CN113619802A

CN113619802A - Four-rotor unmanned aerial vehicle under multi-constraint condition

Info

Publication number: CN113619802A
Application number: CN202111120231.2A
Authority: CN
Inventors: 夏昊天; 严婷婷; 许鹏鹏; 季肖枫; 杨俊�; 杜虹; 段健; 杨硕; 范星亮; 曾庆雨; 杨照; 杨力涛
Original assignee: Jiangsu Vocational and Technical Shipping College
Current assignee: Jiangsu Vocational and Technical Shipping College
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2021-11-09

Abstract

The invention discloses a quad-rotor unmanned aerial vehicle under a multi-constraint condition, which comprises a vehicle body, wherein two sides of the bottom surface of the vehicle body are fixedly connected with a bracket, the bottom surface of the vehicle body is fixedly connected with a camera module, the camera module comprises a shell, the top surface of the shell is fixedly connected with the bottom surface of the vehicle body, the top surface in the shell is fixedly connected with a fixed frame, and the top of the outer side wall of the fixed frame is rotatably connected with a toothed ring. The unmanned aerial vehicle flight control system has the advantages that one end of the round rod is connected with the inner side face of the guide rail in a sliding mode, the driving mechanism can drive the guide rail to rotate, the round rod can drive the camera shooting mechanism to move downwards under the action of the guide rail, the bottom of the camera shooting mechanism extends out of the position between the two supports, the supports cannot block shooting of the camera shooting mechanism, the unmanned aerial vehicle can fly forwards along a flight path, then the two sides of the flight path are shot by adjusting the shooting angle of the camera shooting mechanism, and the unmanned aerial vehicle flight control system is simple and convenient to use.

Description

Four-rotor unmanned aerial vehicle under multi-constraint condition

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a quad-rotor unmanned aerial vehicle under a multi-constraint condition.

Background

Unmanned aerial vehicles are unmanned aerial vehicles for short, and are unmanned aerial vehicles operated by radio remote control equipment and self-contained program control devices. In actual use, the quad-rotor unmanned aerial vehicle has the advantages of quick maneuvering response, optimal reconnaissance and monitoring visual angle, low cost and the like, is widely applied to tasks such as information collection, patrol, search and monitoring and the like, and when the quad-rotor unmanned aerial vehicle is used, the size, the weight, the flying height, the flying speed and the like of the unmanned aerial vehicle need to be considered, and meanwhile, natural environment factors such as wind speed and the like need to be considered, so that the unmanned aerial vehicle can smoothly execute the tasks such as information collection.

Four rotor unmanned aerial vehicle under current many constraint conditions are when using, in order to avoid unmanned aerial vehicle to stop when landing camera on the unmanned aerial vehicle to damage, can set up the camera between unmanned aerial vehicle's support usually, and the length of camera is less than the length of support, make the camera when towards the support like this, the support blocks the shooting angle of camera easily, thereby make the camera can only fly forward to unmanned aerial vehicle and shoot with the direction when flying backward, and when shooing unmanned aerial vehicle flight line one side, can only make unmanned aerial vehicle side fly, because become certain angle between unmanned aerial vehicle course and the camera, make unmanned aerial vehicle's control flight comparatively troublesome, it is comparatively inconvenient to use.

Disclosure of Invention

In order to overcome the technical problems, the invention aims to provide the quad-rotor unmanned aerial vehicle under the multi-constraint condition, one end of a round bar is connected with the inner side surface of a guide rail in a sliding mode, a driving mechanism can drive the guide rail to rotate, at the moment, the round bar can drive a camera shooting mechanism to move downwards under the action of the guide rail, the bottom of the camera shooting mechanism extends out of a position between two supports, therefore, the supports cannot block shooting of the camera shooting mechanism, the unmanned aerial vehicle can fly forwards along a route, then the two sides of the route are shot by adjusting the shooting angle of the camera shooting mechanism, the unmanned aerial vehicle is controlled to fly simply, and the use is convenient.

The purpose of the invention can be realized by the following technical scheme:

a four-rotor unmanned aerial vehicle under a multi-constraint condition comprises a body, wherein two sides of the bottom surface of the body are fixedly connected with a support, the bottom surface of the body is fixedly connected with a camera module, the camera module comprises a shell, the top surface of the shell is fixedly connected with the bottom surface of the body, the top surface in the shell is fixedly connected with a fixed frame, the top part of the outer side wall of the fixed frame is rotatably connected with a toothed ring, the top surface of the shell is fixedly connected with a driving mechanism which is in transmission connection with the toothed ring, the driving mechanism can drive the toothed ring to rotate, the bottom surface of the toothed ring is fixedly connected with four positioning blocks, the bottom surfaces of the four positioning blocks are fixedly connected with guide rails, the toothed ring can drive the guide rails to rotate through the positioning blocks, meanwhile, the positioning blocks can support the guide rails, the inner side surface of the fixed frame is slidably connected with sliding blocks, the bottom surface of the sliding blocks is provided with a camera mechanism, and the top surface of the sliding blocks is fixedly connected with two connecting blocks, the top of the side surfaces of the two connecting blocks is fixedly connected with a round bar, two sides of the side wall of the fixing frame are both provided with a sliding groove which is in sliding connection with the round bar, one end of the round bar penetrates through the sliding groove and is in sliding connection with the inner side surface of the guide rail, the driving mechanism can drive the guide rail to rotate through a toothed ring, when the guide rail rotates, the round bar can move downwards along the sliding groove under the action of the arc-shaped inner side surface at the bottom of the guide rail, so that the sliding block can drive the camera mechanism to move downwards, the bottom end of the camera mechanism can extend out between the two supports, therefore, the supports can not block the shooting of the camera mechanism, when the unmanned aerial vehicle flies along the air route, the shooting angle of the camera mechanism can be adjusted to shoot two sides of the air route, the flight control of the unmanned aerial vehicle is simpler, and when objects in different directions need to be shot, only the shooting angle is adjusted according to the picture without adjusting the flight direction, is convenient to use.

Further, the method comprises the following steps: the bottom of the inner side surface of the shell is rotatably connected with a shielding mechanism, the shielding mechanism comprises two shielding shells I which are in contact with each other, the tops of the two sides of the outer side wall of each shielding shell I are fixedly connected with rotating rods which are rotatably connected with the inner side wall of the shell, the sides of the rotating rods are fixedly sleeved with a gear I, the two sides of the inner side surface of the shell are fixedly connected with transmission mechanisms which are in transmission connection with two adjacent gears, the transmission mechanisms are in transmission connection with guide rails, when the guide rails rotate, the gear I can be rotated through the transmission mechanisms, so that the two shielding shells I are opened or closed, one side of the two shielding shells I, which is opposite to the outer side wall, is provided with a shielding shell II, the two ends of the shielding shell II are rotatably connected with the adjacent rotating rods, the shielding shell I and the shielding shell II can protect the camera shooting mechanism, and the unmanned aerial vehicle is prevented from stopping on the ground with uneven bottom surfaces in mountainous areas and the like, the convex part in ground collides with the mechanism of making a video recording and causes the mechanism of making a video recording to damage, can protect the mechanism of making a video recording simultaneously when unmanned aerial vehicle crashes, shelter from the arc type frame that first lateral wall bottom fixedly connected with of shell and adjacent two lateral wall contacts of sheltering from, when sheltering from shell one and opening, shelter from shell one and can drive through the arc type frame and shelter from two rotations of shell, make and shelter from shell two and open, the equal fixedly connected with in shell medial surface bottom both sides and adjacent two dogs that shelter from shell two lateral surface contacts, when sheltering from shell one and sheltering from shell two and closing, the dog can block the position that shelters from shell two, avoids sheltering from shell two and rotates downwards to make and shelter from shell one and shelter from shell two and stagger, make and shelter from shell one and shelter from shell two and block the shell bottom completely.

Further, the method comprises the following steps: the transmission mechanism comprises a connecting ring, the inner side surface of the connecting ring is fixedly connected with a round block which is in sliding connection with the inner side surface at the top end of the guide rail, the two sides of the outer side surface of the connecting ring are fixedly connected with transverse rods, one end of the bottom surface of each transverse rod, which is far away from the connecting ring, is fixedly connected with a rack, the rack is in meshing transmission with two adjacent gears, when the guide rail rotates, the round block can move downwards under the action of the arc-shaped inner side surface at the top of the guide rail, so that the connecting ring drives the rack to move downwards through the transverse rods, the rack can drive a rotating rod to rotate through a gear I, so that two shielding shells I rotate upwards in a reverse direction, the shielding shells I can drive a shielding shell II to rotate upwards through the arc-shaped frame, so that the shielding shells I and the shielding shells II are opened, then the arc-shaped inner side surface at the bottom of the guide rail can be in contact with the round rods, so that the camera shooting mechanism moves downwards, the operation of opening the shielding shells I and the shielding shells II is simpler, the rack is convenient to use, the side face of the rack is slidably connected with a limiting block fixedly connected with the inner side face of the shell, and the limiting block can limit the moving direction of the rack.

Further, the method comprises the following steps: shelter from the fixed block of the outer lateral wall bottom fixedly connected with of shell and the contact of arc frame medial surface, shelter from the shell one at two and surround the back, the arc frame can restrict the position of fixed block, avoids sheltering from two upwards rotations of shell, when unmanned aerial vehicle falls or transports like this, can guarantee to shelter from shell two and can not open convenient to use.

Further, the method comprises the following steps: the driving mechanism comprises a fixed shell, a motor is fixedly connected to the inner bottom surface of the fixed shell, the output end of the motor is connected with the top surface of the fixed shell in a rotating mode, a second gear is fixedly sleeved at the output end of the motor, a transmission rod is connected to the inner side surface of the fixed shell in a rotating mode, a third gear in meshing transmission with the second gear is fixedly sleeved on the side wall of the transmission rod, the third gear is in meshing transmission with a toothed ring, the motor can drive the second gear to rotate, and the second gear can drive the toothed ring to rotate through the third gear.

Further, the method comprises the following steps: the top of the outer side wall of the fixed frame is fixedly connected with a limiting ring which is rotatably connected with the inner side surface of the gear ring, and the limiting ring can limit the position of the gear ring.

Further, the method comprises the following steps: camera mechanism includes the fixing base, the fixing base top surface rotates with the sliding block to be connected, and fixing base lateral wall and fixed frame medial surface sliding connection, the inside power unit I that is provided with of sliding block, a power unit output is connected with the fixing base top surface transmission, fixing base bottom surface fixedly connected with connecting seat, the connecting seat medial surface rotates and is connected with the camera, the inside power unit two that is provided with of connecting seat, two outputs of power unit are connected with the transmission of camera lateral wall, can drive the fixing base through power unit one and rotate to drive the camera through power unit two and rotate, can adjust the shooting angle of camera like this, make the camera shoot one side of unmanned aerial vehicle route.

Further, the method comprises the following steps: the equal fixedly connected with in round bar both ends and fixed frame lateral wall sliding connection's spacing piece, spacing piece can restrict the moving direction of round bar.

The invention has the beneficial effects that:

1. one end of a round rod is connected with the inner side face of the guide rail in a sliding manner, a driving mechanism can drive a toothed ring to rotate, so that the guide rail rotates, when the guide rail rotates, the round rod can move downwards along a sliding groove under the action of the guide rail, so that a sliding block can drive a camera mechanism to move downwards, the bottom end of the camera mechanism can extend out of the space between two supports, when the camera mechanism faces one side of the support, the support cannot block the shooting of the camera mechanism, so that an unmanned aerial vehicle can directly fly forwards along a flight path, then the two sides of the flight path are shot by adjusting the shooting angle of the camera mechanism, the unmanned aerial vehicle is controlled to fly simply, and when objects in different directions need to be shot during flying, the shooting angle only needs to be adjusted according to a picture, the flying direction does not need to be adjusted, and the use is convenient;

2. through guide rail top medial surface and fritter sliding connection, can protect camera shooting mechanism after sheltering from first and shelter from second enclosure of shell, avoid unmanned aerial vehicle to stop to land when the rugged ground in bottom surfaces such as mountain area, the proud part in ground collides with camera shooting mechanism and causes camera shooting mechanism to damage, can protect camera shooting mechanism when unmanned aerial vehicle crashes simultaneously, and when the guide rail rotates, will follow guide rail top arc medial surface downstream with the fritter earlier, thereby make the rack move down, make shelter from first shell and shelter from second shell and open, then guide rail bottom arc medial surface just can contact with the round bar, make camera shooting mechanism move down, it is comparatively simple with the operation of sheltering from second shell to open and shelter from first shell, and convenient to use.

Drawings

The invention will be further described with reference to the accompanying drawings;

fig. 1 is a schematic view of the overall structure of a quad-rotor unmanned aerial vehicle under a multi-constraint condition according to the invention;

FIG. 2 is a front view of a camera module of the present invention;

FIG. 3 is a schematic view of the shielding mechanism and the transmission mechanism according to the present invention;

FIG. 4 is a schematic view of the bottom structure of the shielding mechanism in the present invention;

FIG. 5 is a schematic view of the structure of the fixing frame of the present invention;

FIG. 6 is an inside elevational view of the fixing frame of the present invention;

FIG. 7 is a schematic view showing an inner structure of a fixing frame according to the present invention;

FIG. 8 is a schematic view of a ring gear according to the present invention;

FIG. 9 is a schematic view of the drive mechanism of the present invention;

in the figure: 100. a body; 110. a support; 200. a camera module; 210. a housing; 211. a stopper; 220. a shielding mechanism; 221. a shielding shell I; 222. a shielding shell II; 223. rotating the rod; 224. a first gear; 225. a fixed block; 226. an arc-shaped frame; 230. a transmission mechanism; 231. a connecting ring; 232. a round block; 233. a rack; 234. a limiting block; 235. a cross bar; 240. a toothed ring; 241. a guide rail; 242. positioning blocks; 250. a fixing frame; 251. a sliding groove; 252. a limiting ring; 260. a drive mechanism; 261. a stationary case; 262. a motor; 263. a second gear; 264. a third gear; 265. a transmission rod; 270. a camera mechanism; 271. a fixed seat; 272. a connecting seat; 273. a camera; 280. a slider; 281. connecting blocks; 282. a round bar; 283. a limiting sheet.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-9, a quad-rotor unmanned aerial vehicle under multiple constraint conditions includes a body 100, two sides of a bottom surface of the body 100 are fixedly connected with a bracket 110, a camera module 200 is fixedly connected to the bottom surface of the body 100, the camera module 200 includes a housing 210, a top surface of the housing 210 is fixedly connected to the bottom surface of the body 100, a fixing frame 250 is fixedly connected to an inner top surface of the housing 210, a toothed ring 240 is rotatably connected to a top surface of an outer side wall of the fixing frame 250, a driving mechanism 260 in transmission connection with the toothed ring 240 is fixedly connected to the top surface of the housing 210, the driving mechanism 260 can drive the toothed ring 240 to rotate, four positioning blocks 242 are fixedly connected to a bottom surface of the toothed ring 240, a guide rail 241 can be driven by the toothed ring 240 through the positioning blocks 242 to rotate, the positioning blocks 242 can support the guide rail 241, a sliding block 280 is slidably connected to an inner side surface of the fixing frame 250, and the sliding block 280 is provided with a camera mechanism 270, the top surface of the sliding block 280 is fixedly connected with two connecting blocks 281, the top parts of the side surfaces of the two connecting blocks 281 are fixedly connected with round rods 282, the two sides of the side wall of the fixing frame 250 are both provided with sliding grooves 251 which are in sliding connection with the round rods 282, one end of each round rod 282 penetrates through the sliding groove 251 to be in sliding connection with the inner side surface of each guide rail 241, the driving mechanism 260 can drive the guide rails 241 to rotate through the toothed ring 240, when the guide rails 241 rotate, the round rods 282 can move downwards along the sliding grooves 251 under the action of the arc-shaped inner side surfaces at the bottom of the guide rails 241, so that the sliding blocks 280 can drive the camera shooting mechanism 270 to move downwards, the bottom end of the camera shooting mechanism 270 can extend out of the space between the two supports 110, so that the supports 110 cannot block the camera shooting mechanism 270, when the unmanned aerial vehicle flies along the flight path, the shooting angle of the camera shooting mechanism 270 can be adjusted to shoot the two sides of the flight path, the unmanned aerial vehicle can be controlled to fly simply, and when flying, when objects in different directions need to be shot, the shooting angle is adjusted only according to the picture, the flying direction does not need to be adjusted, and the use is convenient.

The bottom of the inner side surface of the shell 210 is rotatably connected with a shielding mechanism 220, the shielding mechanism 220 comprises two shielding shells I221 which are in contact with each other, the tops of the two sides of the outer side wall of each shielding shell I221 are fixedly connected with rotating rods 223 which are rotatably connected with the inner side wall of the shell 210, the sides of the rotating rods 223 are fixedly connected with gear I224, the two sides of the inner side surface of the shell 210 are fixedly connected with transmission mechanisms 230 which are in transmission connection with the adjacent gear I224, the transmission mechanisms 230 are in transmission connection with guide rails 241, when the guide rails 241 rotate, the gear I224 can rotate through the transmission mechanisms 230, so that the two shielding shells I221 are opened or closed, one sides of the outer side walls of the two shielding shells I221, which are opposite to each other, are respectively provided with a shielding shell II 222, the two ends of the shielding shells II 222 are rotatably connected with the adjacent rotating rods 223, the shielding shells I221 and the shielding shells II 222 can protect the camera shooting mechanism 270, and prevent the unmanned aerial vehicle from stopping on rugged ground with the bottom surfaces such as mountainous areas, the convex part on ground collides with the camera shooting mechanism 270 to cause the damage of the camera shooting mechanism 270, meanwhile, the camera shooting mechanism 270 can be protected when the unmanned aerial vehicle crashes, the bottom of the outer side wall of the first shielding shell 221 is fixedly connected with the arc-shaped frame 226 which is in contact with the outer side wall of the adjacent second shielding shell 222, when the first shielding shell 221 is opened, the first shielding shell 221 can drive the second shielding shell 222 to rotate through the arc-shaped frame 226, so that the second shielding shell 222 is opened, two side faces of the bottom of the inner side face of the shell 210 are fixedly connected with the two stop blocks 211 which are in contact with the side faces of the adjacent second shielding shell 222, when the first shielding shell 221 is closed with the second shielding shell 222, the stop blocks the position of the second shielding shell 222 by the stop blocks, the second shielding shell 222 is prevented from rotating downwards, so that the first shielding shell 221 is staggered with the second shielding shell 222, and the first shielding shell 221 and the second shielding shell 222 completely block the bottom of the shell 210.

The transmission mechanism 230 comprises a connection ring 231, the inner side surface of the connection ring 231 is fixedly connected with a round block 232 which is in sliding connection with the inner side surface of the top end of the guide rail 241, the two sides of the outer side surface of the connection ring 231 are fixedly connected with a cross rod 235, one end of the bottom surface of the cross rod 235, which is far away from the connection ring 231, is fixedly connected with a rack 233, the rack 233 is in meshing transmission with two adjacent first gears 224, when the guide rail 241 rotates, the round block 232 can move downwards under the action of the arc-shaped inner side surface of the top of the guide rail 241, so that the connection ring 231 can drive the rack 233 to move downwards through the cross rod 235, the rack 233 can drive the rotating rod 223 to rotate through the first gear 224, so that the two shielding shells 221 can rotate upwards in opposite directions, the shielding shells 221 can drive the shielding shells second 222 to rotate upwards through the arc-shaped frames 226, so that the shielding shells 221 and the shielding second shells 222 are opened, and then the arc-shaped inner side surface of the bottom of the guide rail 241 can be in contact with the round rod 282, the camera shooting mechanism 270 is moved downwards, the operation of opening the first shielding shell 221 and the second shielding shell 222 is simple, the use is convenient, the side surface of the rack 233 is slidably connected with the limiting block 234 fixedly connected with the inner side surface of the shell 210, and the limiting block 234 can limit the moving direction of the rack 233. Hide two 222 lateral wall bottom fixedly connected with of shell and the fixed block 225 of the medial surface contact of arc frame 226, after two hide shell 221 surround, arc frame 226 can restrict the position of fixed block 225, avoid hiding two 222 upwards rotations of shell, when unmanned aerial vehicle falls or transports, can guarantee to hide two 222 of shell and can not open convenient to use like this.

The driving mechanism 260 comprises a fixed shell 261, a motor 262 is fixedly connected to the bottom surface in the fixed shell 261, the output end of the motor 262 is rotatably connected to the top surface of the fixed shell 261, a second gear 263 is fixedly sleeved on the output end of the motor 262, a transmission rod 265 is rotatably connected to the inner side surface of the fixed shell 261, a third gear 264 in meshing transmission with the second gear 263 is fixedly sleeved on the side wall of the transmission rod 265, the third gear 264 is in meshing transmission with the toothed ring 240, the motor 262 can drive the second gear 263 to rotate, and the second gear 263 can drive the toothed ring 240 to rotate through the third gear 264. The top of the outer side wall of the fixing frame 250 is fixedly connected with a limiting ring 252 which is rotatably connected with the inner side surface of the gear ring 240, and the position of the gear ring 240 can be limited by the limiting ring 252.

The camera shooting mechanism 270 comprises a fixed seat 271, the top surface of the fixed seat 271 is rotatably connected with a sliding block 280, the side wall of the fixed seat 271 is connected with the inner side surface of the fixed frame 250 in a sliding way, the first power mechanism is arranged in the sliding block 280, one output end of the first power mechanism is in transmission connection with the top surface of the fixed seat 271, the bottom surface of the fixed seat 271 is fixedly connected with the connecting seat 272, the inner side surface of the connecting seat 272 is in rotary connection with the camera 273, the second power mechanism is arranged in the connecting seat 272, the output end of the second power mechanism is in transmission connection with the side wall of the camera 273, wherein the first power structure and the second power structure are both common rotating motors in the prior art or mechanisms capable of realizing rotating effect, the fixing seat 271 can be driven to rotate by the power mechanism, the camera 273 can be driven to rotate by the power mechanism II, thus, the shooting angle of the camera 273 can be adjusted, so that the camera 273 shoots one side of the unmanned aerial vehicle route. Both ends of the round rod 282 are fixedly connected with a limiting piece 283 which is slidably connected with the outer side wall of the fixing frame 250, and the limiting piece 283 can limit the moving direction of the round rod 282.

The working principle is as follows: during the use, after taking off through remote controller control organism 100, can start through remote controller control motor 262, motor 262 can drive ring gear 240 through two gears 263 and three 264 of gear and rotate, ring gear 240 can drive guide rail 241 through locating piece 242 and rotate, when guide rail 241 rotates, under the effect of guide rail 241 top arc type medial surface, will make circle piece 232 move down, thereby make go-between 231 drive rack 233 through horizontal pole 235 and move down along stopper 234, rack 233 can drive dwang 223 through one gear 224 and rotate, thereby drive two and shelter from shell one 221 and upwards rotate back to back, when arc type frame 226 bottom medial surface with shelter from the contact of shell two 222, shelter from shell one 221 can drive and shelter from shell two 222 and upwards rotate through arc type frame 226, thereby open and shelter from shell one 221 and shelter from shell two 222.

When the round block 232 moves downwards along the arc-shaped inner side surface at the top of the guide rail 241, the round rod 282 will always contact with the inner side surface parallel to the horizontal plane in the middle of the guide rail 241, so that the round rod 282 will not move downwards when the guide rail 241 rotates, after the first shielding shell 221 and the second shielding shell 222 are completely opened, the horizontal inner side surface in the middle of the guide rail 241 will contact with the round block 232, at this time, the guide rail 241 will not drive the round block 232 to move downwards when continuing to rotate, and the height of the round block 232 remains unchanged, so that the first shielding shell 221 and the second shielding shell 222 are kept in an opened state, and at this time, the round rod 282 will contact with the arc-shaped inner side surface at the bottom of the guide rail 241, when the guide rail 241 continues to rotate, the round rod 282 can move downwards along the sliding groove 251, the round rod 282 can drive the sliding block 280 to move downwards through the connecting block 281, and the sliding block 280 can drive the camera shooting mechanism 270 to move downwards, the lens at the bottom of the camera 273 extends between the two holders 110.

Mechanism 270 descends and accomplishes the back, can shoot through camera 273, can drive fixing base 271 through power unit simultaneously and rotate to drive camera 273 through power unit two and rotate, can adjust the shooting angle of camera 273 like this, make camera 273 shoot one side of unmanned aerial vehicle airline.

After shooting, before stopping and descending the unmanned aerial vehicle, the motor 262 can be started, the motor 262 drives the toothed ring 240 to reversely rotate through the second gear 263 and the third gear 264, so that the round rod 282 can move upwards under the action of the arc-shaped inner side surface at the bottom of the guide rail 241, the camera shooting mechanism 270 is driven to move into the shell 210, then the round rod 282 can contact with the horizontal inner side surface at the middle part of the guide rail 241, the round rod 282 keeps the position unchanged, the position of the camera shooting mechanism 270 keeps unchanged, at this time, the round block 232 can contact with the arc-shaped inner side surface at the top of the guide rail 241, when the guide rail 241 rotates, the round block 232 can move upwards along the arc-shaped inner side surface at the top of the guide rail 241, the rack 233 can move upwards along the limit block 234, the rack 233 can drive the first blocking shell 221 to rotate downwards through the first gear 224 and the rotating rod 223, and the second blocking shell 222 can move downwards under the action of self gravity, after the two shielding shells I221 surround, the motor 262 is stopped, and at this time, the shielding shell II 222 can be blocked by the blocking block 211, so that the shielding shell II 222 cannot rotate downwards, the shielding shell II 222 can block the camera 273 together with the shielding shell I221, and then the unmanned aerial vehicle can be stopped and descended.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is illustrative and explanatory only and is not intended to be exhaustive or to limit the invention to the precise embodiments described, and various modifications, additions, and substitutions may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the claims.

Claims

1. The utility model provides a four rotor unmanned aerial vehicle under many restraint conditions, a serial communication port, including organism (100), the equal fixedly connected with support (110) in organism (100) bottom surface both sides, organism (100) bottom surface fixedly connected with camera module (200), camera module (200) includes shell (210), shell (210) top surface and organism (100) bottom surface fixed connection, top surface fixedly connected with fixed frame (250) in shell (210), fixed frame (250) lateral wall top rotates and is connected with ring gear (240), shell (210) top surface fixedly connected with the actuating mechanism (260) of being connected with ring gear (240) transmission, ring gear (240) bottom surface fixedly connected with four locating pieces (242), four locating piece (242) bottom surface fixedly connected with guide rail (241), fixed frame (250) medial surface sliding connection has sliding block (280), the utility model discloses a camera shooting device, including slider (280), slider (280) bottom surface is provided with camera shooting mechanism (270), two connecting blocks (281) of slider (280) top surface fixedly connected with, two connecting block (281) side top fixedly connected with round bar (282), sliding tray (251) with round bar (282) sliding connection are all seted up to fixed frame (250) lateral wall both sides, and sliding tray (251) and guide rail (241) medial surface sliding connection are passed to round bar (282) one end.

2. The quad-rotor unmanned aerial vehicle under multiple constraint conditions, according to claim 1, wherein the shielding mechanism (220) is rotatably connected to the bottom of the inner side surface of the housing (210), the shielding mechanism (220) comprises two shielding shells I (221) which are in contact with each other, a rotating rod (223) rotatably connected to the inner side surface of the housing (210) is fixedly connected to the tops of both sides of the outer side surface of the shielding shells I (221), a gear I (224) is fixedly connected to the side surface of the rotating rod (223), a transmission mechanism (230) in transmission connection with two adjacent gears I (224) is fixedly connected to both sides of the inner side surface of the housing (210), the transmission mechanism (230) is in transmission connection with the guide rail (241), two shielding shells II (222) are arranged on the opposite sides of the outer side surfaces of the shielding shells I (221), and both ends of the shielding shells II (222) are rotatably connected to the adjacent rotating rods (223), the shielding shell I (221) outer side wall bottom is fixedly connected with an arc-shaped frame (226) which is in contact with the adjacent shielding shell II (222) outer side wall, and two stoppers (211) which are in contact with the adjacent shielding shell II (222) side face are fixedly connected to two sides of the inner side face bottom of the shell (210).

3. The quad-rotor unmanned aerial vehicle under the multi-constraint condition according to claim 2, wherein the transmission mechanism (230) comprises a connecting ring (231), a round block (232) is fixedly connected to the inner side surface of the top end of the guide rail (241) in a sliding manner, cross bars (235) are fixedly connected to both sides of the outer side surface of the connecting ring (231), racks (233) are fixedly connected to one ends of the bottom surfaces of the cross bars (235) which are away from the connecting ring (231), the racks (233) are meshed with two adjacent first gears (224) for transmission, and limit blocks (234) are fixedly connected to the inner side surface of the housing (210) in a sliding manner.

4. The quad-rotor unmanned aerial vehicle under multiple constraints of claim 2, wherein a fixing block (225) in contact with the inner side surface of the arc-shaped frame (226) is fixedly connected to the bottom of the outer side wall of the second shielding shell (222).

5. The quad-rotor unmanned aerial vehicle under multiple constraint conditions, according to claim 1, wherein the driving mechanism (260) comprises a fixed shell (261), a motor (262) is fixedly connected to the inner bottom surface of the fixed shell (261), the output end of the motor (262) is rotatably connected to the top surface of the fixed shell (261), a second gear (263) is fixedly sleeved on the output end of the motor (262), a transmission rod (265) is rotatably connected to the inner side surface of the fixed shell (261), a third gear (264) in meshing transmission with the second gear (263) is fixedly sleeved on the side wall of the transmission rod (265), and the third gear (264) is in meshing transmission with the toothed ring (240).

6. The quad-rotor unmanned aerial vehicle under multiple constraints of claim 1, wherein a limit ring (252) rotatably connected with the inner side surface of the gear ring (240) is fixedly connected to the top of the outer side wall of the fixed frame (250).

7. The quad-rotor unmanned aerial vehicle under multiple constraint conditions, according to claim 1, wherein the camera shooting mechanism (270) comprises a fixed seat (271), the top surface of the fixed seat (271) is rotatably connected with a sliding block (280), the side wall of the fixed seat (271) is slidably connected with the inner side surface of a fixed frame (250), a first power mechanism is arranged inside the sliding block (280), the output end of the first power mechanism is in transmission connection with the top surface of the fixed seat (271), the bottom surface of the fixed seat (271) is fixedly connected with a connecting seat (272), the inner side surface of the connecting seat (272) is rotatably connected with a camera (273), a second power mechanism is arranged inside the connecting seat (272), and the output end of the second power mechanism is in transmission connection with the side wall of the camera (273).

8. The quad-rotor unmanned aerial vehicle under multiple constraint conditions of claim 1, wherein both ends of the round rod (282) are fixedly connected with limit pieces (283) slidably connected with the outer side wall of the fixed frame (250).