CN108513617A - Distance measuring sensor and plant protection drone with distance measuring sensor - Google Patents
Distance measuring sensor and plant protection drone with distance measuring sensor Download PDFInfo
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- CN108513617A CN108513617A CN201780004710.3A CN201780004710A CN108513617A CN 108513617 A CN108513617 A CN 108513617A CN 201780004710 A CN201780004710 A CN 201780004710A CN 108513617 A CN108513617 A CN 108513617A
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- dust excluding
- excluding plate
- distance measuring
- measuring sensor
- air
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- 239000000428 dust Substances 0.000 claims abstract description 145
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 32
- 238000004140 cleaning Methods 0.000 claims description 10
- 238000005192 partition Methods 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 6
- 238000001727 in vivo Methods 0.000 claims 2
- 239000007787 solid Substances 0.000 claims 2
- 230000009187 flying Effects 0.000 claims 1
- 239000003595 mist Substances 0.000 abstract description 25
- 230000000694 effects Effects 0.000 abstract description 24
- 238000012360 testing method Methods 0.000 abstract description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 9
- 238000005259 measurement Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of distance measuring sensor (1) and plant protection drone with distance measuring sensor (1), distance measuring sensor (1) includes shell (10), the range finder module (20) being set in shell (10) and the blower device (30) being set in shell (10)；Shell (10) is equipped with the picking up signal window (100) for range finder module (20) detection signal, blower device (30) is equipped with the air-guiding aisle (300) being connected with picking up signal window (100), and air-guiding aisle (300) guides the air-flow that blower device (30) generates in shell (10) from picking up signal window (100) discharge shell (10).Blower device (30) forms air-flow in the interior air blast of shell (10), guide air-flow that shell (10) is discharged from picking up signal window (100) by air-guiding aisle (300) again, the air curtain to circulate outward is formed, external dust or water mist can be effectively prevent to enter the test scope in shell (10) to range finder module (20) and test effect and impact and interfere.
Description
Technical field
The present invention relates to distance measurement technical field, more particularly to a kind of distance measuring sensor and the plant with distance measuring sensor
Protect unmanned plane.
Background technology
Traditional fixed high scheme uses such as GPS (Global Positioning System, global positioning system), air pressure
The devices such as meter, ultrasonic wave, laser radar, but the data that GPS and barometer obtain height have deviation, precision is relatively low, and ultrasonic
Although wave principle is simply at low cost, penetrates readily through vegetation and operating distance is short, although laser radar can solve problem above,
But of high cost, technical difficulty is big.Determine high scheme, TOF (Time of Flight, flight compared to above-mentioned mainstream at present on the market
Time) for range unit with precision height, refreshing frequency is fast, and anti-outdoor strong light can detect the advantages such as aircraft forward landform, can
With a variety of detection ranges, it can be used for the various occasions such as scientific research, industry, such as TOF is often used in plant protection drone field
Range unit carries out ranging.
But TOF measurement device has certain requirement to working environment, it is more apparent by external environmental interference, especially
It is interfered by external light source, light source interference, which receives dust and water mist, to be influenced, and can influence to test if by dust or water mist covers eyeglass
Accuracy, blocking for foreign object can also influence its test scope.It is ash for farming environmental quality such as when plant protection drone work
Dirt is more, spray water pesticide when water mist concentrate, this is various all to make a big impact to the work of TOF measurement device, cause to measure number
According to generation relatively large deviation.
Invention content
The present invention provides a kind of distance measuring sensor and the plant protection drone with distance measuring sensor.
According to a first aspect of the embodiments of the present invention, a kind of distance measuring sensor is provided, including：Shell is set to the shell
Internal range finder module and the blower device being set in the shell；The shell, which is equipped with, is used for the range finder module
The picking up signal window of signal is detected, the blower device is equipped with the air-guiding aisle being connected with the picking up signal window,
The air-guiding aisle guides the air-flow that the blower device generates in the shell from described in picking up signal window discharge
Shell.
According to a second aspect of the embodiments of the present invention, a kind of plant protection drone is provided, including fuselage, is connect with the fuselage
Horn and the Power Component that is arranged on the horn, the plant protection drone further includes distance measuring sensor, the ranging
Sensor is installed on the fuselage and/or the horn；
Wherein, the distance measuring sensor includes：Shell, the range finder module being set in the shell and it is set to institute
State the blower device in shell；The shell is equipped with the picking up signal window for range finder module detection signal, described
Blower device is equipped with the air-guiding aisle being connected with the picking up signal window, and the air-guiding aisle guides the blower device
The shell is discharged from the picking up signal window in the air-flow generated in the shell.
The distance measuring sensor of the present invention, by blower device, air blast forms air-flow in shell, then by being arranged in drum
Air-guiding aisle on wind apparatus guides the air-flow that shell is discharged from picking up signal window, to be formd in shell to outflow
Logical air curtain can effectively prevent external dust or water mist to enter test scope and test effect in shell to range finder module
Image and interference are caused, ensure that the test accuracy of distance measuring sensor.
The plant protection drone of the present invention, the air blast in shell of the blower device of distance measuring sensor form air-flow, then pass through
The air-guiding aisle being arranged on blower device guides the air-flow that shell is discharged from picking up signal window, to be formed in shell
The air curtain of outside circulation, can effectively prevent external dust or water mist enter test scope in shell to range finder module and
Test effect causes image and interference, ensure that the test accuracy of distance measuring sensor, avoids plant protection drone due to crust deformation
Change or relief there is a phenomenon where respraying, drain spray or fall high, effectively improve the operation effectiveness of plant protection drone.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is the exploded perspective view of the distance measuring sensor shown in one embodiment of the invention.
Fig. 2 is the front view of the distance measuring sensor shown in one embodiment of the invention.
Fig. 3 is the vertical view of the distance measuring sensor shown in one embodiment of the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
It is the purpose only merely for description specific embodiment in terminology used in the present invention, is not intended to limit the invention.
It is also intended to including majority in the present invention and "an" of singulative used in the attached claims, " described " and "the"
Form, unless context clearly shows that other meanings.It is also understood that term "and/or" used herein refers to and wraps
Containing one or more associated list items purposes, any or all may be combined.
Below in conjunction with the accompanying drawings, the distance measuring sensor to the present invention and the plant protection drone with distance measuring sensor carry out detailed
Explanation.In the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.
Shown in Fig. 1 to Fig. 3, distance measuring sensor 1 provided in an embodiment of the present invention, including shell 10 and be set to described
Range finder module 20 in shell 10, the shell 10 are equipped with the picking up signal window that signal is detected for the range finder module 20
100, the light that range finder module 20 emits is projected by the picking up signal window 100, i.e., range finder module 20 penetrates the signal
Pick window 100 detects signal, the distance between distance measuring sensor 1 and target object is judged with this, to reaching ranging
Function.Wherein, range finder module 20 includes eyeglass 210, and the detection light for being sent out through range finder module 20 is outer in order to prevent
Portion's dust or water mist enter to be attached in shell 10 and lead to that the ranging effect of range finder module 20 is impacted and done on eyeglass 210
It disturbs, blower device 30 is additionally provided in the shell 10, the blower device 30 is equipped with and 100 phase of picking up signal window
The air-guiding aisle 300 of connection, the air-guiding aisle 300 guide the air-flow that the blower device 30 generates in the shell 10 from
The shell 10 is discharged in the picking up signal window 100.
In the following, further being introduced the blower device 30 of the distance measuring sensor 1 of the embodiment of the present invention.
In one embodiment, the blower device 30 may include fan 310, and the fan 310 is described for generating
Air-flow, but the apparatus structure for generating the air-flow is not limited in being fan structure.Optionally, the fan 310 can be with
Directly pumping forms air-flow by the way of extraction fan, then guides air-flow shape in shell 10 by air-guiding aisle 300
The effect of dustproof and waterproof mist is realized at the air curtain to circulate from inside to outside.
Further, in order to fix the fan 310, the blower device 30 further includes being connect with the fan 310
Air guide member 320, the air-guiding aisle 300 are set on the air guide member 320.Optionally, the air guide member 320 is with certain
The wind-guiding block structure of thickness makes to enable the air-guiding aisle 300 to extend along the thickness direction of the wind-guiding block structure
The air-guiding aisle 300, which guides the air-flow to be formed by air curtain, has one section of corresponding buffer distance, can play preferably
Dustproof and waterproof fog effect.
In one embodiment, the air-guiding aisle 300 include be set to the air guide member 320 on air inlet 301 and
Picking up signal through-hole 302, the air inlet 301 are oppositely arranged with the fan 310, the picking up signal through-hole 302 with it is described
Picking up signal window 100 is oppositely arranged and geomery matches.Wherein, the air inlet 301 and the picking up signal
Through-hole 302 is connected, and the extending direction of the air inlet 301 and the extending direction of the picking up signal through-hole 302 tilt
Intersection.Optionally, the picking up signal through-hole 302 is coaxially disposed with the picking up signal window 100.
The air-guiding aisle 300 can realize that air-guiding aisle 300 guides fan 310 to generate by above structure form
Air-flow forms the air curtain to circulate from inside to outside in shell 10, and is avoided that after fan 310 is connected to air guide member 320 and blocks institute
Air-guiding aisle 300 is stated, the detection light that range finder module 20 is sent out is not influenced and penetrates the air-guiding aisle 300.For example, in order to avoid
Fan 310 blocks the air-guiding aisle 300 after being connected to air guide member 320, can fan 310 be connected to air guide member 320
Side makes fan 310 be located at except the through-hole range of picking up signal through-hole 302, to ensure that the fan 310 will not block
The air-guiding aisle 300.Due to the air inlet 301 be connected with the picking up signal through-hole 302 and extending direction tilt
Intersection, it is ensured that the air-flow that fan 310 generates can be passed to from air inlet 301 in picking up signal through-hole 302, by wind-guiding
Channel 300 forms the air curtain to circulate from inside to outside after guiding in shell 10.
It should be noted that in the embodiment shown in fig. 1, the extending direction of the air inlet 301 is picked up with the signal
It takes the extending direction of through-hole 302 to intersect vertically, enables radial direction setting of the fan 310 along the picking up signal through-hole 302
It on the air guide member 320, easily facilitates and fan 310 is installed on air guide member 320, and the installation that can save fan 310 is empty
Between, to reduce 1 volume of distance measuring sensor.
In one embodiment, the air guide member 320 is equipped with the mounting groove 321 being connected with the air-guiding aisle 300,
The fan 310 is installed in the mounting groove 321, and the air inlet 301 is opened in the bottom of the mounting groove 321.In Fig. 1
Shown in embodiment, 321 rectangular trough body structure of the mounting groove and the side for being set to air guide member 320.The fan 310
In rectangular box structure corresponding with the mounting groove 321, fan 310 is fastened in the mounting groove 321 and the air inlet
Mouth 301 is correspondingly arranged, and the air-flow of generation can be made to be passed in picking up signal through-hole 302 from the air inlet 301, by wind-guiding
Channel 300 forms the air curtain to circulate from inside to outside after guiding in shell 10.
In one embodiment, the blower device 30 further includes the pinboard 330 to power to the fan 310,
The pinboard 330 is connected on the fan 310.
By above-described embodiment it is found that distance measuring sensor provided in an embodiment of the present invention 1 leads to when range finder module 20 works
It crosses the air blast in shell 10 of blower device 30 and forms air-flow, then guide the air-flow from picking up signal by air-guiding aisle 300
Shell 10 is discharged in window 100, to form the air curtain to circulate from inside to outside in shell 10, can effectively prevent external dust
Or water mist enters the test scope in shell 10 to range finder module 20 and causes image and interference with test effect, ensure that ranging passes
The test accuracy of sensor 1.
In one embodiment, the range finder module 20 is TOF measurement module, and the light that the range finder module 20 emits is logical
The picking up signal window 100 is crossed to project.TOF measurement module has precision high, and refreshing frequency is fast, and anti-outdoor strong light can be visited
The advantages such as aircraft forward landform are surveyed, there can be a variety of detection ranges, can be used for the various occasions such as scientific research, industry, such as plant protection
Unmanned plane field.It can also be towards family, entertainment applications, such as TOF camera.
Really, distance measuring sensor 1 provided in an embodiment of the present invention can prevent outside when range finder module 20 works
Dust or water mist, which enter the test scope in shell 10 to range finder module 20 and tests effect, causes image and interference.When ranging mould
When block 20 is closed, it can equally prevent external dust or water mist from entering test scope and survey in shell 10 to range finder module 20
Examination effect causes image and interference.In the following, to distance measuring sensor 1 provided in an embodiment of the present invention, when range finder module 20 is closed,
It prevents from the dust of outside or water mist from entering the test scope in shell 10 to range finder module 20 and testing effect to cause image and do
The scheme disturbed describes in detail.
In one embodiment, distance measuring sensor 1 provided in an embodiment of the present invention further includes logical for blocking the wind-guiding
The dust excluding plate 40 in road 300 and the picking up signal window 100, the dust excluding plate 40 are movably set on the shell 10.When
When range finder module 20 works, the dust excluding plate 40 is moved to the first setting position, does not shelter from the air-guiding aisle 300 and institute
State picking up signal window 100 so that the air-guiding aisle 300 is connected with the picking up signal window 100, passes through the air blast
The air-flow that device 30 generates forms the air curtain to circulate from inside to outside after the guiding of air-guiding aisle 300 in shell 10, to real
The effect of existing dustproof and waterproof mist.When range finder module 20 is closed, the dust excluding plate 40 is moved to the second setting position, shelters from described
Air-guiding aisle 300 and the picking up signal window 100, to realize the effect of dustproof and waterproof mist.Wherein, first setting
Position can be arbitrary the dust excluding plate 40 and not shelter from the air-guiding aisle 300 and the picking up signal window 100
Position, second setting position can be arbitrary the dust excluding plate 40 and shelter from the air-guiding aisle 300 and the letter
The position of number pick window 100.Optionally, the dust excluding plate 40, which can be set on the shell 10, corresponds to the picking up signal
The position of window 100.
Further, the dust excluding plate 40 is equipped with equal with the air-guiding aisle 300 and the picking up signal window 100
The air guide hole 400 of adaptation.When range finder module 20 works, the dust excluding plate 40 is moved to the first setting position so that described to lead
Air port 400 is connected with the air-guiding aisle 300 and the picking up signal window 100, is generated by the blower device 30
Air-flow the air curtain to circulate from inside to outside is formed in the shell 10 after the guiding of air-guiding aisle 300, to realize dustproof and waterproof
The effect of mist.When range finder module 20 is closed, the dust excluding plate 40 is moved to the second setting position so that the air guide hole 400 with
The air-guiding aisle 300 and the picking up signal window 100 are staggered, and shelter from the air-guiding aisle 300 and the letter
Number pick window 100, to realize the effect of dustproof and waterproof mist.Wherein, first setting position can be arbitrary described
Dust excluding plate 40 do not shelter from the air-guiding aisle 300 and the picking up signal window 100 and make the air guide hole 400 with
The position that the air-guiding aisle 300 and the picking up signal window 100 are connected, second setting position can be arbitrary
The dust excluding plate 40 shelter from the air-guiding aisle 300 and the picking up signal window 100 and make the air guide hole
400 positions being staggered with the air-guiding aisle 300 and the picking up signal window 100.Optionally, the dust excluding plate 40 can
To be set between the air-guiding aisle 300 and the picking up signal window 100.
In one embodiment, distance measuring sensor 1 provided in an embodiment of the present invention further includes for driving the dust excluding plate
The driving device of 40 movements.The driving device can drive the dust excluding plate 40 with the side of rotation, sliding or linear motion
Formula switches between first setting position and second setting position.It is described below two kinds of the driving device
Structure type, it should be understood that, the structure type of the driving device is not limited in be described below two kinds of structures
Form, any other can realize the driving dust excluding plate 40 between first setting position and second setting position
In the structure type of the driving device switched over should all belong to the scope of protection of the present invention.
It is shown in Figure 1, the first structure type of the driving device：The driving device includes driving motor 510
The driving motor is protruded from the driving end of the drive shaft 520 being arranged in the driving motor 510, the drive shaft 520
It 510 and is fixedly connected with the dust excluding plate 40.The driving motor 510 drives the dust excluding plate 40 by the drive shaft 520
Switch between first setting position and second setting position in a rotating manner.
Further, the driving device further includes the flange 530 coordinated with the drive shaft 520.The dust excluding plate 40
It is equipped with connecting hole 430, the driving end of the drive shaft 520 passes through the connecting hole 430 simultaneously from the side of the dust excluding plate 40
Be fixedly connected with the flange 530 positioned at 40 other side of the dust excluding plate, to keep the drive shaft 520 with it is described dust-proof
Plate 40 is fixedly connected.Optionally, the driving motor 510 is steering engine, can increase detection function, can more accurately drive
Dust excluding plate 40 moves.Wherein, second setting position can be the position where dust excluding plate 40 as shown in Figure 1.Described
One setting position can be turned counterclockwise from the position where dust excluding plate 40 as shown in Figure 1 around the axial of the connecting hole 430
After dynamic certain angle so that the air guide hole 400 is connected with the air-guiding aisle 300 and the picking up signal window 100
Position.
Second of structure type of the driving device：The driving device includes driving cylinder, the driving cylinder
Driving end is fixedly connected with the dust excluding plate 40.The driving cylinder drives the dust excluding plate 40 in a manner of linear motion in institute
It states and switches between the first setting position and second setting position.
In one embodiment, distance measuring sensor 1 provided in an embodiment of the present invention further includes driving device and prevents with described
The transmission device that dirt plate 40 connects, the driving device drive the dust excluding plate 40 to move by the transmission device.The drive
Dynamic device can drive the dust excluding plate 40 in a manner of rotation, sliding or linear motion in institute the transmission device
It states and is switched between the first setting position and second setting position.Five kinds of structure shapes of the transmission device are described below
Formula, it should be understood that, the structure type of the transmission device is not limited in be described below five kinds of structure types, appoints
What he, which can realize, drives the dust excluding plate 40 to be cut between first setting position and second setting position
In the structure type of the transmission device changed should all belong to the scope of protection of the present invention.
The first structure type of the transmission device：The transmission device includes belt and coordinates with the belt
Two belt pulleys.One of them described belt pulley is fixedly connected with the dust excluding plate 40, another belt pulley and the driving
Device is sequentially connected.The driving device drives pulley rotation connected to it, another belt is driven by the belt
Wheel rotation, and then two belt pulleys is made to be moved synchronously under the drive of the belt, to drive the dust excluding plate 40 to exist
Switch between first setting position or second setting position.
Second of structure type of the transmission device：The transmission device includes lead screw and coordinates with the lead screw
Lead screw sleeve, the lead screw sleeve are fixedly connected with the dust excluding plate 40.The driving device is connect with the screw rod transmission, is used
It is rotated in driving the lead screw.The driving device drives the lead screw rotation, drives the lead screw sleeve along the lead screw
Length direction moves, to realize that the lead screw sleeve drives the dust excluding plate 40 described first under the driving of the lead screw
Switch between setting position or second setting position.
The third structure type of the transmission device：The transmission device include worm gear and with the worm gear
Worm screw, the worm gear are fixedly connected with the dust excluding plate 40.The driving device is connect with the worm-drive, for driving
State worm screw rotation.The driving device drives the worm screw rotation, drives the worm gear to rotate, to realize the worm gear in institute
It states and the dust excluding plate 40 is driven to switch between first setting position or second setting position under the driving of worm screw.
4th kind of structure type of the transmission device：The transmission device includes two pitch wheels, wherein
One gear is fixedly connected with the dust excluding plate 40, another gear is fixedly connected with the drive shaft of the driving device.Its
In, the drive shaft driving of the driving device is secured to the gear rotation of connection, another is driven to connect with dust excluding plate 40
The gear rotation connect, to drive dust excluding plate 40 to switch between first setting position or second setting position.
5th kind of structure type of the transmission device：The transmission device includes rack and coordinates with the rack
Gear, the rack are fixedly connected with the dust excluding plate 40.The driving device is connect with the gear drive, for driving
State gear rotation.The driving device drives the gear rotation, drives the rack to move along its length, to realize
State rack drives the dust excluding plate 40 in first setting position or second setting position under the driving of the gear
Between switch.
In one embodiment, the dust excluding plate 40 is fan-shaped dust excluding plate.When the driving device drives the dust excluding plate
40 switch between first setting position and second setting position or driving dress in a rotating manner
It sets and drives the dust excluding plate 40 to be set in a rotating manner in first setting position and described second by the transmission device
Positioning set between when switching over, the rotational angle of dust excluding plate 40 can be within the scope of 10 degree to 60 degree, therefore by dust excluding plate 40
It is arranged to fan-shaped dust excluding plate, dust excluding plate 40 may be implemented and installed in smaller space, can further saves ranging biography
The volume size of sensor 1.Optionally, the dust excluding plate 40 is the dust excluding plate of acrylic material.
In one embodiment, the distance measuring sensor 1 of the embodiment of the present invention further includes for controlling the blower device 30
The control device of keying.The control device can coordinate with the dust excluding plate 40, no matter realizing that the range finder module 20 is to beat
Open state or closed state can realize distance measuring sensor 1 effect of dustproof and waterproof mist.
When the range finder module 20 is opened, the dust excluding plate 40 is moved to first setting position, and the control
Device controls the blower device 30 and opens.Dust excluding plate 40 does not shelter from the air-guiding aisle 300 and the picking up signal window
Mouth 100, the air-flow that 30 air blast of the blower device generates can be formed in shell 10 by interior after the guiding of air-guiding aisle 300
The air curtain to circulate outward, to realize the effect of dustproof and waterproof mist.When the range finder module 20 is closed, the dust excluding plate 40 moves
It moves to second setting position, and the control device controls the blower device 30 and closes.The blower device 30 stops
Air blast generates air-flow, and the air-guiding aisle 300 and the picking up signal window 100 are sheltered from by dust excluding plate 40, to real
The effect of existing dustproof and waterproof mist.
In one embodiment, the distance measuring sensor 1 of the embodiment of the present invention further includes for driving the dust excluding plate 40 to move
Dynamic driving device.The control device can coordinate with the driving device, no matter realizing that the range finder module 20 is to open
State or closed state can realize distance measuring sensor 1 effect of dustproof and waterproof mist.
When the range finder module 20 is opened, the driving device drives the dust excluding plate 40 to be moved to first setting
Position, and the control device controls the blower device 30 and opens.So that dust excluding plate 40 does not shelter from the air-guiding aisle 300
And the picking up signal window 100, the air-flow that 30 air blast of the blower device generates can be after the guiding of air-guiding aisle 300
The air curtain to circulate from inside to outside is formed in shell 10, to realize the effect of dustproof and waterproof mist.When the range finder module 20 closes
When closing, the driving device drives the dust excluding plate 40 to be moved to second setting position, and the control device controls institute
State the closing of blower device 30.The blower device 30 stops air blast and generates air-flow, and it is logical to shelter from the wind-guiding by dust excluding plate 40
Road 300 and the picking up signal window 100, to realize the effect of dustproof and waterproof mist.
In one embodiment, the first sealing ring is equipped between the dust excluding plate 40 and the picking up signal window 100
410, the second sealing ring 420 is equipped between the dust excluding plate 40 and the air-guiding aisle 300.The blower device 30 can be roused
The air-flow that wind the generates air curtain that formation is circulated from inside to outside in shell 10 after the guiding of air-guiding aisle 300 plays preferably close
Effect is sealed, and then reaches better dustproof and waterproof fog effect.
In one embodiment, the distance measuring sensor 1 of the embodiment of the present invention further includes for being carried out to the dust excluding plate 40
The cleaning device of cleaning, the cleaning device are set on the dust excluding plate 40.When the range finder module 20 is closed, by anti-
Dirt plate 40 shelters from the air-guiding aisle 300 and the picking up signal window 100 to realize the effect of dustproof and waterproof mist, dust-proof
Some dust or water mist can be adsorbed on plate 40, usage time is long to be may drop out in shell 10, therefore by described clear
Clean device cleans dust excluding plate 40, it is ensured that the cleanliness factor of dust excluding plate 40.Optionally, the cleaning device includes hairbrush
Structure.
In one embodiment, the shell 10 includes the first cavity and the second cavity detached with partition board, the ranging
Module 20 is set in first cavity, and the blower device 30 is set in second cavity.Optionally, the driving
Device is arranged in first cavity, and the dust excluding plate 40 is arranged in second cavity to match with the blower device 30
It closes.
Further, it further includes the partition board being set in the shell 10 that the present invention, which is the distance measuring sensor 1 of embodiment,
110, the shell 10 is separated into first cavity and second cavity by the partition board 110.Optionally, referring to Fig. 1 institutes
Show, through-hole 111 is offered on the partition board 110, and the driving device includes drive shaft 520, and the drive shaft 520 passes through described
Through-hole 111 keeps being sequentially connected with the baffle 40.
In one embodiment, the shell 10 includes the first shell cover 101, the second shell cover 102 and is connected to described the
Middle casing 103 between one shell cover 101 and second shell cover 102, first shell cover 101 are equipped with the picking up signal
The middle casing 103 is separated into first cavity and second cavity by window 100, the partition board 110.When the survey
Away from module 20 and the driving device in first cavity and the blower device 30 and the dust excluding plate 40 are described
After being respectively mounted in place in second cavity, first shell cover 101 and second shell cover 102 pass through the (institute in figure of fastener 104
It is shown as screw) it is installed on the middle casing 103, to complete the installation of distance measuring sensor 1.
The embodiment of the present invention also provides a kind of plant protection drone, including fuselage, the horn that is connect with the fuselage and sets
The Power Component on the horn is set, the plant protection drone further includes distance measuring sensor 1 as described above, and the ranging passes
Sensor 1 is installed on the fuselage and/or the horn.Optionally, the plant protection drone is multi-rotor aerocraft.It needs
It is bright, in the above-described embodiment and examples the description as described in the distance measuring sensor 1 be equally applicable to the present invention plant protection
Unmanned plane.
By above-described embodiment it is found that the plant protection drone of the present invention, blower device air blast in shell of distance measuring sensor
Air-flow is formed, then guides the air-flow that shell is discharged from picking up signal window by the air-guiding aisle being arranged on blower device
Body can effectively prevent external dust or water mist to enter right in shell to form the air curtain to circulate outward in shell
The test scope and test effect of range finder module cause image and interference, ensure that the test accuracy of distance measuring sensor, avoid
Plant protection drone due to topography variation or relief there is a phenomenon where respraying, drain spray or fall high, effectively improve plant protection drone
Operation effectiveness.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
Method and apparatus are provided for the embodiments of the invention above to be described in detail, it is used herein specifically a
Principle and implementation of the present invention are described for example, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion the content of the present specification should not be construed as limiting the invention.
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose the patent document in the presence of anyone replicates the proce's-verbal of Patent＆Trademark Office and archives or should
Patent discloses.
Claims (55)
1. a kind of distance measuring sensor, which is characterized in that including：Shell, the range finder module being set in the shell and setting
Blower device in the shell；The shell is equipped with the picking up signal window for range finder module detection signal,
The blower device is equipped with the air-guiding aisle being connected with the picking up signal window, and the air-guiding aisle guides the air blast
The shell is discharged from the picking up signal window in the air-flow that device generates in the shell.
2. distance measuring sensor according to claim 1, which is characterized in that the blower device includes fan, the fan
For generating the air-flow.
3. distance measuring sensor according to claim 2, which is characterized in that the blower device further includes connecting with the fan
The air guide member connect, the air-guiding aisle are set on the air guide member.
4. distance measuring sensor according to claim 3, which is characterized in that the air-guiding aisle includes being set to the air guide member
On air inlet and picking up signal through-hole, the air inlet be oppositely arranged with the fan, the picking up signal through-hole and institute
Picking up signal window is stated to be oppositely arranged；
Wherein, the air inlet is connected with the picking up signal through-hole, and the extending direction of the air inlet and the letter
Number pickup through-hole extending direction tilt intersection.
5. distance measuring sensor according to claim 4, which is characterized in that the air guide member is equipped with and the air-guiding aisle
The mounting groove being connected, the fan are installed in the mounting groove, and the air inlet is opened in the bottom of the mounting groove.
6. distance measuring sensor according to claim 4, which is characterized in that the picking up signal through-hole and the picking up signal
Window is coaxially disposed.
7. distance measuring sensor according to claim 2, which is characterized in that the blower device further includes to the wind
The pinboard of power supply is fanned, the pinboard is connected on the fan.
8. distance measuring sensor according to claim 1, which is characterized in that further include being movably set in the shell to prevent
Dirt plate, the dust excluding plate is between the air-guiding aisle and the picking up signal window, and the dust excluding plate is equipped with and institute
State the air guide hole that air-guiding aisle and the picking up signal window are adapted to；
When the dust excluding plate is moved to the first setting position, the air guide hole and the air-guiding aisle and the picking up signal window
It is connected；
When the dust excluding plate is moved to the second setting position, the air-guiding aisle and the picking up signal window can be blocked.
9. distance measuring sensor according to claim 8, which is characterized in that further include for driving the dust excluding plate to move
Driving device.
10. distance measuring sensor according to claim 9, which is characterized in that the driving device includes driving motor and wears
Drive shaft in the driving motor, the driving end of the drive shaft protrude from the driving motor and with the dust excluding plate
It is fixedly connected；The driving motor drives the dust excluding plate to turn to first setting position or described by the drive shaft
Second setting position.
11. distance measuring sensor according to claim 10, which is characterized in that the driving device further includes and the driving
The flange of axis cooperation；The dust excluding plate is equipped with connecting hole, and the driving end of the drive shaft is passed through from the side of the dust excluding plate
The connecting hole is simultaneously fixedly connected with the flange positioned at the dust excluding plate other side.
12. distance measuring sensor according to claim 10, which is characterized in that the driving motor is steering engine.
13. distance measuring sensor according to claim 9, which is characterized in that the driving device includes driving cylinder, described
The driving end of driving cylinder is fixedly connected with the dust excluding plate；The driving cylinder drives the dust excluding plate to be moved to described first
Setting position or second setting position.
14. distance measuring sensor according to claim 8, which is characterized in that further include driving device and with the dust excluding plate
The transmission device of connection, the driving device drive the dust excluding plate to move by the transmission device.
15. distance measuring sensor according to claim 14, which is characterized in that the transmission device include belt and with institute
State two belt pulleys of belt cooperation；
One of them described belt pulley is fixedly connected with the dust excluding plate, another belt pulley connects with driving device transmission
It connects；Two belt pulleys move synchronously under the drive of the belt, to drive the dust excluding plate to be moved to described first
Setting position or second setting position.
16. distance measuring sensor according to claim 14, which is characterized in that the transmission device include lead screw and with institute
The lead screw sleeve of lead screw cooperation is stated, the lead screw sleeve is fixedly connected with the dust excluding plate；The driving device and the lead screw
It is sequentially connected, for driving the lead screw to rotate；The lead screw sleeve drives the dust excluding plate to move under the driving of the lead screw
Move first setting position or second setting position.
17. distance measuring sensor according to claim 14, which is characterized in that the transmission device include worm gear and with institute
The worm screw of worm gear is stated, the worm gear is fixedly connected with the dust excluding plate；The driving device is connect with the worm-drive,
For driving the worm screw to rotate；The worm gear drives the dust excluding plate to be moved to described first under the driving of the worm screw and sets
Positioning is set or second setting position.
18. distance measuring sensor according to claim 14, which is characterized in that the transmission device includes two intermeshings
Gear, one of gear is fixedly connected with the dust excluding plate, another gear and the drive shaft of the driving device are solid
Fixed connection；
Wherein, the drive shaft driving of the driving device is secured to the gear rotation of connection.
19. distance measuring sensor according to claim 8, which is characterized in that the dust excluding plate is fan-shaped dust excluding plate.
20. distance measuring sensor according to claim 8, which is characterized in that further include being opened for controlling the blower device
The control device closed；When the range finder module is opened, the dust excluding plate is moved to first setting position, and the control
Device controls the blower device and opens；When the range finder module is closed, the dust excluding plate is moved to second setting position
It sets, and the control device controls the blower device and closes.
21. distance measuring sensor according to claim 20, which is characterized in that further include for driving the dust excluding plate to move
Driving device；When the range finder module is opened, the driving device drives the dust excluding plate to be moved to first setting
Position；When the range finder module is closed, the driving device drives the dust excluding plate to be moved to second setting position.
22. distance measuring sensor according to claim 8, which is characterized in that the dust excluding plate and the picking up signal window
Between be equipped with the first sealing ring, between the dust excluding plate and the air-guiding aisle be equipped with the second sealing ring.
23. distance measuring sensor according to claim 8, which is characterized in that further include clear for being carried out to the dust excluding plate
The cleaning device swept, the cleaning device are set on the dust excluding plate.
24. distance measuring sensor according to claim 23, which is characterized in that the cleaning device includes hair brush structure.
25. distance measuring sensor according to claim 1, which is characterized in that the shell includes first detached with partition board
Cavity and the second cavity, the range finder module are set in first cavity, and the blower device is set to second chamber
In vivo.
26. distance measuring sensor according to claim 25, which is characterized in that further include be set in the shell every
The shell is separated into first cavity and second cavity by plate, the partition board.
27. distance measuring sensor according to claim 1, which is characterized in that the shell includes the first shell cover, the second shell cover
And it is connected to the middle casing between first shell cover and second shell cover, the first shell is covered equipped with the signal
Pick window.
28. a kind of plant protection drone, including fuselage, the horn being connect with the fuselage and the power being arranged on the horn
Component, which is characterized in that the plant protection drone further includes distance measuring sensor, and the distance measuring sensor is installed on the fuselage
And/or the horn；
Wherein, the distance measuring sensor includes：Shell, the range finder module being set in the shell and it is set to the shell
Internal blower device；The shell is equipped with the picking up signal window for range finder module detection signal, the air blast
Device is equipped with the air-guiding aisle being connected with the picking up signal window, and the air-guiding aisle guides the blower device in institute
It states the air-flow generated in shell and the shell is discharged from the picking up signal window.
29. distance measuring sensor according to claim 28, which is characterized in that the blower device includes fan, the wind
Fan is for generating the air-flow.
30. distance measuring sensor according to claim 29, which is characterized in that the blower device further includes and the fan
The air guide member of connection, the air-guiding aisle are set on the air guide member.
31. distance measuring sensor according to claim 30, which is characterized in that the air-guiding aisle includes being set to the wind-guiding
Air inlet on part and picking up signal through-hole, the air inlet are oppositely arranged with the fan, the picking up signal through-hole with
The picking up signal window is oppositely arranged；
Wherein, the air inlet is connected with the picking up signal through-hole, and the extending direction of the air inlet and the letter
Number pickup through-hole extending direction tilt intersection.
32. distance measuring sensor according to claim 31, which is characterized in that the air guide member is equipped with logical with the wind-guiding
The mounting groove that road is connected, the fan are installed in the mounting groove, and the air inlet is opened in the bottom of the mounting groove.
33. distance measuring sensor according to claim 31, which is characterized in that the picking up signal through-hole is picked up with the signal
Window is taken to be coaxially disposed.
34. distance measuring sensor according to claim 29, which is characterized in that the blower device further includes to described
The pinboard of fan power supply, the pinboard are connected on the fan.
35. distance measuring sensor according to claim 28, which is characterized in that further include being movably set in the shell
Dust excluding plate, the dust excluding plate between the air-guiding aisle and the picking up signal window, and the dust excluding plate be equipped with
The air guide hole that the air-guiding aisle and the picking up signal window are adapted to；
When the dust excluding plate is moved to the first setting position, the air guide hole and the air-guiding aisle and the picking up signal window
It is connected；
When the dust excluding plate is moved to the second setting position, the air-guiding aisle and the picking up signal window can be blocked.
36. distance measuring sensor according to claim 35, which is characterized in that further include for driving the dust excluding plate to move
Driving device.
37. distance measuring sensor according to claim 36, which is characterized in that the driving device includes driving motor and wears
Drive shaft in the driving motor, the driving end of the drive shaft protrude from the driving motor and with the dust excluding plate
It is fixedly connected；The driving motor drives the dust excluding plate to turn to first setting position or described by the drive shaft
Second setting position.
38. according to the distance measuring sensor described in claim 37, which is characterized in that the driving device further includes and the driving
The flange of axis cooperation；The dust excluding plate is equipped with connecting hole, and the driving end of the drive shaft is passed through from the side of the dust excluding plate
The connecting hole is simultaneously fixedly connected with the flange positioned at the dust excluding plate other side.
39. according to the distance measuring sensor described in claim 37, which is characterized in that the driving motor is steering engine.
40. distance measuring sensor according to claim 36, which is characterized in that the driving device includes driving cylinder, institute
The driving end for stating driving cylinder is fixedly connected with the dust excluding plate；The driving cylinder drives the dust excluding plate to be moved to described the
One setting position or second setting position.
41. distance measuring sensor according to claim 35, which is characterized in that further include driving device and with the dust excluding plate
The transmission device of connection, the driving device drive the dust excluding plate to move by the transmission device.
42. distance measuring sensor according to claim 41, which is characterized in that the transmission device include belt and with institute
State two belt pulleys of belt cooperation；
One of them described belt pulley is fixedly connected with the dust excluding plate, another belt pulley connects with driving device transmission
It connects；Two belt pulleys move synchronously under the drive of the belt, to drive the dust excluding plate to be moved to described first
Setting position or second setting position.
43. distance measuring sensor according to claim 41, which is characterized in that the transmission device include lead screw and with institute
The lead screw sleeve of lead screw cooperation is stated, the lead screw sleeve is fixedly connected with the dust excluding plate；The driving device and the lead screw
It is sequentially connected, for driving the lead screw to rotate；The lead screw sleeve drives the dust excluding plate to move under the driving of the lead screw
Move first setting position or second setting position.
44. distance measuring sensor according to claim 41, which is characterized in that the transmission device include worm gear and with institute
The worm screw of worm gear is stated, the worm gear is fixedly connected with the dust excluding plate；The driving device is connect with the worm-drive,
For driving the worm screw to rotate；The worm gear drives the dust excluding plate to be moved to described first under the driving of the worm screw and sets
Positioning is set or second setting position.
45. distance measuring sensor according to claim 41, which is characterized in that the transmission device includes two intermeshings
Gear, one of gear is fixedly connected with the dust excluding plate, another gear and the drive shaft of the driving device are solid
Fixed connection；
Wherein, the drive shaft driving of the driving device is secured to the gear rotation of connection.
46. distance measuring sensor according to claim 35, which is characterized in that the dust excluding plate is fan-shaped dust excluding plate.
47. distance measuring sensor according to claim 35, which is characterized in that further include being opened for controlling the blower device
The control device closed；When the range finder module is opened, the dust excluding plate is moved to first setting position, and the control
Device controls the blower device and opens；When the range finder module is closed, the dust excluding plate is moved to second setting position
It sets, and the control device controls the blower device and closes.
48. distance measuring sensor according to claim 47, which is characterized in that further include for driving the dust excluding plate to move
Driving device；When the range finder module is opened, the driving device drives the dust excluding plate to be moved to first setting
Position；When the range finder module is closed, the driving device drives the dust excluding plate to be moved to second setting position.
49. distance measuring sensor according to claim 35, which is characterized in that the dust excluding plate and the picking up signal window
Between be equipped with the first sealing ring, between the dust excluding plate and the air-guiding aisle be equipped with the second sealing ring.
50. distance measuring sensor according to claim 35, which is characterized in that further include clear for being carried out to the dust excluding plate
The cleaning device swept, the cleaning device are set on the dust excluding plate.
51. distance measuring sensor according to claim 50, which is characterized in that the cleaning device includes hair brush structure.
52. distance measuring sensor according to claim 28, which is characterized in that the shell includes first detached with partition board
Cavity and the second cavity, the range finder module are set in first cavity, and the blower device is set to second chamber
In vivo.
53. distance measuring sensor according to claim 52, which is characterized in that further include be set in the shell every
The shell is separated into first cavity and second cavity by plate, the partition board.
54. distance measuring sensor according to claim 28, which is characterized in that the shell includes the first shell cover, second shell
The middle casing between first shell cover and second shell cover is covered and is connected to, the first shell is covered equipped with the letter
Number pick window.
55. plant protection drone according to claim 28, which is characterized in that the plant protection drone is more rotor flyings
Device.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/076889 WO2018165937A1 (en) | 2017-03-16 | 2017-03-16 | Distance-measuring sensor and plant protection unmanned aerial vehicle having distance-measuring sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108513617A true CN108513617A (en) | 2018-09-07 |
| CN108513617B CN108513617B (en) | 2022-06-24 |
Family
ID=63374689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780004710.3A Expired - Fee Related CN108513617B (en) | 2017-03-16 | 2017-03-16 | Distance measuring sensor and plant protection unmanned aerial vehicle with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108513617B (en) |
| WO (1) | WO2018165937A1 (en) |
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| WO2020107581A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Movable platform and steering engine thereof |
| CN113168776A (en) * | 2019-10-09 | 2021-07-23 | 乐天集团股份有限公司 | Processing system, unmanned aerial vehicle and flight path determination method |
| CN112986960A (en) * | 2021-04-01 | 2021-06-18 | 江苏师范大学 | Laser ranging sensor with dustproof mechanism for coal bunker |
| WO2022266869A1 (en) * | 2021-06-22 | 2022-12-29 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
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| Publication number | Publication date |
|---|---|
| WO2018165937A1 (en) | 2018-09-20 |
| CN108513617B (en) | 2022-06-24 |
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