CN221820270U - Indoor topography reconnaissance unmanned aerial vehicle - Google Patents

Abstract

An indoor terrain reconnaissance drone comprises a wing holder and a drone body, wherein the wing holder is fixedly connected above the drone body, four fixed wings are symmetrically mounted on the wing holder, one end of the four fixed wings are fixedly connected to the side of the wing holder and parallel to the ground, the other ends of the four fixed wings are fixedly connected to a motor protection shell, a cross fixing frame is arranged at the lower end of the motor protection shell, a motor is mounted in the motor protection shell and the motor is connected to the cross fixing frame, an output end of the motor passes through the center of the cross fixing frame and is rotatably connected to the cross fixing frame, one end of the output shaft of the motor is fixedly connected to a rotor, a laser radar and an imaging camera are mounted below the four fixed wings, a stabilizer is arranged in front of the drone body, a camera assembly is mounted on the stabilizer, and the indoor terrain can be quickly scanned and a 3D image can be formed by the camera and the laser radar.

Description

An indoor terrain reconnaissance drone

Technical Field

The present application relates to the field of UAVs, and in particular to an indoor terrain reconnaissance UAV.

Background Art

A drone is an aircraft that can complete flight missions autonomously without a pilot. It is widely used in civil, military, scientific and other fields. Drones have the characteristics of small size, low cost and flexible flight. Therefore, they are often used to assist personnel to reach dangerous places for surveys.

At present, the detection of indoor terrain is generally carried out by ground mechanical equipment such as terrain detection vehicles, mechanical dogs and detection remote control vehicles. Ground detection equipment is generally equipped with cameras, which use the camera to image and transmit it to the outside personnel to check the indoor situation, but the detection range is small and limited. If in real situations, such as detecting dangerous situations in the interior space of a house in a fire or earthquake, the ground equipment cannot quickly and completely detect all the situations in the interior space.

Therefore, there is an urgent need for a drone device that can quickly detect indoor terrain conditions.

Utility Model Content

In view of the shortcomings of the existing technology, the purpose of this application is to provide an indoor terrain reconnaissance drone, which uses the camera and lidar installed on the drone to scan the room, quickly detect the indoor terrain conditions, and form a 3D image to send to the operator.

The above technical problems solved by the present application are achieved through the following technical solutions:

An indoor terrain reconnaissance drone comprises a wing holder and a drone body, wherein the wing holder is fixedly connected above the drone body, four fixed wings are symmetrically mounted on the wing holder, one end of the four fixed wings is fixedly connected to the side of the wing holder and is parallel to the ground, the other ends of the four fixed wings are fixedly connected to a motor protection shell, a cross fixing frame is arranged at the lower end of the motor protection shell, a motor is mounted in the motor protection shell and the motor is connected to the cross fixing frame, a through hole is provided on the cross fixing frame for the output shaft of the power supply machine to pass through, and the output end of the motor passes through the through hole and is rotatably connected to the cross fixing frame, the output shaft end of the motor is fixedly connected to the rotor, a laser radar and an imaging camera are mounted below the four fixed wings, and a stabilizer is arranged in front of the drone body, and a camera assembly is mounted on the stabilizer.

By adopting the above technical solution, the camera assembly on the front of the drone body can shoot the indoor terrain in front and below, and the camera installed under the fixed wing can shoot the indoor terrain on the side and rear of the drone. It can quickly and completely detect the indoor situation, and cooperate with the terrain scanned and detected by the laser radar installed under the fixed wing to form a 3D image. At the same time, the motor protection shell arranged on the outside of the motor can well protect the motor and rotor to avoid damage caused by falling objects from above.

A further optimization scheme is that the laser radar is installed in an outwardly inclined direction.

By adopting the above technical solution, the installation direction of the laser radar is tilted outward, which can scan the terrain conditions in the room over a larger range and reduce the scanning time.

A further optimization scheme, the stabilizer includes a transverse rotating frame installed at the lower front part of the drone body, the rotating frame is rotatably connected to the drone body, the side wall of the rotating frame is fixedly connected to one end of the connecting frame, and the other end of the connecting frame is connected to the longitudinal rotating frame.

A further optimization scheme, the camera assembly includes a camera protection shell, the camera protection shell is rotatably connected to the longitudinal rotating frame, a main camera is installed on the camera protection shell, and a wide-angle camera is installed on the camera protection shell below the main camera.

By adopting the above technical solution, the horizontal rotating frame and the vertical rotating frame can drive the camera to rotate to all angles except upward and backward, thereby increasing the rotation angle of the camera and, in conjunction with a wide-angle camera, further increasing the scanning range of the camera.

According to a further optimization scheme, infrared transmitters are installed on both the left and right sides of the front of the drone body.

According to a further optimization scheme, an antenna is installed on the wing fixer.

By adopting the above technical solution, two infrared transmitters installed on the front of the drone body can detect obstacles in front and on the sides of the drone in real time. When the drone approaches the obstacle at this speed, the control center will calculate the distance from the drone to the target obstacle and transmit it to the drone through the antenna so that it can take evasive action to protect the drone from harm.

According to a further optimization scheme, a landing gear is installed under the drone body.

According to a further optimization solution, the landing gear is made of alloy material.

By adopting the above technical solution, a landing gear is installed under the main body of the drone to prevent the drone from causing damage to the drone itself when landing, and the landing gear is made of a lightweight alloy material, such as aluminum alloy, which can reduce the weight of the drone.

In summary, the beneficial technical effects of this application are:

The camera and lidar installed on the drone can scan the indoor terrain over a large area and form a 3D image, allowing the operator to clearly understand the indoor situation.

2. The motor protection shell installed outside the motor can well protect the motor and rotor from damage caused by falling objects from above.

3. The installation direction of the mechanism radar is tilted outward, which can scan the terrain conditions indoors over a larger range.

4. The horizontal rotating frame and the vertical rotating frame can drive the camera installed on the front of the drone body to rotate to all angles except the top and the back, further increasing the camera's shooting angle.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a top view of an indoor terrain reconnaissance drone;

FIG2 is a bottom view of an indoor terrain reconnaissance drone;

FIG3 is a schematic diagram of the front camera assembly of an indoor terrain reconnaissance drone;

Figure numerals: 1. wing fixer; 2. drone body; 3. camera assembly; 4. infrared transmitter; 5. antenna; 6. landing gear; 11. fixed wing; 12. motor protective shell; 13. cross fixing frame; 14. motor; 15. rotor; 16. laser radar; 17. imaging camera; 21. horizontal rotating frame; 22. connecting frame; 23. longitudinal rotating frame; 31. camera protective shell; 32. main camera; 33. wide-angle camera.

DETAILED DESCRIPTION

The present application is further described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and 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 therefore cannot be understood as a limitation on the application.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

Embodiment, referring to Fig. 1 and Fig. 2, an indoor terrain reconnaissance UAV comprises a wing holder 1 and a UAV body 2, the wing holder 1 is fixedly connected above the UAV body 2, four fixed wings 11 are symmetrically mounted on the wing holder 1, and then one end of the four fixed wings 11 is fixedly connected to the side of the wing holder 1 and parallel to the ground, and a motor protection shell 12 is fixedly connected to the other end of each of the four fixed wings 11, the lower part of the motor protection shell 12 is in an open state, a cross fixing frame 13 is provided at the lower end of the motor protection shell 12, the motor protection shell 12 is sleeved on the motor 14 and the motor 14 is fixedly connected to the cross fixing frame 13, the output shaft of the motor 14 passes through the center of the cross fixing frame 13, and is rotatably connected to the cross fixing frame Then, the end of the output shaft of the motor 14 is fixedly connected to the rotor 15, wherein the bottom of the protective shell 12 of the motor 14 is an opening, which can allow the heat of the motor 14 to dissipate during operation, thereby preventing the high temperature of the motor 14 from affecting the service life of the motor 14. A laser radar 16 and an imaging camera 17 are installed under the four fixed wings 11, wherein the installation direction of the laser radar 16 installed under the fixed wing 11 is inclined toward the outside of the drone, so as to scan the indoor terrain in a larger range. A stabilizer is installed in front of the drone body 2, and a camera assembly is installed on the stabilizer. The front camera is used to observe the indoor terrain above and behind the drone, and the imaging cameras 17 on the four fixed wings 11 are used to observe the indoor terrain on both sides and behind the drone.

The camera assembly 3 includes a camera protection shell 31, a main camera 32 and a wide-angle camera 33. The two ends of the camera protection shell 31 are rotatably connected to the longitudinal fixing frame. The main camera 32 is installed on the camera protection shell 31, and a wide-angle camera 33 is installed on the camera protection shell 31 below the main camera 32. The main camera 32 is a 32-megapixel high-definition camera that can be magnified 10 times.

Infrared transmitters are installed on the left and right sides of the front end of the drone body 2 and above the stabilizer to detect the distance between the drone and obstacles in front of and on both sides of the drone, and send them to the control center through the antenna 5. When the drone approaches the obstacle at the current speed, the control center calculates the distance from the drone to the target obstacle and the avoidance method to protect the drone from damage.

Referring to Figure 3, in order to further increase the scanning range, a transverse rotating frame 21 is installed at the lower part of the front end of the drone body 2. The transverse rotating frame 21 is rotatably connected to the drone body 2, and is fixedly connected to one end of a connecting frame 22 on the side wall of the transverse rotating frame 21. The other end of the connecting frame 22 is connected to the longitudinal rotating frame 23.

Among them, the horizontal rotating frame 21 is the motor 14, the output end of the motor 14 is connected to the drone body 2, a motor 14 is installed on each side of the camera protective shell 31, and the output ends of the two motors 14 extend outward through the camera protective shell 12 and are rotatably connected to the longitudinal rotating frame 23.

A landing gear 6 is installed under the drone body 2 and the landing gear 6 can be made of a lightweight alloy material that can be used in a variety of environments.

In the specific implementation process, the drone is put into a room after a fire or earthquake that needs to be investigated. The camera on the front of the drone will scan the indoor conditions above and behind the drone, and the four imaging cameras 17 on the fixed wing 11 will scan the indoor conditions on both sides and behind the drone. The indoor terrain scanned by the four laser radars 16 on the fixed wing 11 is simulated to form a 3D image and sent to the operator. If the shooting angle of the front camera needs to be adjusted, the horizontal rotating frame 21 and the vertical rotating frame 23 can be operated to allow the front camera assembly to achieve 360-degree rotation in the vertical and horizontal directions, which can further increase the scanning range. The infrared transmitter installed on the front end of the drone can detect obstacles in front and on both sides of the drone, and send them to the control center through the antenna 5. When the drone approaches the obstacle at the current speed, the control center will calculate the distance from the drone to the target obstacle and control the drone to make reasonable avoidance actions.

The embodiments of this specific implementation method are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims (8)

1. An indoor terrain reconnaissance drone, comprising a wing holder (1) and a drone body (2), wherein the wing holder (1) is fixedly connected to the drone body (2), and characterized in that four fixed wings (11) are symmetrically mounted on the wing holder (1), one end of the four fixed wings (11) is fixedly connected to the side of the wing holder (1) and parallel to the ground, the other ends of the four fixed wings (11) are fixedly connected to a motor protection shell (12), the lower end of the motor protection shell (12) is provided with a cross fixing frame (13), and the motor protection shell ( A motor (14) is installed in the cross-fixed frame (12), and the motor (14) is connected to the cross-fixed frame (13). The cross-fixed frame (13) is provided with a through hole through which the output shaft of the power supply machine (14) passes, and the output end of the motor (14) passes through the through hole and is rotatably connected to the cross-fixed frame (13). The output shaft end of the motor (14) is fixedly connected to the rotor (15). A laser radar (16) and an imaging camera (17) are installed below each of the four fixed wings (11). A stabilizer is arranged in front of the drone body (2), and a camera assembly (3) is installed on the stabilizer. 2. An indoor terrain reconnaissance drone according to claim 1, characterized in that the laser radar (16) is installed in an inclined direction toward the outside of the drone body (2). 3. An indoor terrain reconnaissance drone according to claim 1, characterized in that the stabilizer includes a transverse rotating frame (21) installed at the lower front part of the drone body (2), the transverse rotating frame (21) is connected to the drone body (2), the side wall of the transverse rotating frame (21) is fixedly connected to one end of the connecting frame (22), and the other end of the connecting frame (22) is connected to the longitudinal rotating frame (23). 4. An indoor terrain reconnaissance drone according to claim 1, characterized in that the camera assembly (3) includes a camera protection shell (31), both ends of the camera protection shell (31) are rotatably connected to the longitudinal rotating frame (23), a main camera (32) is installed on the camera protection shell (31), and a wide-angle camera (33) is installed on the camera protection shell (31) below the main camera (32). 5. An indoor terrain reconnaissance drone according to claim 1, characterized in that infrared transmitters (4) are installed on both the left and right sides of the front of the drone body (2). 6. An indoor terrain reconnaissance drone according to claim 1, characterized in that an antenna (5) is installed on the wing fixer (1). 7. An indoor terrain reconnaissance drone according to any one of claims 1 to 6, characterized in that a landing gear (6) is installed under the drone body (2). 8. An indoor terrain reconnaissance UAV according to claim 7, characterized in that the landing gear (6) is made of alloy material.