CN216916313U

CN216916313U - Multi-rotor unmanned aerial vehicle capable of achieving all-dimensional detection

Info

Publication number: CN216916313U
Application number: CN202122585896.2U
Authority: CN
Inventors: 龚帮民; 艾剑良
Original assignee: Fudan University
Current assignee: Fudan University
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2022-07-08
Anticipated expiration: 2031-10-26

Abstract

The utility model discloses a multi-rotor unmanned aerial vehicle capable of omni-directionally detecting, which belongs to the field of unmanned aerial vehicles and comprises a vehicle body, and an omni-directionally detecting device and a power supply structure which are arranged on the vehicle body; the omnibearing detecting device comprises a motor fixed relative to the machine body, a connecting piece fixedly arranged on an output shaft of the motor, a circuit board fixedly arranged on the connecting piece, a controller, a wireless communication module and an ultrasonic probe, wherein the controller, the wireless communication module and the ultrasonic probe are arranged on the circuit board; the power supply structure comprises a positive slip ring and a negative slip ring which are fixedly arranged on the machine body, and a positive slide block and a negative slide block which are fixedly arranged on the connecting piece; the positive slip ring and the negative slip ring are respectively electrically connected with the positive pole and the negative pole of a power supply on the machine body through power distribution wires, and the positive slide block and the negative slide block are respectively electrically connected with the positive pole and the negative pole of the circuit board through power supply wires. The utility model has multidirectional detection capability and improves flight safety.

Description

Multi-rotor unmanned aerial vehicle capable of realizing all-dimensional detection

Technical Field

The utility model relates to the field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle capable of detecting in all directions.

Background

Helicopters with three or more rotors are known as multi-rotor drones or multi-axis drones. Where rotor means the powered propeller and shaft means the axis of rotation of the powered rotor. The collective pitch of the rotors in the multi-rotor unmanned aerial vehicle is fixed and is not variable like a common helicopter. Through the relative speed who changes between the different rotors when many rotor unmanned aerial vehicle fly to change the size of unipolar propulsive force, thereby control aircraft's orbit. Many rotor unmanned aerial vehicle has the nature controlled strong, but the characteristics of VTOL and hover, mainly is applicable to low latitude, low-speed, have the task type of VTOL and hover requirement. In the civil aspect, the rotor unmanned aerial vehicle can be used in the fields of exploration, camera shooting, engineering detection, emergency rescue, cargo transportation, traffic supervision and the like. For military use, rotor unmanned aerial vehicle can carry out fields such as battlefield reconnaissance, communication, carry the weapon, material delivery.

However, along with the increasingly diversified tasks undertaken by the multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle is required to be capable of avoiding obstacles such as electric wires, trees and buildings when the multi-rotor unmanned aerial vehicle flies in urban buildings and complex terrains at low altitudes, otherwise the multi-rotor unmanned aerial vehicle is easy to damage, ground personnel are injured by crashing, and other facilities are damaged.

In the aspect of obstacle detection, ultrasonic ranging is widely applied to multi-rotor unmanned aerial vehicles by means of low cost and high cost performance, the method is a method for calculating the distance of an obstacle by calculating the time difference from transmitting to receiving ultrasonic echoes and controlling the flight path of the unmanned aerial vehicle in time to avoid the obstacle. Ultrasonic ranging is lower than other range unit costs, and the quality is lighter, is convenient for install on small-size rotor unmanned aerial vehicle. But because ultrasonic detection exists the detection blind area, its working method surveys for fixing the direction transmission ultrasonic wave, is unfavorable for quick detection unmanned aerial vehicle barrier information all around on a large scale.

SUMMERY OF THE UTILITY MODEL

Aiming at the problem that safe flight is affected due to the fact that a detection blind area exists in an ultrasonic probe used for detecting obstacles on a multi-rotor unmanned aerial vehicle in the prior art, the utility model aims to provide the multi-rotor unmanned aerial vehicle capable of detecting in all directions.

In order to achieve the purpose, the technical scheme of the utility model is as follows:

a multi-rotor unmanned aerial vehicle capable of omnibearing detection comprises a body, a horn and a lift assembly, wherein an omnibearing detection device is installed on the body and comprises a motor base fixedly installed on the body, a motor fixedly installed on the motor base, a connecting piece fixedly installed on an output shaft of the motor, a circuit board fixedly installed on the connecting piece, a controller, a wireless communication module and an ultrasonic probe, wherein the controller is electrically connected with the wireless communication module and the ultrasonic probe;

the power supply structure comprises a positive slip ring and a negative slip ring which are fixedly arranged on the machine body, and a positive slide block and a negative slide block which are fixedly arranged on the connecting piece; the positive slip ring, the negative slip ring and an output shaft of the motor are coaxially arranged, and the positive slip ring and the negative slip ring are respectively and electrically connected with a positive pole and a negative pole of a power supply on the machine body through power distribution wires; the positive slide block and the negative slide block are respectively connected to the positive slide ring and the negative slide ring in a sliding manner, and the positive slide block and the negative slide block are respectively electrically connected with the positive electrode and the negative electrode of the circuit board through power supply leads.

Furthermore, the power supply structure further comprises two hollow guide pipes, one ends of the two guide pipes are fixed on the connecting piece, the positive slide block and the negative slide block are respectively detachably and fixedly connected to the other ends of the two guide pipes, and the power supply lead is arranged in the guide pipes in a penetrating mode.

Preferably, one end of the guide pipe is in threaded connection with the connecting piece, the other end of the guide pipe is in threaded connection with the positive slide block or the negative slide block, the rotating directions of threads on two ends of the guide pipe are opposite, and the specifications of the threads are the same.

Preferably, the connecting piece is provided with a shaft hole matched with the output shaft of the motor, and the connecting piece is detachably and fixedly connected with the output shaft of the motor through a key; and a positioning shaft shoulder is arranged on the output shaft of the motor positioned on one side below the connecting piece, and a locking nut is connected to the output shaft of the motor positioned on one side above the connecting piece in a threaded manner.

Preferably, shaft sleeves are arranged between the positioning shaft shoulder and the connecting piece and between the locking nut and the connecting piece.

Preferably, the top of the machine body is provided with a groove, the motor base is fixedly installed in the groove, the output shaft of the motor is arranged vertically, and the detection direction of the probe is horizontal.

Preferably, the ultrasonic probes are provided with two ultrasonic probes, and the two ultrasonic probes are symmetrically arranged on the upper side and the lower side of the circuit board.

By adopting the technical scheme, due to the arrangement of the omnibearing detection device, the motor can drive the connecting piece to rotate circumferentially when rotating, so that the ultrasonic probe arranged on the circuit board rotates circumferentially to detect without dead angles, detection data can be sent to the wireless communication module through the controller, and a detection result is sent out by the wireless communication module; and due to the arrangement of the power supply structure, the motor can drive the circuit board to rotate, and electric energy can be transmitted through the matching of the positive slip ring, the negative slip ring, the positive slide block and the negative slide block, so that the power utilization of the omnibearing detection device is guaranteed.

Drawings

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

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is an enlarged view of a portion of FIG. 1 at B;

fig. 4 is a schematic top view of the power supply structure of the present invention.

In the figure, 1-machine body, 2-machine arm, 3-lift motor, 4-propeller, 5-motor base, 6-motor, 7-connecting piece, 8-circuit board, 9-ultrasonic probe, 10-locknut, 11-shaft sleeve, 12-positive slide ring, 13-negative slide ring, 14-positive slide block, 15-negative slide block, 16-conduit and 17-fixed block.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

A multi-rotor drone with omni-directional detection, as shown in fig. 1-4, comprises a fuselage 1, a plurality of booms 2 and a lift assembly, the booms 2 are usually provided with a plurality of blades and fixedly connected to the circumferential side wall of the fuselage 1, a lift assembly is usually arranged at the tip of each boom 2, and the lift assembly usually comprises a lift motor 3 and a propeller 4 mounted on the lift motor 3. In addition, install all-round detection device on the fuselage 1, this all-round detection device is used for surveying whether there is the barrier in 360 directions all around of unmanned aerial vehicle.

In this embodiment, the omnidirectional detection device specifically includes a motor base 5, a motor 6, a connecting member 7, a circuit board 8, a controller, a wireless communication module, and an ultrasonic probe 9.

Wherein, set up flutedly at the top of fuselage 1, foretell motor cabinet 5 is with interference fit or welded mode fixed mounting in this recess, and motor 6 then can dismantle fixed mounting on motor cabinet 5 through bolt or screw to motor 6's output shaft is vertical form and arranges, and the top of this output shaft stretches out outside the top of fuselage 1. The connecting piece 7 is provided with a shaft hole matched with the output shaft of the motor 6, and the connecting piece 7 is detachably fixed on the output shaft of the motor 6 through a key. In order to prevent the coupling 7 from moving in the axial direction, a positioning shoulder is provided on the output shaft of the motor 6 located on the lower side of the coupling 7, and a lock nut 10 is screwed to the output shaft of the motor 6 located on the upper side of the coupling 7. Meanwhile, in order to protect the connecting piece 7 and the output shaft of the motor 6, shaft sleeves 11 are arranged between the positioning shaft shoulder and the connecting piece 7 and between the locking nut 10 and the connecting piece 7.

The circuit board 8 is fixedly mounted on the connecting piece 7 through screws, the circuit board 8 is arranged vertically, the controller, the wireless communication module and the ultrasonic probe 9 are fixedly mounted on the circuit board 8, and the controller is electrically connected with the wireless communication module and the ultrasonic probe 9 simultaneously. Wherein, ultrasonic transducer 9's detection direction is the level form to 360 no dead angles of being convenient for are surveyed, and the information data that ultrasonic transducer 9 detected sends wireless communication module through the controller, is gone out information data transmission by wireless communication module, the flight control system who carries on in fuselage 1 for example, thereby helps unmanned aerial vehicle to avoid the barrier. Wherein, wireless communication module configuration can all be as bluetooth module, WI FI module or GPRS module. In order to improve the detection effect, two ultrasonic probes 9 are arranged, and the two ultrasonic probes 9 are symmetrically arranged on the upper side and the lower side of the circuit board 8.

In this embodiment, this many rotor unmanned aerial vehicle still includes the power supply structure that is used for circuit board 8 power supplies, and this power supply structure is arranged in carrying the power of the battery in fuselage 1 and transports circuit board 8 to in the power module work of installing on circuit board 8.

Specifically, the power supply structure includes a positive electrode slip ring 12, a negative electrode slip ring 13, a positive electrode slider 14, and a negative electrode slider 15, which are made of a conductive material. Wherein positive slip ring 12 and negative slip ring 13 are all fixed mounting at the top of fuselage 1 to the output shaft coaxial arrangement of positive slip ring 12, negative slip ring 13 and motor 6, positive slip ring 12 and negative slip ring 13 are respectively through distribution wire and the anodal and the negative pole electric connection of the power on the fuselage 1. The positive slide block 14 and the negative slide block 15 are respectively connected to the positive slide ring 12 and the negative slide ring 13 in a sliding manner, the positive slide block 12 and the negative slide block 13 are fixed relative to the connecting piece 7 through an electric insulation structure, and meanwhile, the positive slide block 12 and the negative slide block 13 are respectively electrically connected with the positive electrode and the negative electrode of the circuit board 8 through power supply wires.

The above-mentioned electrical insulation structure is configured as two hollow conduits 16, the upper ends of the two conduits 16 are both fixed on the connecting member 7, for example, two fixing blocks 17 are welded on the side wall of the connecting member 7, and the upper ends of the two conduits 16 are respectively connected to the two fixing blocks 17. The positive slide block 14 and the negative slide block 15 are respectively detachably and fixedly connected to the lower ends of the two guide tubes 16, and the power supply lead is arranged in the guide tubes 16 in a penetrating manner. For example, the upper end of the guide pipe 16 is screwed to the fixed block 17, the lower end is screwed to the positive electrode slider 14 or the negative electrode slider 15, and the screw directions of the screws disposed at both ends of the guide pipe 16 are opposite to each other and have the same specification. The arrangement is such that screwing the guide tube 16 can simultaneously effect the connection or disconnection of the connecting piece 7 and the positive slide 14 (or the negative slide 15). In addition, a threading hole is formed in the fixing block 17 so that the power supply lead can penetrate out of the threading hole in the fixing block 17 at the upper end when the power supply lead penetrates through the guide pipe 16.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, and the scope of protection is still within the scope of the utility model.

Claims

1. The utility model provides a but many rotor unmanned aerial vehicle of all-round detection, includes fuselage, horn and lift subassembly, its characterized in that: the all-directional detection device comprises a motor base fixedly mounted on the machine body, a motor fixedly mounted on the motor base, a connecting piece fixedly mounted on an output shaft of the motor, a circuit board fixedly mounted on the connecting piece, a controller, a wireless communication module and an ultrasonic probe, wherein the controller is electrically connected with the wireless communication module and the ultrasonic probe;

the power supply structure comprises a positive electrode sliding ring and a negative electrode sliding ring which are fixedly arranged on the machine body, and a positive electrode sliding block and a negative electrode sliding block which are fixedly arranged on the connecting piece; the positive slip ring, the negative slip ring and an output shaft of the motor are coaxially arranged, and the positive slip ring and the negative slip ring are respectively and electrically connected with a positive pole and a negative pole of a power supply on the machine body through power distribution wires; the positive slide block and the negative slide block are respectively connected to the positive slide ring and the negative slide ring in a sliding manner, and the positive slide block and the negative slide block are respectively electrically connected with the positive electrode and the negative electrode of the circuit board through power supply leads.

2. A multi-rotor drone with omni-directional detection according to claim 1, characterized in that: the power supply structure further comprises two hollow guide pipes, one ends of the two guide pipes are fixed on the connecting piece, the positive pole sliding block and the negative pole sliding block are respectively detachably and fixedly connected to the other ends of the two guide pipes, and the power supply guide wires penetrate through the guide pipes.

3. A multi-rotor drone with omni-directional detection according to claim 2, characterized in that: one end of the guide pipe is in threaded connection with the connecting piece, the other end of the guide pipe is in threaded connection with the positive slide block or the negative slide block, the rotating directions of threads on two ends of the guide pipe are opposite, and the specifications of the threads are the same.

4. A multi-rotor drone with omni-directional detection according to claim 1, characterized in that: the connecting piece is provided with a shaft hole matched with the output shaft of the motor, and the connecting piece is detachably and fixedly connected with the output shaft of the motor through a key; and a positioning shaft shoulder is arranged on the output shaft of the motor positioned on one side below the connecting piece, and a locking nut is connected to the output shaft of the motor positioned on one side above the connecting piece in a threaded manner.

5. The omni-directionally detectable multi-rotor drone of claim 4, wherein: and shaft sleeves are arranged between the positioning shaft shoulder and the connecting piece and between the locking nut and the connecting piece.

6. The omni-directionally detectable multi-rotor drone of claim 1, wherein: the top of the machine body is provided with a groove, the motor base is fixedly installed in the groove, the output shaft of the motor is arranged vertically, and the detection direction of the probe is horizontal.

7. The omni-directionally detectable multi-rotor drone of claim 6, wherein: the ultrasonic probes are provided with two ultrasonic probes which are symmetrically arranged on the upper side and the lower side of the circuit board.