CN205405271U - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
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- CN205405271U CN205405271U CN201620176213.4U CN201620176213U CN205405271U CN 205405271 U CN205405271 U CN 205405271U CN 201620176213 U CN201620176213 U CN 201620176213U CN 205405271 U CN205405271 U CN 205405271U
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Abstract
The utility model discloses an unmanned aerial vehicle, the in -process that navigates back at unmanned aerial vehicle, if when satellite navigation framing signal or control signal appearing and losing, unmanned aerial vehicle will with near have the some communication of making preparation for dropping of better signal intensity to through confirm with make preparation for dropping a little between make preparation for dropping apart from the assurance, guarantee unmanned aerial vehicle navigate back security and stability like this.
Description
Technical field
The application relates to unmanned vehicle technical field, particularly relates to a kind of unmanned vehicle.
Background technology
Current little miniature unmanned vehicle starts to obtain extensive concern, owing to the little miniature unmanned vehicle flying height that works is not high, lightweight, flight is flexibly, it is possible to hovering, therefore suffer from the extensive concern of the general public, and its demand and application are continuously developed.
As a kind of unmanned vehicle being commonly used in sighting distance and operating, little miniature unmanned vehicle is controlled by the mode of radio communication, and this communications band is often, and the frequency range based on 2.4Ghz is implemented.Yet with the resource-constrained of communications band, interference strongly, uncontrollable influence factor also compares many, so when unmanned vehicle is aloft interfered and cannot be controlled by control station, how can reclaim unmanned vehicle be one by the problem of extensive concern.
Prior art refer to one automatically make a return voyage technology, in fact exactly when unmanned vehicle be subject to strong interference by out of control even out of control, the instruction that provides based on user or be switched to automatically and be automatically performed the pattern maked a return voyage.
This pattern of automatically making a return voyage, based on the reserved address stored before, forms the destination maked a return voyage.Then in the process of making a return voyage, substantially place one's entire reliance upon satellite navigation and location system to judge the position of self, and confirm the track of flight.
But pattern of automatically making a return voyage has a problem in that, it is easily subject to the interference of environment, when disturbing lighter, can cause that unmanned vehicle occurs position to lose in process of automatically making a return voyage, time serious, possibly even because earth magnetism, landform interference etc., cause the direction flight automatically maked a return voyage towards mistake, so cause stability that unmanned vehicle makes a return voyage automatically and safety relatively low.
Utility model content
This utility model embodiment provides a kind of unmanned vehicle, causes that unmanned vehicle makes a return voyage stability and the relatively low problem of safety in order to solve interference stronger in prior art.
Its concrete technical scheme is as follows:
A kind of unmanned vehicle, described unmanned vehicle includes: rack construction, rotor, wireless communication module, continuous signal measurement processor, flight controller, described wireless communication module is connected with described continuous signal measurement processor and flight controller, described continuous signal measurement processor is connected with described flight controller, wherein
Rack construction, described rack construction includes middle control part and holder part, and described holder part contains a plurality of cantilever centered by described middle control part；
Rotor, is arranged on described cantilever, and fixing with the motor on described cantilever is connected；
Described wireless communication module, is arranged in described middle control part, is connected with described continuous signal measurement processor and flight controller；
Continuous signal measurement processor, is arranged in described middle control part, and the described continuous signal measurement processor for detecting continuous signal is connected with described flight controller.
Optionally, described wireless communication module includes communication antenna and communications module, and described communication antenna is connected with described communications module.
Optionally, continuous signal measurement processor includes: the request signal of the detection successional continuous signal detection chip of signal and the generation request of making preparation for dropping generates chip, and testing result output is generated chip to described request signal by described continuous signal detection chip.
Optionally, described continuous signal detection chip is specially satellite navigation positioning chip.
Optionally, also include:
Signal strength sensors, is arranged in described middle control part, and the described signal strength sensors of detection signal strength values is connected with described continuous signal measurement processor.
Optionally, also include:
Beacon sensor, is arranged in described middle control part, and the described beacon sensor of detected beacon signals is connected with described flight controller.
Optionally, also include:
Range sensor, is arranged in described middle control part, and the described range sensor of detecting distance is connected with described flight controller.
Optionally, also include:
Memorizer, is arranged in described middle control part, is connected with described continuous signal measurement processor and flight controller.
Optionally, also include:
Gyroscope, is fixedly installed in described middle control part, is connected with described flight controller.
Optionally, also include:
Power supply, is arranged in described middle control part, is connected with described continuous signal measurement processor, described flight controller, signal strength sensors, beacon sensor, range sensor, memorizer, gyroscope respectively.
In technical solutions of the utility model, unmanned vehicle receives the response message of making preparation for dropping a little returned of making preparation for dropping based on the request of making preparation for dropping, and according to dot information response message of making preparation for dropping, controls unmanned vehicle and navigates by water to making preparation for dropping a little.That is, when unmanned vehicle cannot return destination, unmanned vehicle can communicate with neighbouring making preparation for dropping, and drop to according to the response message returned of making preparation for dropping and to make preparation for dropping a little, so ensure that unmanned vehicle can when losing destination, stable droping to of safety is made preparation for dropping a little, improves safety and stability that unmanned vehicle makes a return voyage.
Accompanying drawing explanation
Fig. 1 is one of structural representation of a kind of unmanned vehicle in this utility model embodiment；
Fig. 2 is in this utility model embodiment the two of the structural representation of a kind of unmanned vehicle.
Detailed description of the invention
Below by accompanying drawing and specific embodiment, technical solutions of the utility model are described in detail, it is to be understood that, concrete technical characteristic in this utility model embodiment and embodiment is the explanation to technical solutions of the utility model, rather than limit, when not conflicting, the concrete technical characteristic in this utility model embodiment and embodiment can be mutually combined.
First, there is a lot of potential risk in unmanned vehicle in navigation process, such as when NAVSTAR loses signal, aircraft is in runaway condition completely；For another example under mechanism of automatically making a return voyage, a kind of typical flight control mode is, no matter which kind of flying height aircraft is currently at, first the flying height of aircraft is a little promoted 20 meters again relative to making a return voyage of record in advance, using height now as cruise-in altitude, then, on cruise-in altitude basis, complete point-to-point flight, return to and make a return voyage a little；But this flying method is likely to and causes aircraft accident because running into aerial barrage thing；Have again, existing mode also there is user pass through to make repeated attempts and switch back into the mode of Non-follow control state from the state of making a return voyage automatically, attempt again controlling unmanned vehicle, but due to, this mode of operation, attempt the pattern of automatically making a return voyage interrupting unmanned vehicle repeatedly, and constantly Implementation Modes switching, so adding unmanned vehicle in pattern switches, the dropout caused and risk out of control, user is difficult to the opportunity effectively being judged to recover to control by any reference factor, the experience of self can only be relied on, and this control mode is very subjective and insecure, particularly with new hand, substantially can not realize.
Based on above-mentioned problem, this utility model embodiment provides a kind of unmanned vehicle, it is illustrated in figure 1 in this utility model embodiment the structural representation of a kind of unmanned vehicle, this unmanned vehicle includes: rack construction 101, rotor 102, wireless communication module 103, continuous signal measurement processor 104, flight controller 105, described wireless communication module 103 is connected with described continuous signal measurement processor 104 and flight controller 105, described continuous signal measurement processor 104 is connected with described flight controller 105, wherein
Rack construction 101, described rack construction includes middle control part 101a and holder part 101b, described holder part 101b and contains a plurality of cantilever centered by described middle control part 101a；
Rotor 102, is arranged on described cantilever, and fixing with the motor on described cantilever is connected；
Described wireless communication module 103, is arranged on described middle control part 101a, is connected with described continuous signal measurement processor 104 and flight controller 105；
Continuous signal measurement processor 105, is arranged in described middle control part 101a, and the described continuous signal measurement processor 104 for detecting continuous signal is connected with described flight controller 105.
Further, wireless communication module 103 includes communication antenna and communications module, and described communication antenna is connected with described communications module.
This communication antenna is for sending request signal to making preparation for dropping a little, and receives the response signal made preparation for dropping a little.
Communications module is for transmitting the signal of communication antenna.
Further, this continuous signal measurement processor 104 includes: the request signal of the detection successional continuous signal detection chip of signal and the generation request of making preparation for dropping generates chip, and testing result output is generated chip to described request signal by described continuous signal detection chip.
Whether continuous signal detection chip is used for detecting satellite navigation framing signal continuous, or whether satellite navigation framing signal disconnects, and testing result output valve request signal is generated chip.
Request signal generates chip and generates corresponding request signal according to the testing result of continuous signal detection chip.
Further, as in figure 2 it is shown, this unmanned vehicle, also include:
Signal strength sensors 201, is arranged in described middle control portion 101a divides, and the described signal strength sensors 201 of detection signal strength values is connected with described continuous signal measurement processor 104.
This signal strength sensors 201 can according to the response signal received, it is determined that the signal intensity of the signal sent made preparation for dropping a little.
Beacon sensor 202, is arranged in described middle control part 101a, and the described beacon sensor 202 of detected beacon signals is connected with described flight controller 105.
Range sensor 203, is arranged in described middle control part 101a, and the described range sensor of detecting distance is connected with described flight controller.
Further, this unmanned vehicle, also include:
Memorizer, is arranged in described middle control part 101a, is connected with described continuous signal measurement processor 104 and flight controller 105.
Gyroscope, is fixedly installed in described middle control part 101a, is connected with described flight controller 105.
Power supply, is arranged in described middle control part 101a, is connected with described continuous signal measurement processor 104, described flight controller 105, signal strength sensors 201, beacon sensor 202, range sensor 203, memorizer, gyroscope respectively.
The specifically used principle of this unmanned vehicle is as follows:
Specifically, in the process that unmanned vehicle makes a return voyage automatically, owing to external environment condition exists interference, so unmanned vehicle lossing signal can be caused, such as lose the control signal of satellite positioning navigation signal or control station.
Unmanned vehicle in the process maked a return voyage by the control signal whether sustained interruption of the real-time detection satellite positioning navigation signal of continuous signal detection chip or control station, if, then generate chip by request signal and broadcast request signal of making preparation for dropping, including at least unmanned vehicle navigational parameter in this request signal of making preparation for dropping, detect the flight path of unmanned vehicle, unmanned vehicle cruising height, unmanned vehicle ship trajectory etc. say by gyroscope.
If continuous signal detection chip does not receive the locating navigation information of satellite navigation and location system, unmanned vehicle will be unable to automatically make a return voyage, request signal generates chip will generate request signal, and unmanned vehicle passes through wireless communication module 103 to the transmission made preparation for dropping the some request of making preparation for dropping.
Make preparation for dropping a little receive this make preparation for dropping request time, a response message of making preparation for dropping will be returned to unmanned vehicle, this response message of making preparation for dropping will contain the indication signal for indicating unmanned vehicle to make preparation for dropping, unmanned vehicle can land according to this indication signal.
Specifically, in this utility model embodiment, unmanned vehicle receive make preparation for dropping send make preparation for dropping a some response message time, flight controller 105 in unmanned vehicle will keep current cruising height, and unmanned vehicle detects the signal intensity of response signal by signal strength sensors 201.
Then the corresponding relation that unmanned vehicle will be transferred out between the signal strength values of storage in memorizer and distance, based on signal intensity and this corresponding relation of a response signal of making preparation for dropping, range sensor can determine that the distance of correspondence.
Certainly, according to the indication signal made preparation for dropping in a response signal, beacon sensor 202 can determine that directional information, such as can determine that according to the change of signal strength values make preparation for dropping a little towards, namely distance is made preparation for dropping a little more near, signal intensity is more strong, so unmanned vehicle can determine that towards the direction made preparation for dropping a little.
Unmanned vehicle is by according to the direction determined and distance, according to the direction, and the navigation of making preparation for dropping that flight controller 105 strengthens gradually to signal intensity, thus final in this landing of making preparation for dropping；If it is not, then unmanned vehicle will continue, by continuous signal detection chip, the response message of making preparation for dropping that other control stations a little of making preparation for dropping of detection send.
Further, in this utility model embodiment, above-mentioned scheme illustrates just for a situation about making preparation for dropping a little, in this utility model embodiment, when request is made preparation for dropping in unmanned vehicle broadcast, this unmanned vehicle may receive multiple dot information of making preparation for dropping, after unmanned vehicle gets all dot informations of making preparation for dropping returned of making preparation for dropping, unmanned vehicle will determine each corresponding signal intensity of making preparation for dropping, in all signal intensitys determined, determine maximum signal, and determine and have the distance made preparation for dropping between a little and the directional information of maximum signal, control unmanned vehicle to navigate by water to making preparation for dropping a little.So can ensure that navigation that unmanned vehicle can be more stable is to a landing of making preparation for dropping.
In this utility model embodiment, it is also possible to position mode by multi-beacon and indicate unmanned vehicle to navigate by water to making preparation for dropping a little.
Specifically, making preparation for dropping and a little can be provided with multiple beacon station, beacon station can launch the beacon signal of correspondence, can be multi-beacon aspect herein.After unmanned vehicle receives beacon signal by beacon sensor 202, the beacon signal received is analyzed by continuous signal measurement processor 104 by unmanned vehicle, determines signal intensity corresponding to each beacon signal according to signal strength sensors 201 and is determined the directional information of correspondence by beacon sensor 202.
Signal intensity according to each beacon signal and the directional information of correspondence, the range sensor 203 in unmanned vehicle can determine that make preparation for dropping position a little and and the distance made preparation for dropping between a little.
Make preparation for dropping position a little and the distance between a little of making preparation for dropping being determined by out, flight controller 105 just can control unmanned vehicle and navigate by water to making preparation for dropping a little.
To sum up, in this utility model embodiment, in the process that unmanned vehicle makes a return voyage, if occurring when satellite navigation framing signal or control signal are lost, unmanned vehicle will have making preparation for dropping of better signal intensity communicate with neighbouring, and be determined by and the distance made preparation for dropping between a little ensures to make preparation for dropping, so ensure that unmanned vehicle makes a return voyage safety and stability.
Although having been described for the preferred embodiment of the application, but one of ordinary skilled in the art is once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of the application scope.
Obviously, the application can be carried out various change and modification without deviating from spirit and scope by those skilled in the art.So, if these amendments of the application and modification belong within the scope of the application claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.
Claims (10)
1. a unmanned vehicle, it is characterized in that, described unmanned vehicle includes: rack construction, rotor, wireless communication module, continuous signal measurement processor, flight controller, described wireless communication module is connected with described continuous signal measurement processor and flight controller, described continuous signal measurement processor is connected with described flight controller, wherein
Rack construction, described rack construction includes middle control part and holder part, and described holder part contains a plurality of cantilever centered by described middle control part；
Rotor, is arranged on described cantilever, and fixing with the motor on described cantilever is connected；
Described wireless communication module, is arranged in described middle control part, is connected with described continuous signal measurement processor and flight controller；
Continuous signal measurement processor, is arranged in described middle control part, and the described continuous signal measurement processor for detecting continuous signal is connected with described flight controller.
2. unmanned vehicle as claimed in claim 1, it is characterised in that described wireless communication module includes communication antenna and communications module, and described communication antenna is connected with described communications module.
3. unmanned vehicle as claimed in claim 1, it is characterized in that, continuous signal measurement processor includes: the request signal of the detection successional continuous signal detection chip of signal and the generation request of making preparation for dropping generates chip, and testing result output is generated chip to described request signal by described continuous signal detection chip.
4. unmanned vehicle as claimed in claim 3, it is characterised in that described continuous signal detection chip is specially satellite navigation positioning chip.
5. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Signal strength sensors, is arranged in described middle control part, and the described signal strength sensors of detection signal strength values is connected with described continuous signal measurement processor.
6. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Beacon sensor, is arranged in described middle control part, and the described beacon sensor of detected beacon signals is connected with described flight controller.
7. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Range sensor, is arranged in described middle control part, and the described range sensor of detecting distance is connected with described flight controller.
8. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Memorizer, is arranged in described middle control part, is connected with described continuous signal measurement processor and flight controller.
9. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Gyroscope, is fixedly installed in described middle control part, is connected with described flight controller.
10. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Power supply, is arranged in described middle control part, is connected with described continuous signal measurement processor, described flight controller, signal strength sensors, beacon sensor, range sensor, memorizer, gyroscope respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620176213.4U CN205405271U (en) | 2016-03-08 | 2016-03-08 | Unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620176213.4U CN205405271U (en) | 2016-03-08 | 2016-03-08 | Unmanned aerial vehicle |
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| CN205405271U true CN205405271U (en) | 2016-07-27 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107636549A (en) * | 2016-11-15 | 2018-01-26 | 深圳市大疆创新科技有限公司 | For controlling the method, equipment and unmanned vehicle of loose impediment |
| CN109991995A (en) * | 2017-12-29 | 2019-07-09 | 西安远智电子科技有限公司 | Unmanned aerial vehicle return method and device |
| WO2023050265A1 (en) * | 2021-09-30 | 2023-04-06 | 深圳市大疆创新科技有限公司 | Method for unmanned aerial vehicle to receive positioning signal, and apparatus and movable platform |
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2016
- 2016-03-08 CN CN201620176213.4U patent/CN205405271U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107636549A (en) * | 2016-11-15 | 2018-01-26 | 深圳市大疆创新科技有限公司 | For controlling the method, equipment and unmanned vehicle of loose impediment |
| CN107636549B (en) * | 2016-11-15 | 2019-07-05 | 深圳市大疆创新科技有限公司 | For controlling the method, equipment and unmanned vehicle of loose impediment |
| US11249471B2 (en) | 2016-11-15 | 2022-02-15 | SZ DJI Technology Co., Ltd. | Method, device, and unmanned aerial vehicle for controlling movable object |
| US11714406B2 (en) | 2016-11-15 | 2023-08-01 | SZ DJI Technology Co., Ltd. | Method, device, and unmanned aerial vehicle for controlling movable object |
| CN109991995A (en) * | 2017-12-29 | 2019-07-09 | 西安远智电子科技有限公司 | Unmanned aerial vehicle return method and device |
| WO2023050265A1 (en) * | 2021-09-30 | 2023-04-06 | 深圳市大疆创新科技有限公司 | Method for unmanned aerial vehicle to receive positioning signal, and apparatus and movable platform |
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