CN219320687U - Unmanned aerial vehicle autonomous flight platform under outdoor complex environment - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle autonomous flight platform in an outdoor complex environment, which comprises an unmanned aerial vehicle, an onboard computer, a GPS (global positioning system), a 3D laser radar module, a visual sensor module, a line management module, a power supply module, a battery portable dismounting device and a protection and shock absorption system, wherein the onboard computer is arranged above the unmanned aerial vehicle, the GPS is arranged above the onboard computer, the 3D laser radar module and the visual sensor module are arranged below the unmanned aerial vehicle, the visual sensor module is arranged above the 3D laser radar, the line management module is connected with the onboard computer, the 3D laser radar module and the power supply module, the power supply module is arranged in the battery portable dismounting device, and the protection and shock absorption device is connected with the onboard computer and the unmanned aerial vehicle.

Description

Unmanned aerial vehicle autonomous flight platform under outdoor complex environment

Technical Field

The application relates to the technical field of unmanned aerial vehicle flight platform overall structures, in particular to an unmanned aerial vehicle autonomous flight platform under an outdoor complex environment.

Background

The traditional unmanned aerial vehicle is an unmanned aerial vehicle through radio remote control equipment, along with the wide research and application of intelligent systems such as unmanned aerial vehicles, the mode of carrying on-board computer program control systems on unmanned aerial vehicle platforms to perform autonomous control appears, the unmanned aerial vehicle not only can complete tasks executed by piloted aerial vehicles, but also is more suitable for tasks with higher dangers such as incapability of being executed by piloted aerial vehicles, particularly plays an important role in the situation that autonomous surveying, rescue, inspection and other human beings cannot be completed safely and efficiently in various complex environments, has great roles in emergency and early warning, and therefore, higher expectations and requirements are provided for flight safety coefficients of multi-rotor unmanned aerial vehicles in various outdoor complex environments. Safety is a precondition that intelligent systems such as unmanned aerial vehicles can be widely applied, and effective implementation of protective measures such as stability of flight attitude, configuration of each functional component and a power supply, shock absorption and the like of the unmanned aerial vehicle is still a very challenging research problem in the real-time flight process.

The autonomous navigation flight of the unmanned aerial vehicle in the complex environment takes the unmanned aerial vehicle as an air platform, and takes monocular/binocular vision, 3D laser radar, an event camera, an IMU, a GPS and other sensors as a sensing system, so as to acquire static and dynamic obstacle and high-speed moving obstacle information, construct a local/global map, transmit 3D point cloud data and vision data to an onboard computer for processing, predict the track of the static and dynamic obstacle, generate an autonomous flight track and finish the effective obstacle avoidance of the unmanned aerial vehicle. The system is mainly characterized in that on the basis of the functions of the common unmanned aerial vehicle, each line arrangement management module is added according to the interface types of the power supply transmission line and the data communication line of each functional module; through the improvement of a power supply device of the unmanned aerial vehicle platform, the disassembly convenience of various functional modules such as a battery, a 3D laser radar, an onboard computer and the like is greatly improved; meanwhile, protection or shock absorption of an onboard computer, a battery and a radar is improved, and the safety of the unmanned aerial vehicle in effective flight in various weather, terrains and other complex environments is enhanced. At present, unmanned aerial vehicles with various purposes on the market are poor in safety performance, and after acceleration increase or collision occurs, the serious problems of difficult rotation of blades, processing failure of an onboard computer, drifting of laser radar building and the like are caused, so that the unmanned aerial vehicle cannot continue to effectively fly and even fall, economic loss is brought, and therefore structural improvement on each functional module of the unmanned aerial vehicle is urgent.

Disclosure of Invention

Aiming at the defects of the prior art, the embodiment of the application aims to provide an unmanned aerial vehicle autonomous flight platform in an outdoor complex environment.

According to a first aspect of the embodiment of the application, an unmanned aerial vehicle autonomous flight platform under outdoor complex environment is provided, which comprises an unmanned aerial vehicle, an onboard computer, a GPS (global positioning system), a 3D laser radar module, a visual sensor module, a line arrangement management module, a power supply module, a battery portable dismounting device and a protection and shock absorption system, wherein the onboard computer is installed above the unmanned aerial vehicle, the GPS is installed above the onboard computer, the 3D laser radar module and the visual sensor module are arranged below the unmanned aerial vehicle, the visual sensor module is arranged above the 3D laser radar, the line arrangement management module is connected with the onboard computer, the 3D laser radar module and the power supply module, the power supply module is arranged in the battery portable dismounting device, and the protection and shock absorption system is connected with the onboard computer and the unmanned aerial vehicle.

Further, the protection damping system comprises a shutter type protection device and a damping device, wherein the shutter type protection device is arranged right above the unmanned aerial vehicle and located at the physical gravity center of the unmanned aerial vehicle, and the damping device is arranged between the shutter type protection device and the unmanned aerial vehicle.

Further, the onboard computer is fixed in the shutter type protection device, and an elastomer is arranged at the joint of the damping device and the shutter type protection device.

Further, portable dismounting device of battery includes power pack, Y type spout, spring buckle structure and guide arm, the power pack is the box of detachable alone for place power module, Y type spout is used for fixed guide arm's direction of motion, spring buckle structure can be realized to the effective push out of power pack, the guide arm is moved to the spout under the exogenic action and is realized fixing the power pack after innermost.

Further, the 3D laser radar module is installed below the unmanned aerial vehicle by adopting a surrounding type fixing structure with four cylinders and a bottom bracket fixed.

Further, the GPS is installed above the protection damping system through a GPS installation seat.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

as can be seen from the above embodiments, the present application relates to an unmanned aerial vehicle, an event camera, an on-board computer, a line management module, a portable power supply disassembly design device, a protection and shock absorption system, a laser radar shielding prevention device, and the like. In order to improve the flight reliability and safety of the unmanned aerial vehicle on the basis of basic functions in various fields, the problem that an exposed circuit board of an onboard computer cannot effectively work in various weather, terrains and other complex environments is considered, and a novel leaf window type protection structure is added; considering the importance of a power supply to whether the unmanned aerial vehicle or even each functional module normally operates, a shock absorption device based on an airborne computer, the power supply and a 3D laser radar is added; considering the problem that the power lines and the communication lines of all the functional modules are disordered and complicated once the number of the functional modules carried on the unmanned aerial vehicle platform is increased, a wire arrangement management module device based on various interface types of all the functional modules is added; the reasonable module installation position is introduced in consideration of whether the unmanned aerial vehicle can safely and stably fly after carrying various functional modules and greatly accords with the dynamic constraint condition of the unmanned aerial vehicle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram illustrating a unmanned aerial vehicle platform autonomously flying in an outdoor complex environment according to an exemplary embodiment.

FIG. 2 is a block diagram illustrating a routing management module according to an exemplary embodiment.

Fig. 3 is a schematic structural view of a protective shock absorbing system according to an exemplary embodiment.

Fig. 4 is a schematic structural view of a battery portable dismounting device according to an exemplary embodiment.

Reference numerals:

1. unmanned plane; 2. an onboard computer; 3. a GPS; 31. a GPS mounting seat; 4. a 3D lidar module; 41. a surrounding type fixing structure; 5. a vision sensor module; 6. a battery portable dismounting device; 61. a spring buckle structure; 62. a power supply box; 63. y-shaped sliding grooves; 64. a guide rod; 7. a protective damping system; 71. a shutter guard; 72. and a damping device.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle autonomous flight platform under an outdoor complex environment, and as shown in fig. 1, the unmanned aerial vehicle autonomous flight platform may include an unmanned aerial vehicle 1, an onboard computer 2, a GPS3, a 3D laser radar module 4, a vision sensor module 5, a line management module, a power supply module, a battery portable dismounting device 6 and a protection and shock absorption system 7, the onboard computer 2 is installed above the unmanned aerial vehicle 1, the GPS3 is installed above the onboard computer 2, the 3D laser radar module 4 and the vision sensor module 5 are disposed below the unmanned aerial vehicle platform, and an event camera is disposed above the 3D laser radar module 4, the line management module is connected with the onboard computer 2, the laser radar, the power supply module, the battery portable dismounting device is connected with the power supply module, the laser radar power supply system, the protection and shock absorption system 72 is connected with the power supply system and the computer 2.

As can be seen from the above embodiments, the present application relates to an unmanned aerial vehicle 1, an event camera, an onboard computer 2, a line management module, a portable power supply disassembly design device, a protection and shock absorption system 72, a lidar shielding device, and the like. In order to improve the flight reliability and safety of the unmanned aerial vehicle 1 on the basis of basic functions in various fields, the problem that an exposed circuit board of an onboard computer 2 cannot effectively work in various weather, terrains and other complex environments is considered, and a novel leaf window type protection structure is added; considering the importance of a power supply to whether the unmanned aerial vehicle 1 and even each functional module normally operate, a shock absorption device 72 based on an onboard computer 2, the power supply and a 3D laser radar is added; considering the problem that the power lines and the communication lines of all the functional modules are disordered and complicated once the number of the functional modules carried on the unmanned aerial vehicle platform is increased, a wire arrangement management module device based on various interface types of all the functional modules is added; considering whether the unmanned aerial vehicle 1 can safely and stably fly after carrying various functional modules and greatly conforming to the dynamic constraint condition of the unmanned aerial vehicle 1, a reasonable module installation position is introduced.

Specifically, the maximum load of the unmanned aerial vehicle 1 is required to be greater than the sum of the weights of the rest modules on the autonomous flight platform of the unmanned aerial vehicle.

Specifically, the onboard computer 2 receives and processes the 3D point cloud data scanned by the 3D laser radar module 4 and the visual data acquired by the visual sensor, predicts the track of the static and dynamic obstacle, generates an autonomous flight track, and completes the effective obstacle avoidance of the unmanned aerial vehicle 1.

Specifically, the 3D lidar module 4 is installed in a surrounding structure in which four cylinders and a shoe are fixed. In the implementation, the annular laser radar shielding-preventing structure can effectively shield the rear radar view angle of the unmanned aerial vehicle 1. The utility model improves the traditional mode of adopting four-column fixing, and uses surrounding type in the rear area of the laser radar. On one hand, the surrounding structure can effectively fix the laser radar and prevent the Z-axis map from drifting. On the other hand, the surrounding structure enables the laser radar to pay more attention to obstacle information in front of flight, and adverse effects of four upright post fixing modes on the perception and identification of the laser radar on complex environments are reduced.

In a specific implementation, the present utility model places the lidar below the drone 1, rather than the conventional lidar above the drone 1, for both reasons. Firstly, the weight of the laser radar is far greater than that of an onboard computer 2, and the laser radar is arranged below the unmanned aerial vehicle 1, so that the whole gravity center can be arranged below the unmanned aerial vehicle 1, and the safety and stability of the unmanned aerial vehicle 1 in the flight process are improved; second, the unmanned aerial vehicle 1 is in flight, and its obstacle is mainly concentrated in the below of unmanned aerial vehicle 1. The unmanned aerial vehicle 1 is installed in the below and can carry out composition recognition and obstacle avoidance on most static or slow-moving speed obstacles in the flight process, and the accuracy of the laser radar is about 1%, but the refresh rate of the laser radar is only 30/60Hz, and the high-speed obstacles in the flight process cannot be recognized and effectively acted. Therefore, the visual sensor module 5 based on the event camera is arranged right in front of the unmanned aerial vehicle 1 and on the upper part of the laser radar, the refresh rate of the event camera can reach 300Hz, the defect of the laser radar in refresh rate can be overcome, and the complementation of multiple sensors is realized.

Specifically, the line management module can establish the shortest transmission distance of each interface in the limited space according to the interface type of each functional module, so that the rapid information processing of the whole unmanned aerial vehicle 1 system is ensured, and the reliability of the flight action of the unmanned aerial vehicle 1 is greatly improved.

Specifically, the GPS3 is mounted above the protection and shock absorption system 7 through a GPS mount 31 to perform positioning of the unmanned aerial vehicle 1. As shown in fig. 2, the unmanned aerial vehicle 1 may further be provided with an IMU, and the IMU is also connected with the line management module, so as to perform positioning and mapping.

Specifically, as shown in fig. 3, the protection and shock absorption system 7 includes a shutter type protection device 71 and a shock absorption device 72, the shutter type protection device 71 is disposed around the airborne computer 2, and is integrally disposed directly above the unmanned aerial vehicle 1 and located at the physical center of gravity thereof, the shock absorption device 72 is disposed between the shutter type protection device 71 and the unmanned aerial vehicle 1, the airborne computer 2 is fixed in the shutter type protection device 71, an elastomer (may be an elastic rubber ring, a spring, etc.) is disposed at the connection position of the shock absorption device 72 and the shutter type protection device 71, the operation stability of the unmanned aerial vehicle 1 platform, particularly the airborne computer 2, under a complex environment can be guaranteed to the maximum extent, the safety connectivity of each electrical element in the airborne computer 2 can be effectively protected through the shock absorption device 72, the perception of the 3D laser radar to the surrounding environment is improved, an effective point cloud map is constructed, and the power supply is reliably connected, thereby greatly improving the safety stability of the unmanned aerial vehicle 1 in flight.

Specifically, as shown in fig. 4, the portable battery disassembling device 6 includes a power box 62, a Y-shaped chute 63, a spring fastening structure 61 and a guide rod 64, where the power box 62 is a box that can be disassembled and assembled separately, and is used for placing a power supply module, the Y-shaped chute 63 is used for fixing the movement direction of the guide rod 64, the spring fastening structure 61 can effectively push out the power box 62, and the guide rod 64 moves to the innermost part of the chute under the action of an external force to fix the power box 62. The portable battery dismounting device 6 integrally adopts a push-pull type structure to carry out portable dismounting on the power supply module (namely a power supply), as shown in fig. 4, the guide rod 64 moves unidirectionally along the Y-shaped chute 63, when the inside of the Y-shaped chute 63 is hung, the battery box is in a state of being inserted in place, and then the guide rod 64 is forced to slide to a linear slideway according to the inclined plane in the Y-shaped chute once, so that the battery box is withdrawn from the clamping groove. The push-pull type device not only improves the quick assembly and disassembly of the power supply, but also greatly improves the assembly and disassembly of each functional module. This push-pull type structure can pop out the power after pressing fast, has solved the mode of screw fixation in the tradition, has greatly improved the effective convenient utilization of power.

The working process of the unmanned aerial vehicle 1 autonomous flight platform under the outdoor complex environment provided by the embodiment of the application is as follows:

unmanned aerial vehicle 1 flight platform under this structure can realize the normal operating of necessary devices such as 3D laser radar module 4, vision sensor module 5, airborne computer 2 under power module, 360 degrees surrounding environment and the image information that vision sensor module 5 gathered of scanning through 3D laser radar module 4, through the receipt and the processing of airborne computer 2, issue unmanned aerial vehicle 1 control system through the instruction to realize unmanned aerial vehicle 1's autonomous flight. The protection and shock absorption system 7 of the onboard computer 2 can enhance the safety of the unmanned aerial vehicle 1 in effective flight in various weather, terrain and other complex environments; the surrounding type fixed structure 41 can reduce the influence on the laser radar operation and the error of data; the portable dismounting device 6 of battery can pop up power module after pressing fast, has solved the mode of screw fixation in the tradition, has greatly improved the effective convenient utilization of power. Above can guarantee unmanned aerial vehicle 1 function normal down, improve unmanned aerial vehicle 1 security, suitability and accuracy under the autonomous flight.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof.

Claims (6)

1. Unmanned aerial vehicle autonomous flight platform under outdoor complex environment, its characterized in that includes unmanned aerial vehicle, airborne computer, GPS, 3D laser radar module, vision sensor module, row's line management module, power module, portable dismounting device of battery and protection shock mitigation system, airborne computer installs the unmanned aerial vehicle top, GPS installs airborne computer top, 3D laser radar module with vision sensor module arranges unmanned aerial vehicle below and vision sensor module in 3D laser radar top in, row's line management module with airborne computer 3D laser radar module power module is connected, power module sets up in the portable dismounting device of battery, protection shock mitigation system with airborne computer, unmanned aerial vehicle are connected.

2. The unmanned aerial vehicle autonomous flight platform of claim 1, wherein the protective shock absorbing system comprises a shutter type protective device and a shock absorbing device, the shutter type protective device is arranged right above the unmanned aerial vehicle and is located at the physical center of gravity thereof, and the shock absorbing device is arranged between the shutter type protective device and the unmanned aerial vehicle.

3. The unmanned aerial vehicle autonomous flight platform of claim 2, wherein the onboard computer is fixed in the shutter type protection device, and an elastomer is arranged at the joint of the shock absorbing device and the shutter type protection device.

4. The unmanned aerial vehicle autonomous flight platform according to claim 1, wherein the battery portable dismounting device comprises a power supply box, a Y-shaped chute, a spring buckle structure and a guide rod, wherein the power supply box is a box which can be dismounted independently and used for placing a power supply module, the Y-shaped chute is used for fixing the movement direction of the guide rod, the spring buckle structure can effectively push out the power supply box, and the guide rod moves to the innermost part of the chute under the action of external force to fix the power supply box.

5. The unmanned aerial vehicle autonomous flight platform of claim 1, wherein the 3D lidar module is mounted below the unmanned aerial vehicle using a surrounding fixed structure with four cylinders fixed to the shoe.

6. The unmanned aerial vehicle autonomous flight platform of claim 1, wherein the GPS is mounted above the protective shock absorbing system by a GPS mount.

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