-rotor drone provided by an embodiment of the present invention;

fig. 3 is a schematic diagram of a formation of multi-rotor drones provided by an embodiment of the present invention;

FIG. 4 is a schematic illustration of object location provided by embodiments of the present invention;

fig. 5 is a schematic diagram of target tracking according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.

Fig. 1 is a schematic structural diagram of a multi-rotor drone provided by an embodiment of the present invention. The embodiment of the utility model provides a multi-rotor unmanned aerial vehicle 1, which comprises: a body 10;

the plurality of the horn 20 fixedly connected with the fuselage 10, the plurality of horns 20 are distributed symmetrically in pairs;

the plurality of arms 20 comprise first ends far away from the machine body 10, and the first ends of the plurality of arms 20 are provided with motors 30;

a plurality of rotary wings 40 fixedly connected to the motor 30, respectively;

in a direction perpendicular to the plane of the body 10, the body 10 includes a first surface and a second surface that are oppositely disposed; the first surface includes first communication module 101, second communication module 102, GPS orientation module 103 and lidar 104, wherein, first communication module 101 is used for with the ground station communication, second communication module 102 is used for with other many rotor unmanned aerial vehicle 1 communications, lidar 104 is arranged in the barrier of perception environment, GPS orientation module 103 is used for fixing a position many rotor unmanned aerial vehicle 1 self.

In this embodiment, many rotor unmanned aerial vehicle 1 includes: the robot comprises a body 10, a horn 20, a motor 30, a rotor 40, and a first communication module 101, a second communication module 102, a GPS positioning module 103 and a laser radar 104 which are mounted on the body 10. Specifically, the multi-rotor unmanned aerial vehicle 1 comprises a plurality of arms 20 fixedly connected with a fuselage 10, each arm 20 comprises a first end far away from the fuselage 10, the first end is provided with a motor 30, and a plurality of rotors 40 are respectively and fixedly connected with the motors 30; optionally, two bisymmetry distributions of a plurality of horn 20 of many rotor unmanned aerial vehicle 1 are around fuselage 10 to make a plurality of rotors 40 also can distribute around fuselage 10 with the mode of symmetry, can change the rotor 40 rotational speed through the rotational speed of adjusting each motor 30, realize the change of lift, thereby control many rotor unmanned aerial vehicle 1's gesture and position.

It should be understood that the plurality of rotors 40 are all in the same elevational plane, and that each rotor 40 is identical in configuration and diameter, illustratively, the rotors 40 are 200mm in diameter.

Optionally, on the first surface of multi-rotor drone 1, first communication module 101 and second communication module 102 are symmetrically distributed on both sides of lidar 104. The design mode enables the distance between the two communication modules to be larger, and is beneficial to avoiding unnecessary signal interference.

Of course, in other embodiments of the present invention, the first communication module 101 and the second communication module 102 may also be disposed at other positions on the first surface, which is not limited in this application.

Optionally, the body 10 includes a first surface and a second surface disposed opposite to each other in a direction perpendicular to a plane in which the body 10 is located; the first surface includes a first communication module 101, a second communication module 102, a GPS location module 103, and a lidar 104. Wherein, first communication module 101 is used for communicating with ground satellite station, and second communication module 102 is used for communicating with other many rotor unmanned aerial vehicle 1, and laser radar 104 can be single thread laser radar 104 for the barrier in the perception environment, and GPS orientation module 103 is used for fixing a position many rotor unmanned aerial vehicle 1 self. Since this embodiment utilizes first communication module 101 and second communication module 102 to communicate with ground station and other many rotor unmanned aerial vehicles 1 respectively, therefore solved the communication bandwidth problem among the prior art.

Optionally, multi-rotor drone 1 comprises four arms 20.

In this embodiment, above-mentioned many rotors 40 unmanned aerial vehicle 1 can be four rotor unmanned aerial vehicles, that is to say, many rotor unmanned aerial vehicle 1 can include four horn 20, as shown in fig. 1, four horn 20 symmetric distribution are in four directions in the front of fuselage 10, back, left and right, are "X" type.

Fig. 2 is another schematic structural diagram of a multi-rotor drone provided by an embodiment of the utility model. As shown in fig. 2, the second surface includes: the cradle head 50, and the distance measuring device 60 and the infrared camera 70 which are positioned on the surface of the cradle head 50 far away from the side of the machine body 10;

the holder 50 is used for adjusting the orientations of the distance measuring device 60 and the infrared camera 70, the camera is used for imaging the target, and the distance measuring device 60 is used for measuring the distance of the target.

Fig. 3 is a schematic diagram of a formation of multi-rotor drones provided by an embodiment of the present invention. Referring to fig. 1-3, an embodiment of the present invention further provides a target tracking system 2 for formation of multiple rotor drones, including: ground station and unmanned aerial vehicle formation, unmanned aerial vehicle formation includes four above-mentioned many rotor unmanned aerial vehicle 1.

In this embodiment, many rotor unmanned aerial vehicle formation target tracking system 2 includes: ground satellite station and unmanned aerial vehicle formation, unmanned aerial vehicle formation is by four many rotor unmanned aerial vehicle 1, and ground satellite station mainly is used for taking off of unmanned aerial vehicle formation, recalls and the real-time passback of unmanned aerial vehicle image, can include an industrial computer, a LCD and with the high broadband high rate communication module of four unmanned aerial vehicle communications.

Optionally, in the formation of the drones, the four multi-rotor drones (UAV1, UAV2, UAV3, and UAV4) have the same height and the formation is square, and the four multi-rotor drones are respectively located at the vertexes of the square. Illustratively, the square has a side length of 200 meters.

Exemplarily, the formation of multi-rotor unmanned aerial vehicles can be composed of four quad-rotor unmanned aerial vehicles, and the target tracking system 2 for formation of multi-rotor unmanned aerial vehicles tracks the ground moving target according to the following process:

firstly, 4 quadrotor unmanned aerial vehicles take off to the same height in sequence under the control of a ground station, and the relative distances of the quadrotor unmanned aerial vehicles are measured and calculated through mutual communication signal timestamps, so that a square formation as shown in fig. 3 is formed. At formation flight in-process, each unmanned aerial vehicle 1 keeps the communication each other, and the unmanned aerial vehicle formation keeps initial shape and fixed height all the time, and the laser radar 104 that each four rotors 40 unmanned aerial vehicle 1 carried on simultaneously judges the environmental conditions around unmanned aerial vehicle 1 in real time, prevents that unmanned aerial vehicle 1 from hitting the barrier.

Before a target is not found, the unmanned aerial vehicles form a team to carry out coverage type search on an unknown area according to a preset path, specifically, 4 sets of quad-rotor unmanned aerial vehicles can respectively search for target features by utilizing infrared cameras, when any unmanned aerial vehicle finds a suspicious target, the rest three unmanned aerial vehicles adjust the orientation of the infrared cameras and aim at the suspicious target, and at the moment, whether the target is a real target is judged through image comparison of the four unmanned aerial vehicles; if not, continuing to search the target; and if so, carrying out target positioning.

Fig. 4 is a schematic diagram of object location provided by the embodiment of the present invention. In this embodiment, the searched target needs to be located twice: the first positioning is unmanned aerial vehicle positioning, the precise positioning of formation is a premise of obtaining accurate target positions, specifically, each quadrotor unmanned aerial vehicle firstly obtains self position information through a carried GPS positioning module 103, the four quadrotor unmanned aerial vehicles always keep fixed formation, the distance information between the quadrotor unmanned aerial vehicles is known, and then the GPS differential positioning is adopted to further correct the position of each unmanned aerial vehicle; the second positioning is to position the target, as shown in fig. 4, the four unmanned aerial vehicles obtain the distance between themselves and the target through the laser ranging devices carried by themselves, and the position information of the target can be calculated by the 4 distance information and the position information of each unmanned aerial vehicle after the first positioning correction.

Fig. 5 is a schematic diagram of target tracking according to an embodiment of the present invention. Furthermore, four rotor unmanned aerial vehicles fix a position the back to the target, make the target be in the central point of formation and put, and then realize the pursuit to the target.

The beneficial effects of the utility model are that:

the utility model provides a multi-rotor unmanned aerial vehicle and a target tracking system for formation of the multi-rotor unmanned aerial vehicle, wherein each multi-rotor unmanned aerial vehicle is provided with two communication modules, namely a first communication module and a second communication module, the first communication module is used for communicating with a ground station, the second communication module is used for communicating with other multi-rotor unmanned aerial vehicles, and the target tracking system for formation of the multi-rotor unmanned aerial vehicle, which consists of the multi-rotor unmanned aerial vehicles, can simultaneously position a target through the multi-rotor unmanned aerial vehicles, so that more accurate target position information can be obtained, and the problem of blind areas when a single multi-rotor unmanned aerial vehicle carries out target tracking is solved. In addition, many the many rotor unmanned aerial vehicles that carry on laser radar can share environment perception information each other for the perception speed to the environmental situation, so alright react to the barrier more rapidly, improve the airspeed of unmanned aerial vehicle in the complex environment.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

The foregoing is a more detailed description of the utility model in connection with specific preferred embodiments and it is not intended that the utility model be limited to these specific details. For those skilled in the art to which the utility model pertains, several simple deductions or substitutions can be made without departing from the spirit of the utility model, and all shall be considered as belonging to the protection scope of the utility model.

Claims (9)

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

the plurality of machine arms are fixedly connected with the machine body, and are distributed in pairwise symmetry;

the machine arms comprise first ends far away from the machine body, and the first ends of the plurality of machine arms are provided with motors;

the rotor wings are fixedly connected with the motor respectively;

the plane of the body is perpendicular to the direction of the plane of the body, and the body comprises a first surface and a second surface which are oppositely arranged; the first surface includes first communication module, second communication module, GPS orientation module and lidar, wherein, first communication module be used for with the ground satellite station communication, second communication module be used for with the communication of other many rotor unmanned aerial vehicles, lidar is arranged in the barrier of perception environment, GPS orientation module is used for right many rotor unmanned aerial vehicle self is fixed a position.

2. A multi-rotor drone according to claim 1, comprising four arms.

3. A multi-rotor drone according to claim 2, wherein the lidar is a single-thread lidar.

4. A multi-rotor drone according to claim 3, wherein the rotors are 200mm in diameter.

5. The multi-rotor drone of claim 1, wherein the first and second communication modules are symmetrically distributed on both sides of the lidar.

6. A multi-rotor drone according to claim 1, wherein the second surface comprises: the device comprises a holder, a distance measuring device and an infrared camera, wherein the distance measuring device and the infrared camera are positioned on the surface of one side, far away from the machine body, of the holder;

the cloud platform is used for adjusting the orientation of the distance measuring device and the infrared camera, the camera is used for imaging a target, and the distance measuring device is used for measuring the distance of the target.

7. A many rotor unmanned aerial vehicle formation target tracking system which characterized in that includes: a ground station and a formation of drones comprising four multi-rotor drones according to any one of claims 1 to 6.

8. The system of claim 7, wherein the formation of drones has four drones with the same height and a square formation, and the four drones are located at the vertices of the square.

9. The system of claim 8, wherein the square has a side of 200 meters.

Images