WO2022067545A1 - Véhicule aérien sans pilote, support de plateforme mobile et plateforme mobile - Google Patents

Véhicule aérien sans pilote, support de plateforme mobile et plateforme mobile Download PDF

Info

Publication number
WO2022067545A1
WO2022067545A1 PCT/CN2020/118979 CN2020118979W WO2022067545A1 WO 2022067545 A1 WO2022067545 A1 WO 2022067545A1 CN 2020118979 W CN2020118979 W CN 2020118979W WO 2022067545 A1 WO2022067545 A1 WO 2022067545A1
Authority
WO
WIPO (PCT)
Prior art keywords
groove
base
unmanned aerial
aerial vehicle
piece
Prior art date
Application number
PCT/CN2020/118979
Other languages
English (en)
Chinese (zh)
Inventor
吴琼伟
高文良
莫颂权
李金鑫
熊荣明
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080008092.1A priority Critical patent/CN113272223A/zh
Priority to PCT/CN2020/118979 priority patent/WO2022067545A1/fr
Publication of WO2022067545A1 publication Critical patent/WO2022067545A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Definitions

  • the present application relates to the field of flight technology, and in particular, to an unmanned aerial vehicle, a bracket for a movable platform, and a movable platform.
  • mobile platforms such as unmanned aerial vehicles, unmanned vehicles, and unmanned ships are often equipped with obstacle avoidance sensors to find obstacles during the movement of the mobile platform, so that the mobile platform can avoid obstacles.
  • the obstacle avoidance sensors of the current mobile platforms such as unmanned aerial vehicles are seriously blocked by the fuselage, and the perception blind area of the obstacle avoidance sensors is large, which may cause these unmanned aerial vehicles and other mobile platforms to avoid obstacles in time.
  • Various collisions have resulted in damage to movable platforms such as these unmanned aerial vehicles.
  • Embodiments of the present application provide an unmanned aerial vehicle, a support for a movable platform, and a movable platform.
  • the unmanned aerial vehicle of the embodiment of the present application includes a fuselage, an obstacle avoidance sensor, and a bracket.
  • the fuselage has a flight control system.
  • the obstacle avoidance sensor is electrically connected with the flight control system, and is used for transmitting information of obstacles around the unmanned aerial vehicle to the flight control system.
  • the bracket is installed on the fuselage, and the bracket is used to carry the obstacle avoidance sensor. Wherein, the bracket is movable relative to the fuselage, so that the bracket can be selectively in a storage state or a supporting state. The distance between the obstacle avoidance sensor and the fuselage in the supported state is greater than the distance from the fuselage in the retracted state.
  • the support of the unmanned aerial vehicle can be moved relative to the fuselage, so that the support can drive the obstacle avoidance sensor to be in the storage state or the support state, and the distance between the obstacle avoidance sensor and the body when the obstacle avoidance sensor is in the support state, It is greater than the distance from the fuselage in the storage state, so that the sensing area of the obstacle avoidance sensor avoids the fuselage of the UAV, which can reduce the blind spot of the obstacle avoidance sensor, thereby preventing the unmanned aircraft from being unable to avoid obstacles in time. cause various collisions.
  • the support of the movable platform includes a fixed component and a movable component.
  • the fixed assembly can be fixedly mounted on the movable platform body of the movable platform.
  • the movable assembly is mounted on the fixed assembly, and the movable assembly includes a carrier, which is used for carrying at least one obstacle avoidance sensor for avoiding obstacles.
  • the carrier can move from the first position relative to the fixed component in the direction away from the movable platform body to the second position. In the first position, the field of view of the obstacle avoidance sensor on the carrier is close to other structures of the movable platform. In the second position, the field of view of the obstacle avoidance sensor on the carrier is far away from other structures of the movable platform.
  • the carrier in the bracket of the movable platform can move from the first position relative to the fixed component in the direction away from the movable platform body to the second position.
  • the obstacle avoidance sensor on the carrier The field of view is far away from other structures of the movable platform, so that the sensing area of the obstacle avoidance sensor on the carrier avoids the body of the movable platform, thereby reducing the blind spot of the obstacle avoidance sensor, thereby preventing the movable platform from being unable to avoid in time. Obstacles cause various collisions.
  • the movable platform of the embodiment of the present application includes a movable platform body and a bracket combined with the movable platform body.
  • the bracket includes a fixed component and a movable component.
  • the fixed assembly can be fixedly mounted on the movable platform body of the movable platform.
  • the movable assembly is mounted on the fixed assembly, and the movable assembly includes a carrier, which is used for carrying at least one obstacle avoidance sensor for avoiding obstacles.
  • the carrier can move from the first position relative to the fixed component in the direction away from the movable platform body to the second position. In the first position, the field of view of the obstacle avoidance sensor on the carrier is close to other structures of the movable platform. In the second position, the field of view of the obstacle avoidance sensor on the carrier is far away from other structures of the movable platform.
  • the carrier in the bracket of the movable platform can move from the first position relative to the fixed component in the direction away from the movable platform body to the second position.
  • the obstacle avoidance sensor on the carrier The field of view is far away from other structures of the movable platform, so that the sensing area of the obstacle avoidance sensor on the carrier avoids the body of the movable platform, thereby reducing the blind spot of the obstacle avoidance sensor, thereby preventing the movable platform from being unable to avoid in time. Obstacles cause various collisions.
  • FIG. 1 is a schematic three-dimensional assembly diagram of an unmanned aerial vehicle or a movable platform in a stowed state according to some embodiments of the present application;
  • FIG. 2 is a perspective view of the unmanned aerial vehicle or movable platform in FIG. 1 in a supported state;
  • Fig. 3 is the three-dimensional exploded schematic diagram of the unmanned aerial vehicle or movable platform in Fig. 1;
  • FIG. 4 is a schematic perspective view of a connecting component according to some embodiments of the present application.
  • FIG. 5 is a schematic three-dimensional assembly diagram of an unmanned aerial vehicle or a movable platform in a stowed state according to some embodiments of the present application;
  • FIG. 6 is a schematic exploded perspective view of an unmanned aerial vehicle or a movable platform according to some embodiments of the present application.
  • FIG. 7 is a schematic three-dimensional assembly diagram of an unmanned aerial vehicle or a movable platform in a stowed state according to some embodiments of the present application;
  • FIG. 8 is a perspective view of the unmanned aerial vehicle or movable platform in FIG. 7 in a supported state
  • Fig. 9 is the three-dimensional exploded schematic diagram of the unmanned aerial vehicle or movable platform in Fig. 7;
  • FIG. 10 is a schematic perspective view of a slide rail component and a connecting component according to some embodiments of the present application.
  • FIG. 11 is a schematic three-dimensional assembly diagram of an unmanned aerial vehicle or a movable platform in a stowed state according to some embodiments of the present application;
  • Fig. 12 is a perspective exploded schematic view of the unmanned aerial vehicle or movable platform in Fig. 11;
  • FIG. 13 is a schematic three-dimensional assembly diagram of an unmanned aerial vehicle or a movable platform in a stowed state according to some embodiments of the present application;
  • Fig. 14 is a perspective view of the unmanned aerial vehicle or movable platform in Fig. 13 in a supported state;
  • Fig. 15 is a perspective exploded schematic view of the unmanned aerial vehicle or movable platform in Fig. 13;
  • 16 is a schematic three-dimensional assembly diagram of an unmanned aerial vehicle or a movable platform in a stowed state according to some embodiments of the present application;
  • FIG. 17 is a schematic exploded perspective view of the UAV or movable platform of FIG. 16 .
  • orientation or positional relationship indicated by the terms “thickness”, “upper”, “top”, “bottom”, “inner”, “outer”, etc.
  • the orientation or positional relationship is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the application .
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features.
  • features defined as “first”, “second” may expressly or implicitly include one or more features.
  • “plurality” means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.
  • the UAV 1000 includes a fuselage 900 , an obstacle avoidance sensor 800 , and a stand 100 .
  • the fuselage 900 is provided with a flight control system 200
  • the obstacle avoidance sensor 800 is electrically connected to the flight control system 200 for transmitting information of obstacles around the UAV 1000 to the flight control system 200 .
  • the bracket 100 is installed on the fuselage 900 for carrying the obstacle avoidance sensor 800 .
  • the stand 100 is movable relative to the body 900, so that the stand 100 can be selectively placed in the storage state as shown in FIG. 1 or the support state as shown in FIG. 2 .
  • the distance between the obstacle avoidance sensor 800 and the fuselage 900 in the supported state is greater than the distance from the fuselage 900 in the stored state.
  • the number of the obstacle avoidance sensor 800 may be one, specifically, the obstacle avoidance sensor 800 may be, but not limited to, a monocular camera, a fisheye camera, an ultrasonic sensor, a laser projector, and the like. In other embodiments, the number of obstacle avoidance sensors 800 may also be multiple. Specifically, each obstacle avoidance sensor 800 may be, but not limited to, a monocular camera, a fisheye camera, an ultrasonic sensor, a structured light projector, a flight A time projector, etc., and the multiple obstacle avoidance sensors 800 can form one or more binocular vision imaging modules, or form one or more time-of-flight imaging modules, or form one or more structured light imaging modules, and the like.
  • the two monocular cameras can form a binocular vision imaging module; when the obstacle avoidance sensor 800 includes a structured light projector and a monocular camera, the structured light The projector and the monocular camera can form a structured light imaging module; when the obstacle avoidance sensor 800 includes a time-of-flight projector and a monocular camera, the time-of-flight projector and the monocular camera can form a time-of-flight imaging module.
  • obstacle avoidance sensors are installed on the fuselage.
  • the obstacle avoidance sensor When the UAV is moving, the obstacle avoidance sensor is easily blocked by the fuselage, resulting in a large blind area for the obstacle avoidance sensor, so that the UAV may not be able to detect the obstacle in time, which may cause the UAV to avoid the obstacle in time. cause a collision.
  • the unmanned aerial vehicle 1000 includes a stand 100, and the stand 100 can move relative to the fuselage 900, so that the stand 100 can be selectively in a storage state or a supporting state, and the obstacle avoidance sensor 800 is in the supporting state with the aircraft.
  • the distance from the body 900 is greater than the distance from the body 900 in the storage state.
  • the obstacle avoidance sensor 800 is arranged on the bracket 100 .
  • the bracket 100 When the bracket 100 is in a supporting state, the obstacle avoidance sensor 800 can be far away from the fuselage 900 , so that the obstacle avoidance sensor 800 avoids the occlusion of the fuselage 900 and reduces the blind area of the obstacle avoidance sensor 800 .
  • the stand 100 can also be placed in a stowed state, so as to reduce the flight resistance of the unmanned aerial vehicle 1000 and protect the obstacle avoidance sensor 800 .
  • the bracket 100 includes fixing components 10/30/50 and Movable assembly 20/40/60.
  • the fixed assembly 10/30/50 is installed on the body 900
  • the movable assembly 20/40/60 is installed on the fixed assembly 10/30/50.
  • the movable assembly 20/40/60 includes a carrier 21/41/61, the carrier 21/41/61 includes a plurality of bearing surfaces 213/413/611 facing in different directions, and the carrier 21/41/61 is used for carrying at least An obstacle avoidance sensor 800 for obstacle avoidance.
  • At least one obstacle avoidance sensor 800 is disposed on at least one bearing surface 213/413/611.
  • an obstacle avoidance sensor 800 is arranged on one bearing surface 213/413/611; or an obstacle avoidance sensor 800 is arranged on each of the two bearing surfaces 213/413/611; or a bearing surface 213/413/611 is arranged with an obstacle avoidance sensor 800.
  • One obstacle avoidance sensor 800 and another obstacle avoidance sensor 800 are provided on the other bearing surface 213/413/611, which will not be listed one by one here.
  • the obstacle avoidance sensor 800 may be, but not limited to, a monocular camera, a fisheye camera, an ultrasonic sensor, a laser projector, and the like.
  • At least one pair of obstacle avoidance sensors 800 is disposed on at least one bearing surface 213/413/611.
  • Each pair of obstacle avoidance sensors 800 may form at least one of a binocular vision imaging module, a structured light imaging module, and a time-of-flight imaging module.
  • At least one bearing surface 213/413/611 is provided with two monocular cameras at the same time, and the two monocular cameras together form a binocular vision imaging module; or, at least one bearing surface 213/413/611 is simultaneously provided with a A structured light projector and a monocular camera, the structured light projector and the monocular camera together form a structured light imaging module; or, a time-of-flight projector and a Monocular camera, time-of-flight projector and monocular camera together form a time-of-flight imaging module.
  • the carrier 21 / 41 / 61 is at least partially accommodated in the accommodating portion 901 .
  • the field of view of the obstacle avoidance sensor 800 on the carrier 21 / 41 / 61 is far away from the body 900 and other structures on the body 900 .
  • the carrier 21/41/61 can move in a direction away from the fuselage 900 relative to the fixing components 10/30/50, so that the field of view of the obstacle avoidance sensor 800 can at least partially avoid the fuselage 900 and the fuselage 900 on other structures.
  • the field of view range here refers to the maximum range that can be covered by the signal sent or received by the obstacle avoidance sensor 800.
  • the obstacle avoidance sensor 800 is a camera
  • the field of view of the obstacle avoidance sensor 800 is Refers to the maximum range that the camera can observe, that is, the maximum range that can be covered by the light received by the camera.
  • the field of view of the obstacle avoidance sensor 800 refers to the maximum area covered by the light projected by the time-of-flight projector or the structured light projector. If the obstacle avoidance sensor 800 is a transmitter in an ultrasonic sensor, the field of view of the obstacle avoidance sensor 800 refers to the maximum range that can be covered by the ultrasonic waves emitted by the transmitter. If the obstacle avoidance sensor 800 is a receiver in an ultrasonic sensor, the field of view of the obstacle avoidance sensor 800 refers to the maximum range that can be covered by ultrasonic waves received by the receiver.
  • the fixing assembly 10 can be detachably installed on the fuselage 900.
  • the 1000 can be applied to various flight scenarios. For example, when the fixing assembly 10 is not installed on the fuselage 900, that is, when the fixing assembly 10 is removed from the fuselage 900, the weight of the UAV 1000 is reduced, and the flight resistance can be reduced.
  • the endurance ability is also enhanced, which is suitable for the occasion of fast flight or long-term flight; for another example, if the fixed component 10 is installed on the fuselage 900, the obstacle avoidance sensor 800 can be used to achieve obstacle avoidance, which is suitable for the occasion of low-altitude flight or entering a relatively high altitude. Flight occasions with multiple obstacles.
  • the fixing component 10 can be fixedly installed on the body 900 , that is, the fixing component 10 and the body 900 cannot be detached. In this case, the connection between the fixing component 10 and the body 900 The combination is reliable, and the two are not easy to fall off, which is beneficial to the flight safety of the unmanned aerial vehicle 1000.
  • the fuselage 900 is provided with an accommodating portion 901 for carrying the bracket 100 . When the bracket 100 is in a stowed state, the carrier 21 is at least partially accommodated in the accommodating portion 901 .
  • the fixing assembly 10 may include the fixing base 11 and the connecting member 14 .
  • the fixing base 11 is provided with a groove 111 .
  • the groove 111 includes a first side wall 1112 and a second side wall 1114.
  • the first side wall 1112 of the groove 111 is spaced apart from the second side wall 1114 of the groove 111, and the inner side of the second side wall 1114 is provided with a receiving groove. 11141.
  • the connecting member 14 is mounted on the fixing base 11 and penetrates through the groove 111 .
  • the connecting member 14 may include a connecting seat 141 , a connecting shaft 142 , a sleeve 143 , a locking member 144 , an elastic member 145 , a locking member 146 , and a washer 147 .
  • the connecting seat 141 is installed on the first side wall 1112 of the groove 111 and extends into the groove 111 .
  • the connection base 141 includes a base body 1412 and a snap-fit member 1414 .
  • the base body 1412 is installed on the outer side surface 11121 of the first side wall 1112 of the groove 111
  • the engaging piece 1414 is arranged on the base body 1412 and passes through the first side wall 1112 of the groove 111
  • the engaging piece 1414 is provided with a plurality of teeth 14141 .
  • the outer side surface 14121 of the base body 1412 is flush with the outer side surface 11121 of the first side wall 1112 of the groove 111 to prevent dust or impurities from falling into the outer side surface 14121 of the base body 1412 and the first side wall 1112 of the groove 111 . Between the outer side surfaces 11121 of the side walls 1112 , the normal operation of the connecting member 14 is affected. In another embodiment, the outer side surface 14121 of the base body 1412 is concave compared to the outer side surface 11121 of the first side wall 1112 of the groove 111 , so as to provide more design margin for the dimension design of the base body 1412 .
  • the connecting shaft 142 penetrates through the connecting seat 141 and extends into the groove 111 .
  • the first end 1422 of the connecting shaft 142 is in contact with the connecting seat 141 , and the second end 1424 of the connecting shaft 142 is fixedly connected with the second side wall 1114 of the groove 111 .
  • the sleeve 143 is disposed on the connecting shaft 142 and received in the groove 111 , and the sleeve 143 can rotate around the connecting shaft 142 .
  • the locking member 144 is sleeved on the connecting shaft 142 and accommodated in the sleeve 143 .
  • the locking member 144 is matched with the connecting seat 141 and can rotate relatively.
  • the locking member 144 is provided with a plurality of teeth 1442 , and the teeth 1442 on the locking member 144 are engaged with the teeth 14141 on the locking member 1414 .
  • the elastic member 145 is sleeved on the connecting shaft 142 and accommodated in the sleeve 143 , and the elastic member 145 is compressed between the sleeve 143 and the locking member 144 .
  • the locking member 146 is sleeved on the second end 1424 of the connecting shaft 142 to limit the axial movement of the sleeve 143 along the connecting shaft 142 .
  • the gasket 147 is fixed in the receiving groove 11141 , and the second end 1424 of the connecting shaft 142 passes through the gasket 147 and is fixedly connected with the second side wall 1114 of the groove 111 .
  • the bearing member 21 is fixedly sleeved on the sleeve 143 of the connecting member 14 , the bearing member 21 can rotate from the first position to the second position around the connecting shaft 142 of the connecting member 14 and can be maintained at the second position, and the elastic member 145 is compressed Between the sleeve 143 and the locking member 144, a torque is provided to keep the bearing member 21 in the position reached by the rotation, such as the first position and/or the second position.
  • the field of view of the obstacle avoidance sensor 800 on the carrier 21 is close to the fuselage 900 and other structures on the fuselage 900; when the carrier 21 is in the second position, the The obstacle avoidance sensor 800 can avoid the occlusion of the fuselage 900 and other structures on the fuselage 900 .
  • the carrier 21 further includes a first carrier portion 211 and a second carrier portion 212 .
  • the first end 2112 of the first bearing portion 211 is sleeved on the connecting member 14 .
  • the second bearing portion 212 is connected obliquely with the second end 2114 of the first bearing portion 211 .
  • the bearing surface 213 is located on the first bearing portion 211 .
  • the bearing surface 213 is located on the second bearing portion 212 .
  • the bearing surface 213 is located on the first bearing portion 211 and the second bearing portion 212 .
  • the first bearing portion 211 can rotate around the connecting shaft 142 of the connecting member 14 to drive the second bearing portion 212 to switch between a position that fits with the body 900 and a position that is far away from the body 900 .
  • the sleeve 143 and the locking member 144 When the first bearing portion 211 rotates around the connecting shaft 142 of the connecting member 14 , the sleeve 143 and the locking member 144 also rotate around the connecting shaft 142 , and the elastic member 145 is deformed and prevents the sleeve 143 and the locking member 144 from being connected. Rotation on shaft 142. Before the rotation starts, the teeth 1442 of the locking member 144 are accommodated between two adjacent teeth 14141 on the engaging member 1414 . When the locking member 144 continues to rotate, the teeth 1442 of the locking member 144 are released from the two adjacent teeth 14141 on the locking member 1414 .
  • the teeth 1442 of the locking member 144 can be accommodated again between the two adjacent teeth 14141 on the locking member 1414, and the elastic member 145 provides torsional force to make the locking
  • the member 144 remains in this position so that the carrier member 21 connected to the connecting member 14 remains in the rotated position.
  • the bearing member 21 can be rotated relative to the connecting shaft 142 of the connecting member 14 and maintained at a preset position.
  • the preset positions at least include the storage position of the carrier 21 (the first position, corresponding to the storage state) and the fully unfolded position of the carrier 21 (the second position, corresponding to the support state).
  • the obstacle avoidance sensor 800 When the carrier 21 is in the fully extended position, the obstacle avoidance sensor 800 can be driven away from the fuselage 900 , so that the obstacle avoidance sensor 800 can avoid the occlusion of the fuselage 900 and other structures on the fuselage 900 , and can have a larger detection range .
  • the preset position may also include any position between the first position and the second position.
  • the combination of the fixing base 11 and the fuselage 900 may be various.
  • the fixing assembly 10 may further include a base 12 and a supporting member 13 , and the fixing base 11 may pass through The base 12 and the support member 13 are indirectly installed on the body 900.
  • the base 12 can be fixedly and non-detachably combined with the body 900, so that the fixed seat 11 is fixed and non-detachable installed on the body 900; or, As shown in FIG. 3 , the base 12 can be detachably combined with the body 900 , so that the fixing base 11 can be detachably mounted on the body 900 .
  • the base 12 is detachably mounted on the body 900 .
  • the base 12 includes a base body 121 , and the base body 121 is provided with a first coupling member 123 and a first mounting member 125 .
  • the first coupling member 123 is used for connecting with the supporting member 13 .
  • the first mounting member 125 is used to cooperate with the second mounting member 903 on the body 900 to detachably mount the base body 121 on the body 900 .
  • the first mounting member 125 can be a clamping post
  • the second mounting member 903 is a clamping hole
  • the clamping post is engaged in the clamping hole, so that the base body 121 can be detachably installed on the fuselage 900 superior.
  • the first mounting member 125 may be a clamping hole
  • the second mounting member 903 may be a clamping column
  • the clamping column is engaged in the clamping hole, so that the base body 121 can be detachably installed on the fuselage 900 .
  • the first mounting member 125 includes a screw and a through hole
  • the second mounting member 903 is a threaded hole, and the screw passes through the through hole and then locks into the threaded hole, thereby realizing the detachable installation of the base body 121 on the fuselage 900.
  • the support member 13 is disposed on the base 12 for supporting the fixing base 11 so that the fixing base 11 and the base 12 are spaced apart.
  • the support member 13 may be detachably installed on the base 12 , or may be fixed and non-detachable installed on the base 12 , or may be an integral structure with the base 12 .
  • the support member 13 includes a second coupling member 131 , a first support member 133 , and a second support member 135 .
  • the second coupling member 131 is used to cooperate with the first coupling member 123 to detachably install the support member 13 on the base body 121 .
  • the first coupling member 123 may be a clamping column
  • the second coupling member 131 is a clamping hole
  • the clamping column is engaged in the clamping hole, so that the support member 13 can be detachably installed on the base body 121 .
  • the first coupling member 123 may be a clamping hole
  • the second coupling member 131 may be a clamping column
  • the clamping column is engaged in the clamping hole, so that the support member 13 can be detachably installed on the base body 121 .
  • the first coupling member 123 includes a screw and a through hole
  • the second coupling member 131 is a threaded hole
  • the screw passes through the through hole and then locks into the threaded hole, so that the support member 13 can be detachably installed on the threaded hole. on the base body 121 .
  • the first supporting member 133 and the second supporting member 135 are respectively connected on opposite sides of the fixing base 11 , the first supporting member 133 and the fixing base 11 are connected to the first connecting point 113 , and the first connecting position 113 and the connecting member 14 are staggered. .
  • the second support member 135 and the fixing seat 11 are connected to the second connection point 115 .
  • the first distance between the first connection point 113 and the first surface 1211 of the base body 121 is the same as the distance between the second connection point 115 and the base body 121 .
  • the second distances between the first faces 1211 are the same.
  • the combination of the fixing base 11 and the body 900 can also be as shown in FIG. 5 , the fixing base 11 and the body 900 are integral structure, in this case, the fixing base 11 and the body 900 are not detachable from each other.
  • the structure of the fixing base 11 may be basically the same as the structure in FIG. 1 to FIG. 3 , and will not be described in detail here.
  • the combination of the fixing base 11 and the fuselage 900 can also be: the fixing base 11 can be directly installed on the fuselage 900, in this case, the fixing base 11 can be fixed and non-detachable combined with the fuselage 900; or 6 , the fixing base 11 can be detachably combined with the body 900 .
  • the structure of the fixing seat 11 can be basically the same as the structure in FIG. 1 to FIG.
  • the difference is that: the outer side surface 11121 of the first side wall 1112 of the fixing seat 11 is provided with a first protrusion 1116 , and the fixing seat 11
  • the outer side of the second side wall 1114 is provided with a second protrusion 1118
  • at least one of the first protrusion 1116 and the second protrusion 1118 is provided with a connecting hole
  • the receiving portion 901 is provided with a threaded hole
  • the screws pass through the connecting hole in sequence The rear is locked into the threaded hole, so that the fixing device 11 can be detachably combined with the fuselage 900 .
  • the fixing assembly 30 can be detachably installed on the fuselage 900.
  • the unmanned aerial vehicle The 1000 can be applied to various flight scenarios. For example, when the fixing assembly 30 is not installed on the fuselage 900, that is, when the fixing assembly 30 is removed from the fuselage 900, the weight of the UAV 1000 is reduced, and the flight resistance can be reduced.
  • the endurance ability is also enhanced, which is suitable for the occasion of fast flight or long-term flight; for another example, if the fixed component 30 is installed on the fuselage 900, the obstacle avoidance sensor 800 can be used to achieve obstacle avoidance, which is suitable for the occasion of low-altitude flight or entering a relatively high altitude. Flight occasions with multiple obstacles.
  • the fixing component 30 can be fixedly installed on the body 900 , that is, the fixing component 30 and the body 900 are not detachable, more specifically, the fixing component 30 and the body 900 are not detachable.
  • the 900 is an integral structure.
  • the fuselage 900 is provided with a receiving portion 901 for carrying the bracket 100 .
  • the carrier 41 is at least partially received in the receiving portion 901 .
  • the fixing assembly 30 may include the fixing base 31 , the sliding member 34 , the first restricting member 35 and the second restricting member 36 .
  • Each of the movable assemblies 40 includes a connecting part 43 , and the carrier 41 is movably combined with the sliding rail part 34 through the connecting part 43 .
  • the fixing base 31 is provided with a groove 311 .
  • the groove 311 includes a first side wall 3111 and a second side wall 3113 , and the first side wall 3111 of the groove 311 is spaced and opposite to the second side wall 3113 of the groove 311 .
  • the first side wall 3111 and the second side wall 3113 are both provided with recesses 3119 .
  • the tops of the first side wall 3111 and the second side wall 3113 are both provided with a first slot 3115 and a second slot 3117 .
  • the second slot 3117 penetrates the side wall of the groove 311 , the second slot 3117 is located between the first slot 3115 and the groove 311 , and is used for connecting the first slot 3115 and the groove 311 .
  • the slide rail member 34 is mounted on the fixing seat 31 and is located in the groove 311 .
  • the slide rail member 34 is detachably mounted on the fixing base 31 .
  • the slide rail member 34 is fixedly and non-detachably mounted on the fixing base 31 .
  • the slide rail member 34 and the fixed seat 31 are integrally formed.
  • the slide rail component 34 includes a slide rail body 341 and a first fixing member 343 , the slide rail body 341 is provided with a receiving groove 3412 , and the first fixing member 343 is disposed in the receiving groove 3412 . Bottom 34121.
  • the number of the first restricting members 35 may be two, and the two first restricting members 35 are respectively disposed on the first side wall 3111 and the second side wall 3113 of the groove 311 and both extend into the groove 311 .
  • Each first restricting member 35 includes an elastic restricting body 351 and a protrusion 353 , and the protrusion 353 is disposed on the restricting body 351 .
  • the limiting body 351 is accommodated in the recess 3119 , and a through groove 3514 is defined in the bottom 3512 of the limiting body 351 .
  • the protrusion 353 penetrates the side wall of the recess 3119 and protrudes into the groove 311 .
  • the restricting body 351 is U-shaped, and two sides of the restricting body 351 are in conflict with the side walls of the recess 3119 .
  • the first restricting member 35 is a metal dome with high strength.
  • the first restricting member 35 is a plastic elastic sheet, which is lower in cost and may have higher toughness.
  • the number of the second restricting members 36 can be two.
  • the second restricting members 36 are respectively disposed on the first side wall 3111 and the second side wall 3113 of the groove 311 and both extend into the groove 311.
  • the second restricting member 36 It is spaced apart from the first restricting member 35 .
  • Each of the second restricting pieces 36 includes a coupling portion 361 and a restricting portion 363 .
  • the restricting portion 363 includes the inclined surface 3632 .
  • the joint portion 361 is connected to the top of the first side wall 3111 or the second side wall 3113 of the groove 311 .
  • the restricting portion 363 is connected obliquely with the coupling portion 361 , and the restricting portion 363 extends into the first slot 3115 and partially extends into the second slot 3117 .
  • the connecting member 43 includes a sliding member 431 and an elastic member 433 .
  • the sliding member 431 is slidably sleeved on the side edge of the slide rail body 341 and is spaced apart from the bottom 34121 of the receiving groove 3412 .
  • the elastic member 433 is accommodated in the accommodating groove 3412 .
  • the first end 4332 of the elastic member 433 is combined with the first fixing member 343
  • the second end 4334 of the elastic member 433 is combined with the second fixing member 4312
  • the sliding member 431 moves along the slide rail body 341 to drive the elastic member 433 in the receiving groove 3412 internal movement.
  • the carrier 41 is movably combined with the slide rail member 34 , and the carrier member 41 can be moved along the slide rail member 34 from a first position to and maintained at a second position.
  • the carrier 41 is connected with the slider 431 .
  • the carrier 41 is detachably mounted on the slider 431 .
  • the carrier 41 is fixedly and non-detachably mounted on the slider 431 .
  • the bearing member 41 and the sliding member 431 are integrally formed.
  • the elastic member 433 moves from one side of the first fixing member 343 to the other side driven by the sliding member 431 , the elastic member 433 generates a thrust, and the thrust pushes the sliding member 431 to drive the bearing member 41 to move along the slide rail body 341 , and
  • the carrier 41 is held in the second position.
  • the carrier 41 is located at the first position, the field of view of the obstacle avoidance sensor 800 on the carrier 41 is close to the fuselage 900 and other structures on the fuselage 900 .
  • the obstacle avoidance sensor 800 on the carrier 41 can avoid the shielding of the fuselage 900 and other structures on the fuselage 900 .
  • the carrier 41 may include a first carrier portion 411 and a second carrier portion 412 .
  • the first end 4111 of the first bearing portion 411 is detachably connected to the sliding member 431 .
  • the second bearing portion 412 is connected obliquely with the second end 4113 of the first bearing portion 411 .
  • the bearing surface 413 is located on the first bearing portion 411 and/or the second bearing portion 412 . In one embodiment, the bearing surface 413 is located on the first bearing portion 411 . In another embodiment, the bearing surface 413 is located on the second bearing portion 412 . In yet another embodiment, the bearing surface 413 is located on the first bearing portion 411 and the second bearing portion 412 .
  • the first bearing portion 411 can be moved along the slide rail member 34 from the first position to and maintained at the second position.
  • two opposite side walls 4115 of the first carrying portion 411 are provided with rails 4117 and bumps 4119 , and the bumps 4119 are directed from the rails 4117 to the side walls away from the first carrying portion 411 . It extends in the direction of 4115 and is located at the position farthest from the second bearing portion 412 of the track 4117 .
  • the protruding block 4119 includes an inclined surface 41191 , and the inclined surface 41191 of the protruding block 4119 can collide with the inclined surface 3632 of the restricting portion 363 to restrict the moving stroke of the first bearing portion 411 on the slide rail body 341 .
  • each side wall 4115 of the first bearing portion 411 is provided with a first limiting portion 414 and a second limiting portion 415 at intervals, and the first limiting portion 414 It is closer to the second bearing portion 412 than the second limiting portion 415 .
  • Both the first limiting portion 414 and the second limiting portion 415 can engage with the protrusion 353 of the first limiting member 35 .
  • the first limiting portion 414 is engaged (engaged) with the protrusion 353 of the first limiting member 35 to fix the carrier 41 in the first position.
  • the second limiting portion 415 is engaged (engaged) with the protrusion 353 of the first limiting member 35 , while the second limiting member 36 is in contact with the first bearing portion 411 , so that the bearing The piece 41 is fixed in the second position.
  • the second slot 3117 penetrates through the first side wall 3111 and the second side wall 3113 of the groove 311 .
  • the second limiting member 36 is disposed in the first slot 3115 and partially extends into the second slot 3117 ; the first bearing portion 411 is accommodated in the slot 311 , and the rail 4117 and the protrusion 4119 both extend into the second slot 3117 , when the first bearing portion 411 moves along the slide rail body 341 , the protrusions 4119 can collide with the second limiting member 36 to limit the movement of the first bearing portion 411 on the slide rail body 341 .
  • the first limiting portion 414 is disengaged from the protrusion 353 of the first limiting member 35 , and the rail 4117 and the protrusion 4119 of the carrier 41 are in the second slot 3117
  • the second fixing member 4312 on the sliding member 431 connected with the bearing member 41 drives the elastic member 433 to move in the direction of the second position.
  • the elastic member 433 moves from one side of the first fixing member 343 to the other side driven by the sliding member 431 , the elastic member 433 generates a thrust, and the thrust pushes the sliding member 431 to drive the bearing member 41 to automatically move along the slide rail body 341 to The second position, and the carrier 41 is held in the second position.
  • the inclined surface 41191 of the protrusion 4119 cooperates with the inclined surface 3632 of the restricting portion 363, and the second restricting portion 415 cooperates with the protrusion 353 to jointly restrict the movement of the carrier 41, so that the carrier 41 remains in the second position.
  • the second limiting portion 415 is disengaged from the protrusion 353 of the first limiting member 35 , and the inclined surface 41191 of the protrusion 4119 is in contact with the inclined surface 3632 of the limiting portion 363 .
  • the rail 4117 and the bump 4119 of the carrier 41 move in the second slot 3117 , and at the same time, the second fixing member 4312 on the sliding member 431 connected with the carrier 41 drives the elastic member 433 to move in the direction of the first position.
  • the elastic member 433 moves from one side of the first fixing member 343 to the other side driven by the sliding member 431 , the elastic member 145 generates a thrust, and the thrust pushes the sliding member 431 to drive the bearing member 41 to move along the slide rail body 341 to the first fixing member 341 .
  • the first limiting portion 414 cooperates with the protrusion 353 to limit the movement of the bearing member 41 and keep the bearing member 41 in the first position. in the first position.
  • the carrier 41 can be moved relative to the slide rail member 34 and maintained at the first position and the second position.
  • the carrier 41 can drive the obstacle avoidance sensor 800 away from the fuselage 900, so that the obstacle avoidance sensor 800 avoids the shielding of the fuselage 900 and other structures on the fuselage 900, and can have a larger detection range.
  • the fixing assembly 30 may further include a base 32 , and the fixing base 31 may indirectly pass through the base 32 .
  • the base 32 can be fixed and non-detachable combined with the fuselage 900, so that the fixed seat 31 can be fixed and non-detachable installed on the fuselage 900; 900 is integrally formed; or, as shown in FIG. 9 , the base 32 can be detachably combined with the body 900 , so that the fixing seat 31 can be detachably mounted on the body 900 .
  • the fixing seat 31 may be detachably mounted on the base 32 , may also be fixedly mounted on the base 32 , or may be integrally formed with the base 32 .
  • the base 32 includes a base body 321 , and the moving direction of the carrier 41 forms a predetermined angle with the first surface 3212 of the base body 321 .
  • the predetermined angle may be, but not limited to, 30 degrees, 45 degrees, 60 degrees, 70 degrees, 75 degrees, 80 degrees, 85 degrees, 90 degrees, and the like.
  • the base body 321 is provided with a first coupling member 323 and a first mounting member 325 .
  • the fixing base 31 is provided with a second coupling member 316 , and the first coupling member 323 is used to cooperate with the second coupling member 316 to detachably install the fixing base 31 on the base body 321 .
  • the first coupling member 323 may be a clamping post
  • the second coupling member 316 is a clamping hole
  • the clamping post is engaged in the clamping hole, so that the fixing seat 31 can be detachably installed on the base body 321 superior.
  • the first coupling member 323 may be a clamping hole
  • the second coupling member 316 may be a clamping column
  • the clamping column is engaged in the clamping hole, so that the fixing base 31 can be detachably installed on the base body 321 .
  • the first coupling member 323 includes a screw and a through hole
  • the second coupling member 316 is a threaded hole
  • the screw passes through the through hole and then locks into the threaded hole, so that the fixing base 31 can be detachably installed on the threaded hole. on the base body 321 .
  • the first mounting member 325 is used to cooperate with the second mounting member 903 on the body 900 to detachably mount the base body 321 on the body 900 .
  • the first mounting member 325 can be a clamping post
  • the second mounting member 903 is a clamping hole
  • the clamping post is engaged in the clamping hole, so that the base body 321 can be detachably installed on the fuselage 900 superior.
  • the first mounting member 325 may be a clamping hole
  • the second mounting member 903 may be a clamping column
  • the clamping column is engaged in the clamping hole, so that the base body 321 can be detachably installed on the fuselage 900 .
  • the first mounting member 325 includes a screw and a through hole
  • the second mounting member 903 is a threaded hole
  • the screw passes through the through hole and then locks into the threaded hole, thereby realizing the detachable installation of the base body 321 on the fuselage 900.
  • the combination of the fixing base 31 and the body 900 can also be as shown in FIG. 12 and FIG. 13 , the fixing base 31 and the body 900 are integrated into a structure, in this case, the fixing base 31 and the body 900 are mutually Not removable.
  • the structure of the fixing seat 31 may be basically the same as the structure in FIGS. 7 to 10 , and will not be described in detail here.
  • the fixing base 31 may also be fixed and non-detachable installed on the body 900 .
  • the fixing assembly 50 can be installed on the fuselage 900 in various ways.
  • the fixing assembly 50 can be detachably installed on the fuselage 900.
  • the aircraft 1000 can be applied to various flight scenarios. For example, when the fixing assembly 50 is not installed on the fuselage 900, that is, when the fixing assembly 50 is removed from the fuselage 900, the weight of the unmanned aerial vehicle 1000 is reduced, and the flight resistance can be reduced.
  • the fixing component 50 can be fixedly installed on the body 900 , that is, the fixing component 50 and the body 900 are not detachable, more specifically, the fixing component 50 and the body 900 are not detachable.
  • 900 is a one-piece structure. At this time, the connection between the fixing assembly 50 and the fuselage 900 is firm, and the two are not easy to fall off, which is beneficial to the flight safety of the unmanned aerial vehicle 1000 .
  • the fixing assembly 50 may include a fixing base 51 , an elastic member 55 , a limiting member 56 , a connecting member 57 and a damper 58 .
  • Each of the movable components 60 may further include a first connecting rod 62 and a second connecting rod 63 , a first connecting shaft 64 , a second connecting shaft 65 , a third connecting shaft 66 , a first locking member 67 , and a second locking member 68 , and the third locking member 69 .
  • the fixing base 51 is provided with a groove 511 .
  • the groove 511 includes a first side wall 5112 and a second side wall 5114 .
  • the end 513 of the fixing seat 51 defines a sliding groove 5132 which communicates with the groove 511 .
  • the chute 5132 is T-shaped or inverted T-shaped.
  • the chute 5132 includes a first sub-slot 51321 and a second sub-slot 51323 that communicate with each other. The opening size of the first sub-slot 51321 is different from that of the second sub-slot 51323 .
  • the elastic member 55 is accommodated in the groove 511, the first end 551 of the elastic member 55 is combined with the movable assembly 60, the second end 553 of the elastic member 55 is combined with the fixed seat 51, and the elastic member 55 provides torsion force to the movable assembly 60, The torsional force can drive the movable assembly 60 to move, so that the carrier 61 protrudes from the groove 511 .
  • the limiting member 56 is mounted on the end portion 513 of the fixing base 51 .
  • the limiting member 56 may be fixed and non-detachable installed on the end portion 513 of the fixing base 51 .
  • the limiting member 56 may also be detachably mounted on the end portion 513 of the fixing base 51 .
  • the limiting member 56 When the limiting member 56 is locked with the carrier 61 , the limiting member 56 restrains the carrier 61 in the groove 511 .
  • the torsion force of the elastic member 55 drives the movable assembly 60 to move, so that the bearing member 61 protrudes from the groove 511 .
  • the limiting member 56 includes a limiting member 561 , a blocking member 563 , and an elastic body 565 .
  • the limiting member 561 is slidably installed in the chute 5132 .
  • the limiting member 561 includes a limiting body 5612 and an engaging portion 5614 .
  • the limiting body 5612 is accommodated in the first sub-slot 51321 .
  • the engaging portion 5614 is accommodated in the second sub-slot 51323 , and the engaging portion 5614 is in contact with the limiting body 5612 .
  • the first end 5652 of the elastic body 565 is combined with the engaging portion 5614 .
  • the blocking member 563 is installed on the end surface 5134 of the end portion 513 of the fixing base 51 to limit the movement stroke of the limiting member 561 moving away from the groove 511 , so that the limiting member 561 does not fall out of the chute 5132 .
  • the blocking member 563 includes a blocking portion 5632 and a guiding portion 5634 .
  • the blocking portion 5632 is detachably mounted on the end surface 5134 of the end portion 513 of the fixing seat 51 and corresponds to the second sub-slot 51323 , and the second end 5654 of the elastic body 565 is combined with the blocking portion 5632 .
  • the guide portion 5634 is connected to the blocking portion 5632 , and a guide groove 56341 is defined in the guide portion 5634 , and the guide groove 56341 communicates with the first sub-slot 51321 .
  • the elastic body 565 is accommodated in the chute 5132 . In the natural state, the elastic body 565 is fixedly connected with the limiting member 561 so that the limiting member 561 partially extends into the groove 511 so as to be able to interfere with the end 615 of the bearing member 61; when the elastic body 565 is compressed, the limiting The member 561 can move away from the groove 511 .
  • the connecting member 57 includes a connecting body 571 and a fixing shaft 573 .
  • the connecting body 571 is installed on the first side wall 5112 of the groove 511 .
  • the damper 58 includes a damping body 581 and a damping shaft 583 extending from the damping body 581 .
  • the damping body 581 is installed on the second side wall 5114 of the groove 511 .
  • the first link 62 , the second link 63 , the fixing base 51 , and the bearing member 61 form a four-link structure.
  • the first end 621 of the first link 62 is rotatably connected to the bearing member 61
  • the second end 623 of the first link 62 is rotatably connected to the fixing base 51 .
  • the first end 631 of the second link 63 is rotatably connected to the bearing member 61
  • the second end 633 of the second link 63 is rotatably connected to the fixing base 51 .
  • the first end 551 of the elastic member 55 is combined with the first link 62 .
  • the first end 551 of the elastic member 55 is combined with the second link 63 .
  • the carrier 61 is provided with a first protrusion 613 and a second protrusion 615 .
  • the first connecting shaft 64 passes through the first protrusion 613 and the first end 621 of the first connecting rod 62 in sequence and is locked by the first locking member 67 , so that the first end 621 of the first connecting rod 62 and
  • the carrier 61 is rotatably connected.
  • the second connecting shaft 65 passes through the second protrusion 615 and the first end 631 of the second connecting rod 63 in sequence and is locked by the second locking member 68 so that the first end 631 of the second connecting rod 63 is connected to the bearing member 61 Turn the connection.
  • the third connecting shaft 66 passes through the first side wall 5112 of the groove 511 , the second end 623 of the first link 62 , and the second side wall 5114 of the groove 511 in sequence and is locked by the third locking member 69 . So that the second end 623 of the first connecting rod 62 is rotatably connected to the fixing seat 51 , the first side wall 5112 of the groove 511 is spaced apart from the second side wall 5114 of the groove 511 .
  • the fixed shaft 573 extends into the groove 511 and passes through the first side 635 of the second end 633 of the second link 63 .
  • the damping shaft 583 extends into the groove 511 and passes through the second side 637 of the second end 633 of the second connecting rod 63 , the first side 635 of the second end 633 of the second connecting rod 63 and the second connecting rod 63 .
  • the second side 637 of the second end 633 is opposite.
  • the damper 58 provides rotational damping for the second link 63 .
  • the limiting body 5612 presses the end of the carrier 61 close to the second protrusion 615 to restrain the carrier 61 in the first position.
  • the elastic member 55 is pressed to generate elastic deformation, so as to provide a torsion force when the movable assembly 60 moves from the first position to the second position.
  • the limiting member 561 is moved along the sliding groove 5132 in a direction away from the groove 511, the limiting body 5612 partially extends into the guiding groove 56341 to release the limitation of the limiting body 5612 on the bearing member 61, and the elastic The body 565 is compressed and elastically deformed.
  • the movable assembly 60 provides torsional force to move the movable assembly 60 from the first position to the second position, or under the combined action of the torsional force and other external forces acting on the carrier 61, the movable assembly 60 moves from the first position to the second position. Two position moves.
  • the first end 551 of the elastic member 55 is combined with the first link 62
  • the second end 553 of the elastic member 55 is combined with the fixing seat 51 .
  • the first end 551 of the elastic member 55 drives the first link 62 to rotate toward the second position, so that the second link 63 rotates toward the second position with the rotation of the first link 62 . It rotates at the second position to drive the carrier 61 to leave the groove 511 and move from the first position to the second position.
  • the damper 58 provides damping for the second link 63, and performs negative work when the first link 62, the second link 63, and the bearing member 61 move toward the second position, so as to buffer and reduce the shock effect.
  • the user can also apply an external force to the carrier 61 to drag the carrier 61 to the second position.
  • the first link 62, the second link 63, and the bearing member 61 can be maintained at the second position.
  • the limiting member 561 Before the carrier 61 is moved back to the groove 511, the limiting member 561 can be moved along the sliding groove 5132 in a direction away from the groove 511, so that the limiting body 5612 is kept in the position partially protruding into the guide portion 5634, so as to The carrier 61 is avoided so that it can be completely accommodated in the groove 511 .
  • the limiting member 561 can be released, and the elastic body 565 pushes the engaging portion 5614 to drive the limiting member 561 to move toward the direction close to the groove 511, and presses the limiting body 5612
  • the carrier 61 is restrained and held at the first position.
  • the carrier 61 can be moved relative to the fixed seat 51 and maintained in the first position or the second position.
  • the obstacle avoidance sensor 800 can be driven away from the fuselage 900 , so that the obstacle avoidance sensor 800 avoids the occlusion of the fuselage 900 and other structures on the fuselage 900 , thereby having a larger detection range.
  • the fixing assembly 50 may further include a first supporting base 52 .
  • the first support seat 52 can be installed on the first side 905 of the fuselage 900.
  • the first support seat 52 can be detachably installed on the first side 905, or can be fixed and non-detachable installed on the fuselage 900.
  • the first side 905 of the fuselage can also be an integral structure with the fuselage 900 .
  • the fixed seat 51 is installed on the first support seat 52.
  • the fixed seat 51 can be detachably installed on the first support seat 52, or can be fixed and non-removable installed on the first support seat 52, or It is an integral structure with the first support seat 52 .
  • the fixing assembly 50 may further include a second support base 53 and a support rod 54 .
  • the second support base 53 can be mounted on the second side 907 of the fuselage 900 , and the first side 905 of the fuselage 900 is opposite to the second side 907 of the fuselage 900 .
  • the second support base 53 may be detachably installed on the second side 907 of the fuselage 900 , or may be fixed and non-detachable installed on the second side 907 of the fuselage 900 , or may be connected to the fuselage 900 . All-in-one structure.
  • the first support base 52 is connected to the second support base 53
  • the support rod 54 is used to connect the first support base 52 and the second support base 53 .
  • the support rod 54 may be detachably connected with the first support base 52 .
  • the support rod 54 may also be detachably connected to the second support base 53 .
  • the support rod 54 may also be detachably connected to both the first support base 52 and the second support base 53 .
  • the combination of the fixing base 51 and the body 900 can also be as shown in FIG. 16 and FIG. 17 , the fixing base 51 and the body 900 are integrated into a structure, in this case, the fixing base 51 and the body 900 are mutually Not removable.
  • the structure of the fixing seat 51 may be basically the same as the structure in FIG. 13 to FIG. 15 , and will not be described in detail here.
  • the fixing base 51 may also be fixed and non-detachable installed on the body 900 .
  • the body 900 is provided with an accommodating portion 901 for carrying the bracket 100 , and when the bracket 100 is in a stowed state, the carrier 61 is at least partially accommodated in the accommodating portion 901 .
  • the unmanned aerial vehicle 1000 is provided with the bracket 100 , and the bracket 100 can move relative to the fuselage 900 , so that the bracket 100 can drive the obstacle avoidance sensor 800 to be in the storage state or the support state, which is ready to install.
  • the carrier 21/41/61 with the obstacle avoidance sensor 800 can be selectively in the first position or the second position.
  • the first position corresponds to the storage state of the bracket 100
  • the second position corresponds to the support state of the bracket 100 .
  • the distance between the obstacle avoidance sensor 800 and the fuselage 900 in the supported state is greater than the distance from the fuselage 900 in the stored state.
  • the obstacle avoidance sensor 800 can be far away from the fuselage 900, so that the obstacle avoidance sensor 800 avoids the occlusion of the fuselage 900 and reduces the The blind area of the small obstacle avoidance sensor 800 can avoid various collision accidents caused by the unmanned aerial vehicle being unable to avoid obstacles in time.
  • the stand 100 can also be placed in a stowed state, so as to reduce the flight resistance of the unmanned aerial vehicle 1000 and protect the obstacle avoidance sensor 800 .
  • the present application further provides a movable platform 2000 .
  • the movable platform 2000 includes a movable platform body 700 , an obstacle avoidance sensor 800 , and a bracket 100 .
  • the movable platform body 700 is provided with a flight control system 200 , and the obstacle avoidance sensor 800 is electrically connected to the flight control system 200 for transmitting information of obstacles around the movable platform 2000 to the flight control system 200 .
  • the bracket 100 is mounted on the movable platform body 700 for carrying the obstacle avoidance sensor 800 . Wherein, the bracket 100 is movable relative to the movable platform body 700 , so that the bracket 100 can selectively be in the storage state as shown in FIG. 1 or the support state as shown in FIG. 2 .
  • the distance between the obstacle avoidance sensor 800 and the movable platform body 700 in the supporting state is greater than the distance between the obstacle avoidance sensor 800 and the movable platform body 700 in the storage state.
  • the movable platform body 700 is provided with a receiving portion 701 for at least partially receiving the bracket 100 .
  • the movable platform 2000 may be a movable device equipped with obstacle avoidance sensors, such as drones, unmanned vehicles, and unmanned ships.
  • the obstacle avoidance sensor 800 is installed on the movable platform body 700 .
  • the obstacle avoidance sensor 800 is easily blocked by the movable platform body 700, resulting in a large blind area of the obstacle avoidance sensor 800, so that the movable platform 2000 may not be able to detect obstacles in time, which may cause the movable platform 2000 was unable to avoid obstacles in time and caused a collision.
  • the bracket 100 of the movable platform 2000 also includes the fixing components 10 / 30 /50 and movable components 20/40/60.
  • the fixed assembly 10/30/50 is installed on the movable platform body 700
  • the movable assembly 20/40/60 is installed on the fixed assembly 10/30/50.
  • the movable assembly 20/40/60 includes a carrier 21/41/61, the carrier 21/41/61 includes a plurality of bearing surfaces 213/413/611 facing in different directions, and the carrier 21/41/61 is used for carrying at least An obstacle avoidance sensor 800 for obstacle avoidance.
  • the carrier 21/41/61 can move from the first position relative to the fixed assembly 10/30/50 in the direction away from the movable platform body 700 to the second position.
  • the field of view of the obstacle avoidance sensor 800 is close to other structures of the movable platform 2000 .
  • the field of view of the obstacle avoidance sensor 800 on the carrier 21 / 41 / 61 is far away from other structures of the movable platform 2000 .
  • the carriers 21 / 41 / 61 are at least partially housed within the movable platform body 700 .
  • the structure of the fixed assembly 10 is exactly the same as the structure of the aforementioned fixed assembly 10 , and correspondingly, the structure of the movable assembly 20 is completely the same as the structure of the aforementioned movable assembly 20 , which is not repeated here.
  • the structure of the fixed component 30 is exactly the same as that of the aforementioned fixed component 30, and correspondingly, the structure of the movable component 40 is completely the same as the structure of the aforementioned movable component 40, which is not repeated here.
  • the structure of the fixed component 50 is exactly the same as that of the aforementioned fixed component 50 , and correspondingly, the structure of the movable component 60 is completely the same as the structure of the aforementioned movable component 60 , which is not repeated here.
  • the carrier 21/41/61 in the bracket 100 of the movable platform 2000 can move from the first position relative to the fixed assembly 10/30/50 in the direction away from the movable platform body 700 to the second position.
  • the field of view of the obstacle avoidance sensor 800 on the carrier 21/41/61 is far away from other structures of the movable platform 1000, so that the sensing area of the obstacle avoidance sensor 800 on the carrier 21/41/61 avoids the
  • the blind spot of the obstacle avoidance sensor 800 can be reduced, thereby avoiding various collision accidents caused by the movable platform 1000 being unable to avoid obstacles in time.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features delimited with “first”, “second” may expressly or implicitly include at least one feature. In the description of the present application, “plurality” means at least two, such as two, three, unless expressly and specifically defined otherwise.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Seats For Vehicles (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote (1000), le véhicule aérien sans pilote (1000) comprenant un fuselage (900), un capteur d'évitement d'obstacle (800) et un support (100). Le support (100) peut se déplacer par rapport au fuselage (900) de telle sorte que le support (100) peut être sélectivement dans un état rangé ou dans un état de support.
PCT/CN2020/118979 2020-09-29 2020-09-29 Véhicule aérien sans pilote, support de plateforme mobile et plateforme mobile WO2022067545A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202080008092.1A CN113272223A (zh) 2020-09-29 2020-09-29 无人飞行器、可移动平台的支架及可移动平台
PCT/CN2020/118979 WO2022067545A1 (fr) 2020-09-29 2020-09-29 Véhicule aérien sans pilote, support de plateforme mobile et plateforme mobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/118979 WO2022067545A1 (fr) 2020-09-29 2020-09-29 Véhicule aérien sans pilote, support de plateforme mobile et plateforme mobile

Publications (1)

Publication Number Publication Date
WO2022067545A1 true WO2022067545A1 (fr) 2022-04-07

Family

ID=77229190

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/118979 WO2022067545A1 (fr) 2020-09-29 2020-09-29 Véhicule aérien sans pilote, support de plateforme mobile et plateforme mobile

Country Status (2)

Country Link
CN (1) CN113272223A (fr)
WO (1) WO2022067545A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105159317A (zh) * 2015-09-14 2015-12-16 深圳一电科技有限公司 无人机及其控制方法
CN107000833A (zh) * 2016-12-26 2017-08-01 深圳市大疆创新科技有限公司 无人机
CN107003679A (zh) * 2016-11-23 2017-08-01 深圳市大疆创新科技有限公司 无人飞行器的避障控制方法及无人飞行器
US20170308099A1 (en) * 2016-04-21 2017-10-26 Foundation Of Soongsil University-Industry Cooperation Unmanned aerial vehicle and a landing guidance method using the same
CN108780324A (zh) * 2017-12-27 2018-11-09 深圳市大疆创新科技有限公司 无人机、无人机控制方法和装置
CN211364950U (zh) * 2019-12-17 2020-08-28 广东中东测绘科技有限公司 一种雷达避障的航测飞机

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111867932A (zh) * 2018-02-07 2020-10-30 杭州零零科技有限公司 包含全向深度感测和避障空中系统的无人飞行器及其操作方法
CN210162256U (zh) * 2018-12-18 2020-03-20 哈瓦国际航空技术（深圳）有限公司 一种具有避障功能的无人机
CN111361740A (zh) * 2020-03-30 2020-07-03 华南农业大学 基于系留无人机平台的水流增压式清洁系统及清洁方法
CN213832138U (zh) * 2020-09-29 2021-07-30 深圳市大疆创新科技有限公司 无人飞行器、可移动平台的支架及可移动平台

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105159317A (zh) * 2015-09-14 2015-12-16 深圳一电科技有限公司 无人机及其控制方法
US20170308099A1 (en) * 2016-04-21 2017-10-26 Foundation Of Soongsil University-Industry Cooperation Unmanned aerial vehicle and a landing guidance method using the same
CN107003679A (zh) * 2016-11-23 2017-08-01 深圳市大疆创新科技有限公司 无人飞行器的避障控制方法及无人飞行器
CN107000833A (zh) * 2016-12-26 2017-08-01 深圳市大疆创新科技有限公司 无人机
CN108780324A (zh) * 2017-12-27 2018-11-09 深圳市大疆创新科技有限公司 无人机、无人机控制方法和装置
CN211364950U (zh) * 2019-12-17 2020-08-28 广东中东测绘科技有限公司 一种雷达避障的航测飞机

Also Published As

Publication number Publication date
CN113272223A (zh) 2021-08-17

Similar Documents

Publication Publication Date Title
JP3872790B2 (ja) 車室内アクセサリ保持装置
CN109328153B (zh) 摄像头单元
US4422724A (en) Rear view mirror arrangement to be mounted on a vehicle door
US20100259069A1 (en) Mounting structure of side-impact-resistant resin-made shock absorbing member
EP3214493A1 (fr) Ensemble de limitation de lentille, corps de caméra et caméra
US20160264055A1 (en) Adjustment device for an automotive wing mirror
EP3689753A1 (fr) Couvercle de protection et véhicule aérien sans pilote
KR20180074393A (ko) 안내 로봇
US9555741B2 (en) Pivot mechanism for a vehicle external rear view mirror assembly
KR101446138B1 (ko) 항공촬영용 시스템 마운트 장치
WO2022067545A1 (fr) Véhicule aérien sans pilote, support de plateforme mobile et plateforme mobile
CN213832138U (zh) 无人飞行器、可移动平台的支架及可移动平台
US11400837B2 (en) Handle adjusting mechanism and child carrier
CN110896631A (zh) 云台减震结构、云台系统及无人飞行器
EP3971435A1 (fr) Dispositif d'embrayage à aérodynamique active ne pouvant pas être entraîné en sens inverse
CN217022918U (zh) 云台连接组件及无人机
WO2019119398A1 (fr) Drone sous-marin à capacité de vue de prises de vue multiples
US11505333B2 (en) Photographic device and unmanned vehicle
US11885160B2 (en) Sliding door locking device
JP2022105592A (ja) 車載カメラ
CN212220580U (zh) 一种摄像头保护罩及其云台、无人机
CN210707945U (zh) 保护罩和无人机
CN211308412U (zh) 行车记录仪总成和车辆
US11968451B2 (en) Shock absorbing device for reducing a vibration of an image capturing device on a moving vehicle and image capturing system therewith
CN218152121U (zh) 缓冲块和车辆

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20955570

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20955570

Country of ref document: EP

Kind code of ref document: A1