CN220363475U - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
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- CN220363475U CN220363475U CN202321744020.0U CN202321744020U CN220363475U CN 220363475 U CN220363475 U CN 220363475U CN 202321744020 U CN202321744020 U CN 202321744020U CN 220363475 U CN220363475 U CN 220363475U
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Abstract
The application relates to an unmanned aerial vehicle, unmanned aerial vehicle include the fuselage, set up at the first sensor of fuselage the place ahead and set up the second sensor subassembly in the fuselage below, first sensor subassembly and second sensor subassembly include first person respectively and call main visual angle camera. Through such design can be when unmanned aerial vehicle can't fly independently, make to control the image information that the hand gathered through first name owner visual angle camera carries out manual control to unmanned aerial vehicle to make unmanned aerial vehicle can fly or descend to safe position safely, thereby be favorable to improving unmanned aerial vehicle's security and reliability.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle distribution, in particular to an unmanned aerial vehicle.
Background
Along with the development of technology, the application range of unmanned aerial vehicle delivery is also more and more extensive, and in general, unmanned aerial vehicle is provided with the sensor, detects the environment that unmanned aerial vehicle is located through the sensor, and the automatic identification unmanned aerial vehicle flight route is last the barrier to the collocation is built-in high-precision map, carries out automatic planning to unmanned aerial vehicle's flight route. However, when emergency such as unmanned aerial vehicle satellite signal failure, unmanned aerial vehicle can't handle the emergency, leads to unmanned aerial vehicle's reliability lower.
Disclosure of Invention
The application provides an unmanned aerial vehicle for improve unmanned aerial vehicle's reliability.
The embodiment of the application provides an unmanned aerial vehicle, unmanned aerial vehicle includes:
a body;
a first sensor assembly disposed in front of the fuselage;
a second sensor assembly disposed below the fuselage;
wherein, first sensor assembly with the second sensor assembly all includes first person's main view camera, first sensor assembly is used for detecting the obstacle in unmanned aerial vehicle the place ahead, the second sensor assembly is used for detecting the obstacle of unmanned aerial vehicle below.
In one possible embodiment, the first sensor assembly further comprises a binocular camera and/or a millimeter wave radar, which are arranged in front of the fuselage.
In one possible embodiment, the millimeter wave radar is tilted upward of the drone by an angle of 8 ° to 12 °.
In one possible embodiment, the second sensor assembly further comprises a binocular camera and/or a time of flight camera, the binocular camera and/or the time of flight camera being disposed below the fuselage.
In one possible embodiment, the fuselage comprises a body portion and a nacelle mounted below the body portion, the second sensor assembly being mounted to the nacelle.
In one possible embodiment, the drone includes a magnetic compass mounted to the pod.
In one possible embodiment, the nacelle is tilted towards the front side of the unmanned aerial vehicle, and the angle of tilt is greater than 2.5 °.
In one possible embodiment, the unmanned aerial vehicle comprises a third sensor assembly disposed behind the fuselage, the third sensor assembly comprising a binocular camera.
In one possible embodiment, the binocular camera comprises two cameras, the spacing between the cameras being greater than 95 millimeters.
In one possible embodiment, the unmanned aerial vehicle further comprises at least one of a fourth sensor assembly, a fifth sensor assembly and a sixth sensor assembly, the fourth and fifth sensor assemblies being located on the left and right sides of the fuselage, respectively, the sixth sensor assembly being located above the fuselage;
the fourth sensor assembly and the fifth sensor assembly each include a monocular camera, and the sixth sensor assembly includes a millimeter wave radar.
The application relates to an unmanned aerial vehicle, unmanned aerial vehicle include the fuselage, set up at the first sensor of fuselage the place ahead and set up the second sensor subassembly in the fuselage below, first sensor subassembly and second sensor subassembly include first person respectively and call main visual angle camera. Through such design can be when unmanned aerial vehicle can't fly independently, make to control the image information that the hand gathered through first name owner visual angle camera carries out manual control to unmanned aerial vehicle to make unmanned aerial vehicle can fly or descend to safe position safely, thereby be favorable to improving unmanned aerial vehicle's security and reliability.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
Fig. 1 is a front view of a drone provided herein;
fig. 2 is a bottom view of the drone provided herein;
FIG. 3 is a partial cross-sectional view of a nacelle provided herein;
fig. 4 is a rear view of the drone provided herein;
fig. 5 is a top view of the unmanned aerial vehicle provided by the application.
Reference numerals:
1-a fuselage;
11-a body portion;
12-pod;
2-binocular camera;
3-time-of-flight cameras;
4-millimeter wave radar;
5-a first person primary perspective camera;
6-a magnetic compass;
7-an inertial measurement unit module;
10-a first sensor assembly;
20-a second sensor assembly;
30-a third sensor assembly;
40-a fourth sensor assembly;
50-a fifth sensor assembly;
60-sixth sensor assembly.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Detailed Description
For a better understanding of the technical solutions of the present application, embodiments of the present application are described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be noted that, the terms "upper", "lower", "left", "right", and the like in the embodiments of the present application are described in terms of the angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In the context of this document, it will also be understood that when an element is referred to as being "on" or "under" another element, it can be directly on the other element or be indirectly on the other element through intervening elements.
As shown in fig. 1 and 2, the embodiment of the present application provides an unmanned aerial vehicle, which may include a fuselage 1, a first sensor assembly 10, and a second sensor assembly 20, where the first sensor assembly 10 is disposed above the fuselage 1, and the second sensor assembly 20 is disposed below the fuselage 1. The first sensor assembly 10 and the second sensor assembly 20 each include a first person perspective view (first person view, FPV) camera. The first sensor assembly 10 is used for detecting obstacles in front of the unmanned aerial vehicle and the second sensor assembly 20 is used for detecting obstacles below the unmanned aerial vehicle.
Along unmanned aerial vehicle's direction of height, unmanned aerial vehicle's opposite both sides are unmanned aerial vehicle's top and below respectively. The forward direction of the unmanned aerial vehicle is the front, and the reverse direction is the rear. The line of unmanned aerial vehicle's left and right sides perpendicular to unmanned aerial vehicle's direction of height, also perpendicular to the line between unmanned aerial vehicle the place ahead and the rear simultaneously.
Through setting up first person's main visual angle camera 5 at first sensor subassembly 10 and second sensor subassembly 20, can make the user in unmanned aerial vehicle satellite signal inefficacy, unmanned aerial vehicle can't handle the circumstances such as emergency such as present condition, observe unmanned aerial vehicle the place ahead and the condition of below through first person's main visual angle camera 5 to the user can remote control unmanned aerial vehicle safe flight and landing, when the user carries out remote control, can pass through wiFi or mobile communication network passback low-delay image information, in visual scope or at remote control center operation unmanned aerial vehicle. Thereby be favorable to improving unmanned aerial vehicle's reliability, guarantee unmanned aerial vehicle's operation safety.
As shown in fig. 1, in one possible embodiment, the first sensor assembly 10 may further comprise a binocular camera 2 and/or a millimeter wave radar 4, the binocular camera 2 and the millimeter wave radar 4 being disposed in front of the fuselage 1.
The binocular camera 2 can capture images at two different viewing angles, and the images are fused into an image with depth and color information, so that the imaging effect is clear. The millimeter wave radar 4 has the advantages of smaller volume, lighter weight and higher spatial resolution, and is more suitable for unmanned aerial vehicles. And compared with infrared rays, laser, televisions and the like, the millimeter wave radar 4 has stronger capability of penetrating smoke, fog and dust and better anti-interference capability. Meanwhile, the millimeter wave radar 4 can respectively identify smaller targets, can simultaneously identify a plurality of targets, has imaging capability, is more suitable for complex environments such as cities and the like, and is favorable for identifying dynamic small targets such as birds and kites, and potential barriers such as buildings, trees, signal towers and wires. When unmanned aerial vehicle flies, binocular camera 2 can be used for detecting the obstacle of unmanned aerial vehicle nearer position, and millimeter wave radar 4 can be used for detecting the obstacle of far position apart from unmanned aerial vehicle to can make unmanned aerial vehicle independently keep away the barrier flight in the environment of complicacy relatively, promote unmanned aerial vehicle's reliability.
In one possible embodiment, the housing of the time-of-flight camera 3 of the second sensor module may be sprayed with a conductive paint, and the housing and the metal sheet may be maliciously connected with each other by the conductive paint, so that the overall electromagnetic protection capability can be improved, which is beneficial to improving the detection precision and accuracy.
The housing of the body 1 may be provided with a window mirror through which signals are transmitted and received, and the second sensor assembly 20 may be provided inside the body 1.
Such design can be convenient for protect second sensor subassembly 20, improves unmanned aerial vehicle's dustproof waterproof ability, accords with actual use demand more.
In one possible embodiment, the unmanned aerial vehicle further comprises two independent optical filters, the optical filters being disposed in the transmitting region and the receiving region of the window mirror, respectively. The optical filter is used for filtering signals to reduce the influence of clutter on the detection accuracy of the second sensor assembly 20, and more accords with the actual use requirement.
In one possible embodiment, the millimeter wave radar 4 is tilted up the drone, the lower of the tilt may be 8 ° to 12 °.
Through making the millimeter wave radar 4 of first sensor subassembly 10 to the top slope certain angle of unmanned aerial vehicle, can make millimeter wave radar 4 can also be used for detecting the region of partial unmanned aerial vehicle top when being used for detecting the obstacle in unmanned aerial vehicle the place ahead, can detect the obstacle that is located the unmanned aerial vehicle oblique top to increase the detection scope of first sensor subassembly 10, thereby be favorable to improving unmanned aerial vehicle flight's security and reliability, reduce unmanned aerial vehicle and the possibility that the obstacle bumps in the flight.
In one possible embodiment, the tilt angle of the millimeter wave radar 4 may be selected according to actual requirements, and the tilt angle may be 8 °, 8.5 °, 9 °, 9.5 °, 10 °, 10.5 °, 11 °, 11.5 °, 12 °, or the like.
As shown in fig. 2, in one possible embodiment, the second sensor assembly 20 further comprises a binocular camera 2 and/or a time of flight (TOF) camera. The binocular camera 2 and the time-of-flight camera 3 are disposed below the fuselage 1.
The detection accuracy of the second sensor assembly 20 can be improved by providing the binocular camera 2 and/or the time-of-flight camera 3 below the unmanned aerial vehicle. The binocular camera 2 can be used for obtaining the image with depth and color information, and the time-of-flight camera 3 can be used for ranging, obtains the positional relationship between unmanned aerial vehicle and the barrier through the distance information to be favorable to improving unmanned aerial vehicle's obstacle avoidance ability when flying and improving unmanned aerial vehicle's stability when descending, thereby promote unmanned aerial vehicle's reliability.
As shown in fig. 1 and 2, in one possible embodiment, the fuselage 1 further comprises a body portion 11 and a nacelle 12, the nacelle 12 being disposed below the body portion 11, and the second sensor assembly 20 being mounted to the nacelle 12.
When unmanned aerial vehicle is applied to fields such as commodity circulation transportation, can hang articles such as commodity circulation case in the below of body portion 11 generally, directly set up the interference of articles such as commodity circulation case in the below of body portion 11 with second sensor subassembly 20 to influence the detection precision of second sensor subassembly 20, lead to unmanned aerial vehicle to collide with the barrier in the flight easily. By providing the nacelle 12, the second sensor assembly 20 can be conveniently installed, and the possibility of interference between the second sensor assembly 20 and objects such as a logistics box is reduced, so that the detection accuracy of the second sensor assembly 20 is improved.
As shown in fig. 3, in one possible embodiment the drone further comprises a magnetic compass 6, the magnetic compass 6 being arranged at the nacelle 12.
The magnetic compass 6 may be used to measure the direction of the earth's magnetic field and may be used to navigate and position, thereby facilitating planning of the flight path and guiding the flight direction when the unmanned aerial vehicle is flying autonomously.
In one possible embodiment, the nacelle 12 is tilted towards the front side of the drone, and the angle of tilt is greater than 2.5 °.
By means of the design, the installation position of the second sensor assembly 20 can be adjusted, interference of objects such as logistics boxes located below the unmanned aerial vehicle body 1 on the second sensor assembly 20 is reduced, and therefore detection accuracy is improved.
As shown in fig. 4, in one possible embodiment, the unmanned aerial vehicle may further include a third sensor assembly 30, the third sensor assembly 30 being disposed at the rear of the fuselage 1 for detecting an obstacle at the rear of the unmanned aerial vehicle, and the third sensor assembly 30 may be directly mounted to the fuselage 1. The third sensor assembly 30 may include a binocular camera 2.
The third sensor assembly 30 is arranged to prevent the obstacle behind the unmanned aerial vehicle, so that the possibility that the unmanned aerial vehicle collides with the obstacle in the flight process is reduced, and the safety and reliability of the unmanned aerial vehicle are improved.
When the unmanned aerial vehicle flies, the requirement on the detection precision of the obstacle behind the unmanned aerial vehicle is relatively low, so that only the binocular camera 2 can be arranged, and other sensors can be included.
In one possible embodiment, the binocular camera 2 comprises two cameras, the distance between which is greater than 95 millimeters.
The angle of view of the binocular camera 2 can be adjusted by adjusting the distance between the two cameras, so that the detection accuracy of the binocular camera 2 can be improved. The binocular camera 2 of the volume herein includes, but is not limited to, the binocular camera 2 of the first sensor assembly 10, the binocular camera 2 of the second sensor assembly 20, and the binocular camera 2 of the third banker Angel assembly.
As shown in fig. 4 and 5, in one possible embodiment, the drone further includes at least one of a fourth sensor assembly 40, a fifth sensor assembly 50, and a sixth sensor assembly 60. The fourth sensor assembly 40 and the fifth sensor assembly 50 are respectively located at left and right sides of the body 1, and the sixth sensor assembly 60 is located above the body 1. The fourth sensor assembly 40 and the fifth sensor assembly 50 may each include a monocular camera, and the sixth sensor assembly 60 may include the millimeter wave radar 4.
The fourth sensor assembly 40 and the fifth sensor assembly 50 may be used to detect obstacles on the left and right sides of the drone, and the sixth sensor assembly 60 is used to detect obstacles above the drone. The monocular camera has the advantage of relatively high construction simplicity and price, and can be used for ranging. In general, the unmanned aerial vehicle has low requirements on detection accuracy on the left and right sides and above during use, so that the monocular camera and the millimeter wave radar 4 can be respectively arranged, and the fourth sensor assembly 40, the fifth sensor assembly 50 and the sixth sensor assembly 60 can also comprise other sensors for detecting obstacles during actual use.
Through such design, each sensor subassembly can cover unmanned aerial vehicle circumference basically when detecting the barrier, realizes 360 detection, possesses the perception ability of qxcomm technology to can measure and calculate unmanned aerial vehicle's speed, slope, rotation, parameters such as motion angle through inertial measurement unit (inertial measurement unit, IMU) module 7, thereby be favorable to unmanned aerial vehicle planning flight route, realize independently keeping away the barrier flight, thereby can improve unmanned aerial vehicle's security and reliability.
The unmanned aerial vehicle can also comprise a wing box of the fuselage 1, a middle frame of the fuselage 1, a barometer and other common structures. According to the scheme, the sensors are arranged in the circumferential direction of the unmanned aerial vehicle respectively, so that the data acquisition efficiency and the data quality of the sensors are improved, the unmanned aerial vehicle has multidirectional sensing and positioning capabilities, and the stability, the reliability and the control precision of the unmanned aerial vehicle can be improved. Meanwhile, the unmanned aerial vehicle is matched with a built-in high-precision map, and the unmanned aerial vehicle is subjected to multidirectional sensing and full-autonomous motion planning on obstacles, so that the unmanned aerial vehicle has good near-object flight and obstacle avoidance capabilities, can adapt to complex environments such as cities, and can autonomously shuttle in a city space with a relatively dense building. When the satellite signal is invalid due to the complex terrain such as urban canyons, urban basins and the like, the autonomous obstacle avoidance flight can be realized through the positioning and obstacle avoidance technology. In an emergency situation, the unmanned aerial vehicle can automatically descend and automatically recognize a safe position and land by means of a sensor. When unmanned aerial vehicle is in the special condition and can't carry out autonomous flight, can carry out manual operation, control the hand and can receive the unmanned aerial vehicle place ahead that first person's main visual angle camera 5 gathered and the image information of below carry out manual control to unmanned aerial vehicle to make unmanned aerial vehicle carry out safe flight and landing under the condition of autonomous flight inefficacy, thereby ensure unmanned aerial vehicle's operation safety.
The embodiment of the application provides an unmanned aerial vehicle, unmanned aerial vehicle includes fuselage 1, sets up at the first sensor of fuselage 1 the place ahead and sets up at the second sensor subassembly 20 of fuselage 1 below, and first sensor subassembly 10 and second sensor subassembly 20 include first person's name main visual angle camera 5 respectively. Through such design can be when unmanned aerial vehicle can't fly independently, make to control the image information that the hand was gathered through first person owner visual angle camera 5 and carry out manual control to unmanned aerial vehicle to make unmanned aerial vehicle can fly or descend to safe position safely, thereby be favorable to improving unmanned aerial vehicle's security and reliability.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises:
a body (1);
-a first sensor assembly (10), the first sensor assembly (10) being arranged in front of the fuselage (1);
-a second sensor assembly (20), the second sensor assembly (20) being arranged below the fuselage (1);
wherein the first sensor assembly (10) and the second sensor assembly (20) each comprise a first person-to-person main viewing camera (5), the first sensor assembly (10) is used for detecting obstacles in front of the unmanned aerial vehicle, and the second sensor assembly (20) is used for detecting obstacles below the unmanned aerial vehicle.
2. The unmanned aerial vehicle according to claim 1, wherein the first sensor assembly (10) further comprises a binocular camera (2) and/or a millimeter wave radar (4), the binocular camera (2) and/or the millimeter wave radar (4) being arranged in front of the fuselage (1).
3. The unmanned aerial vehicle according to claim 2, wherein the millimeter wave radar (4) is tilted upwards of the unmanned aerial vehicle by an angle of 8 ° to 12 °.
4. The unmanned aerial vehicle according to claim 1, wherein the second sensor assembly (20) further comprises a binocular camera (2) and/or a time of flight camera (3), the binocular camera (2) and/or the time of flight camera (3) being arranged below the fuselage (1).
5. The unmanned aerial vehicle according to claim 4, wherein the fuselage (1) comprises a body portion (11) and a nacelle (12), the nacelle (12) being mounted below the body portion (11), the second sensor assembly (20) being mounted to the nacelle (12).
6. The unmanned aerial vehicle according to claim 5, wherein the unmanned aerial vehicle comprises a magnetic compass (6), the magnetic compass (6) being mounted to the nacelle (12).
7. The unmanned aerial vehicle according to claim 5, wherein the nacelle (12) is inclined towards the front side of the unmanned aerial vehicle by an angle of more than 2.5 °.
8. The unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle comprises a third sensor assembly (30), the third sensor assembly (30) being arranged behind the fuselage (1), the third sensor assembly (30) comprising a binocular camera (2).
9. The unmanned aerial vehicle according to any of claims 2 to 8, wherein the binocular camera (2) comprises two cameras, the spacing between the cameras being greater than 95 mm.
10. The unmanned aerial vehicle according to any of claims 1 to 7, further comprising at least one of a fourth sensor assembly (40), a fifth sensor assembly (50) and a sixth sensor assembly (60), the fourth sensor assembly (40) and the fifth sensor assembly (50) being located on the left and right side of the fuselage (1), respectively, the sixth sensor assembly (60) being located above the fuselage (1);
the fourth sensor assembly (40) and the fifth sensor assembly (50) each comprise a monocular camera, and the sixth sensor assembly (60) comprises a millimeter wave radar (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321744020.0U CN220363475U (en) | 2023-07-05 | 2023-07-05 | Unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321744020.0U CN220363475U (en) | 2023-07-05 | 2023-07-05 | Unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN220363475U true CN220363475U (en) | 2024-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202321744020.0U Active CN220363475U (en) | 2023-07-05 | 2023-07-05 | Unmanned aerial vehicle |
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|---|---|
| CN (1) | CN220363475U (en) |
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