TWI590990B - Uav payload module camera assembly and retraction mechanism - Google Patents
Uav payload module camera assembly and retraction mechanism Download PDFInfo
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Description
本發明係關於無人機(UAV)負載模組組件及回縮機構。The present invention relates to a UAV load module assembly and a retraction mechanism.
在設計小型無人載具時，減少重量和體積是最重要的。小型無人駕駛飛行器或無人機(unmanned aerial vehicle，UAV)通常被設計成從陸地起飛，及降落於陸地上。目前正在尋求可操作此種載具而暴露於，或者在被暴露到水中的環境中。例如，較佳可將無人飛行器降落於水上，而不是陸地上，既可以減輕陸地的衝擊，或在因它更容易恢復的位置。一般而言，人力操作的和無人的水陸兩用飛行器，都能夠起飛和降落在水中。When designing small unmanned vehicles, reducing weight and volume is paramount. Small unmanned aerial vehicles (UAVs) are usually designed to take off from land and land on land. It is currently being sought to operate such vehicles to be exposed to, or in an environment exposed to, water. For example, it may be preferable to land the UAV on the water instead of on land, either to mitigate the impact of the land or in a location where it is easier to recover. In general, both manpower-operated and unmanned amphibious aircraft can take off and land in the water.
手動發射的水陸兩用無人機雖然不需要從水中起飛，但需要降落在陸地或水上。一些手動發射的無人機係設計成透過單單滑行而降落，或撞擊地面，其相較於降落水面更為劇烈。Manually launched amphibious drones do not need to take off from the water, but need to land on land or water. Some manually launched drones are designed to land or simply hit the ground by sliding alone, which is more intense than landing.
因此，亟需一能承受降落於地面的高衝擊的水陸兩用無人機。Therefore, there is a need for a high-impact amphibious drone that can withstand landing on the ground.
在一個可行的實施例中，提出一UAV負載模組回縮機構，其包含一負載樞接於一殼體。一偏壓元件係裝設用以將該負載偏向出該殼體外，及一絞盤係連接至該負載。一伸長的可撓拉引元件係耦接在該殼體與該絞盤之間，該伸長的可撓拉引元件能被該絞盤拉動，以回縮該負載於該殼體內。In a possible embodiment, a UAV load module retracting mechanism is proposed, which includes a load pivoted to a housing. A biasing element is mounted to bias the load out of the housing and a winch is coupled to the load. An elongated flexible pull-out element is coupled between the housing and the winch, and the elongated flexible pull-out element can be pulled by the winch to retract the load in the housing.
在不同實施例中，該負載係樞接至該殼體內的一前位置，例如藉由一鉸鏈。在不同實施例中，當該負載在一收起位置時，該鉸鏈係位於該負載之前。在一些實施例中，該鉸鏈可包含一樞軸桿，同時該偏壓元件包含一彈簧，該彈簧係圍繞該樞軸桿而設置。在不同實施例中，該偏壓元件驅使該負載進入一展開位置。In various embodiments, the load is pivotally coupled to a front position within the housing, such as by a hinge. In various embodiments, the hinge is positioned before the load when the load is in the stowed position. In some embodiments, the hinge can include a pivot rod while the biasing member includes a spring that is disposed about the pivot rod. In various embodiments, the biasing element drives the load into a deployed position.
在不同實施例中，該負載包含一照相機組件，該照相機組件包含一照相機及一盤狀托盤，該盤狀托盤係經由一鉸鏈樞接至該殼體，該盤狀托盤具有該絞盤及盤致動器。在一些實施例中，該盤致動器係位於該鉸鏈與該絞盤之間。In various embodiments, the load includes a camera assembly including a camera and a disc tray pivotally coupled to the housing via a hinge having the winch and the disc Actuator. In some embodiments, the disk actuator is located between the hinge and the winch.
在不同實施例中，該伸長的可撓拉引元件可為一纜繩、皮帶、或其他拉引構件。In various embodiments, the elongated flexible pull element can be a cable, belt, or other pull member.
在一個可行的實施例中，提出具有一負載模組的一UAV負載模組回縮機構，該負載模組具有一殼體，在該殼體的一底壁具有一開口。一負載係樞接至該殼體內的一前位置。一偏壓元件裝設用以將該負載偏向出該殼體外。一絞盤係裝設至該負載，且一可撓纜繩係耦接於該殼體與該絞盤之間，用來回縮該負載進入該殼體及從該殼體釋放該負載。In a possible embodiment, a UAV load module retracting mechanism having a load module is provided. The load module has a housing having an opening in a bottom wall of the housing. A load system is pivotally coupled to a front position within the housing. A biasing element is mounted to bias the load out of the housing. A winch is mounted to the load, and a flexible cable is coupled between the housing and the winch for retracting the load into the housing and releasing the load from the housing.
在不同實施例中，該負載可包含一照相機組件，係設置以通過在該底壁的該開口樞轉出該殼體。在一些實施例中，該可撓纜繩係一皮帶。該偏壓元件可驅使該負載至一展開位置，且該偏壓元件可包含一彈簧。在不同實施例中，該負載係經由一鉸鏈樞接至該殼體的一前壁。在一些實施例中，該鉸鏈可包含一樞軸桿，且該偏壓元件包含一彈簧，該彈簧係圍繞該樞軸桿而設置。In various embodiments, the load can include a camera assembly that is configured to pivot out of the housing by the opening in the bottom wall. In some embodiments, the flexible cable is a belt. The biasing element can drive the load to a deployed position and the biasing element can include a spring. In various embodiments, the load is pivotally coupled to a front wall of the housing via a hinge. In some embodiments, the hinge can include a pivot rod and the biasing member includes a spring that is disposed about the pivot rod.
在不同實施例中，該負載更包含一照相機組件，其具有一盤狀托盤裝設於其中，該盤狀托盤係經由一鉸鏈樞接至該殼體，該盤狀托盤包含該絞盤及一盤致動器，同時該盤致動器係位於該鉸鏈與該絞盤之間。In various embodiments, the load further includes a camera assembly having a disc tray mounted therein, the disc tray being pivotally coupled to the housing via a hinge, the disc tray including the winch and a disc An actuator, while the disk actuator is located between the hinge and the winch.
圖1繪示一水路兩用的無人飛行載具(unmanned aerial vehicle)或UAV 10的一透視簡圖。水路兩用的無人飛行載具10具有一機身100，其具有模組化隔間120、130及140以容納模組化的組件或模組，例如一電池模組20、一負載模組30、及航空電子模組40。在各種實施例中，翼部15及/或16可由多個零件構成，在降落期間，它們可為分離的及/或「可拆開的」或與機身100是分離的。1 is a perspective schematic view of an unmanned aerial vehicle or UAV 10 for a waterway. The dual-purpose unmanned aerial vehicle 10 has a fuselage 100 having modular compartments 120, 130 and 140 for housing modular components or modules, such as a battery module 20 and a load module 30. And the avionics module 40. In various embodiments, the wings 15 and/or 16 may be constructed from a plurality of parts that may be separate and/or "detachable" or separate from the body 100 during landing.
圖2繪示圖1之水路兩用的無人飛行載具10的機身100的一簡化上視圖。機身100的壁110係由能漂浮材料所組成，以使機身100在該機身滿載組件如圖1所示的電池20、負載30與航空電子40及其他非機零件與組件時，能在沒有裝設翼部(未圖示)的情況下而漂浮。例如，壁110可具有以一防水層密封的一模製發泡體核心，雖然此非為必要的。壁110可為一單一連續壁或多個壁片段，或類似物。2 is a simplified top view of the fuselage 100 of the unmanned aerial vehicle 10 of the waterway of FIG. The wall 110 of the fuselage 100 is composed of a floating material so that the body 100 can be fully loaded with the battery 20, the load 30 and the avionics 40 and other non-machine parts and components as shown in FIG. It floats without a wing (not shown) installed. For example, wall 110 can have a molded foam core sealed with a waterproof layer, although this is not necessary. Wall 110 can be a single continuous wall or a plurality of wall segments, or the like.
在此實施例中，機身被分成三個隔間，一前電池隔間120、一中央負載隔間130、及一後航空電子隔間140。前電池隔間120與中央負載隔間130係以分隔壁150隔開。中央負載隔間130與後航空電子隔間140係以分隔壁160隔開。在所示實施例中，突耳104、105及106係用作固定組件(未圖示)於隔間120、130及140內的一裝置。突耳105可藉由可旋轉的把手105h而手動旋轉，以安裝一電池(未圖示)，然後再被轉回至如圖示的位置，以鎖定電池於前電池隔間120內。亦可使用可旋轉的突耳104、105及106以外的其他固定機構。In this embodiment, the fuselage is divided into three compartments, a front battery compartment 120, a central load compartment 130, and a rear avionics compartment 140. The front battery compartment 120 and the central load compartment 130 are separated by a partition wall 150. The central load compartment 130 and the rear avionics compartment 140 are separated by a dividing wall 160. In the illustrated embodiment, the lugs 104, 105, and 106 serve as a means for securing components (not shown) within the compartments 120, 130, and 140. The lug 105 can be manually rotated by a rotatable handle 105h to mount a battery (not shown) and then rotated back to the position as shown to lock the battery within the front battery compartment 120. Other fixing mechanisms than the rotatable lugs 104, 105 and 106 can also be used.
電池隔間120具有安裝表面122，其支撐一電池(未圖示)。在此實施例中，一連接器124，可為一表面安裝連接器或類似物，一般係與安裝表面122齊平。通道126f與126r係凹設於安裝表面122之下。排水口，如通道126f內的滴流孔128b，係延伸穿過機身100的底壁110b。通道126r內的滴流孔128s(如圖1-3所示)係延伸穿過機身100的側壁110s。Battery compartment 120 has a mounting surface 122 that supports a battery (not shown). In this embodiment, a connector 124, which may be a surface mount connector or the like, is generally flush with the mounting surface 122. Channels 126f and 126r are recessed below mounting surface 122. The drain port, such as the drip hole 128b in the passage 126f, extends through the bottom wall 110b of the fuselage 100. The drip holes 128s (shown in Figures 1-3) within the passage 126r extend through the side walls 110s of the fuselage 100.
若機身露出水面，連接器124的接合表面124m係位於通道126f與126r的上方，會使在電池20(圖1)連接/分開時，該接合表面不會浸入水中。配線123f與123b可分別行進於通道126f與126b中，並且嵌壁式及/或嵌入式地經由機身100以提供電力至馬達(未圖示)、及航空電子模組40及/或一負載模組430。If the fuselage is exposed to the surface of the water, the engagement surface 124m of the connector 124 is positioned above the passages 126f and 126r such that the joint surface will not be immersed in water when the battery 20 (Fig. 1) is attached/separated. Wirings 123f and 123b can travel in channels 126f and 126b, respectively, and be embedded and/or embedded through fuselage 100 to provide electrical power to a motor (not shown), and to avionics module 40 and/or a load. Module 430.
中央負載隔間130具有前安裝表面132f與後安裝表面132r，其支撐一負載，如一照相機組件(未圖示)。負載模組30可包含攝相的、偵測的、或其他被動的、主動的、非致命的(non-lethal)、或致命的(lethal)負載裝置。在此實施例中，一連接器134係與安裝表面132r齊平，其可為一表面安裝連接器或類似物。安裝表面132r可形成一外殼163以容納連接器134與相關的配線。該外殼可形成分隔壁160的一下部。滴流孔228s(如圖1-3所示)可從外殼163之內開始延伸而穿過側壁110s，允許將水排出外殼163。在此實施例中，中央隔間130具有一大型開口131於該底部，使得可應用一照相機，例如向下觀看，或經由該大型開口131將其降下至氣流中。大型開口131亦允許從中央隔間130排出流體。The central load compartment 130 has a front mounting surface 132f and a rear mounting surface 132r that support a load, such as a camera assembly (not shown). The load module 30 can include phased, detected, or other passive, active, non-lethal, or lethal load devices. In this embodiment, a connector 134 is flush with the mounting surface 132r, which may be a surface mount connector or the like. The mounting surface 132r can form a housing 163 to receive the connector 134 and associated wiring. The outer casing can form a lower portion of the dividing wall 160. A drip hole 228s (shown in Figures 1-3) can extend from within the outer casing 163 through the side wall 110s, allowing water to drain out of the outer casing 163. In this embodiment, the central compartment 130 has a large opening 131 at the bottom such that a camera can be applied, such as downward viewing, or lowered into the airflow via the large opening 131. The large opening 131 also allows fluid to be expelled from the central compartment 130.
在各種實施例中，連接器134的接合表面134m可位在高於外殼163頂部的開口131之上，以使即便該機身沒有完全露出水面，當負載30(圖1)在連接/分開情況下，該接合表面不會浸入水中。In various embodiments, the engagement surface 134m of the connector 134 can be positioned above the opening 131 at the top of the outer casing 163 to allow the load 30 (Fig. 1) to be connected/separated even if the fuselage is not fully exposed to the water surface. Next, the joint surface is not immersed in water.
後航空電子隔間140具有一安裝表面142，位於航空電子隔間140的一底部。安裝表面142具有一前通道146f及一後通道146r。通道146f與146r係凹設於安裝表面142之下。排水口，例如通道146f中的滴流孔228s(如圖1-3所示)，係延伸穿過機身100的側壁110s。通道146r中的滴流孔228b(如圖2與3所示)延伸穿過機身100的底壁110b。安裝表面142內的一傾斜的凹部229將水排出安裝表面142外而進入通道146r。The rear avionics compartment 140 has a mounting surface 142 at a bottom of the avionics compartment 140. The mounting surface 142 has a front channel 146f and a rear channel 146r. Channels 146f and 146r are recessed below mounting surface 142. The drain port, such as the drip hole 228s in the passage 146f (shown in Figures 1-3), extends through the side wall 110s of the fuselage 100. A drip hole 228b (shown in Figures 2 and 3) in the passage 146r extends through the bottom wall 110b of the fuselage 100. An angled recess 229 in mounting surface 142 drains water out of mounting surface 142 to enter passage 146r.
圖3中所示實施例具有一開口141，位於機身110的側壁110s內，以暴露出一散熱器41(圖1)，且允許釋出由航空電子40(圖1)所產生的熱。The embodiment shown in Figure 3 has an opening 141 located in the side wall 110s of the fuselage 110 to expose a heat sink 41 (Figure 1) and to permit the release of heat generated by the avionics 40 (Figure 1).
圖3繪示圖1之水路兩用的無人飛行載具10的機身100的一簡化側視圖。在此實施例中，選擇性滑行墊180與190係固定於機身100的底壁110b。滑行墊180與190在此實施例中係於降落在於堅硬表面。滑行墊180可位於前隔間120的正下方，且可以具有足夠厚度與密度的一耐久吸震材料來組裝，以進一步保護在隔間120內的組件如電池20(圖1)的衝擊。類似地，滑行墊190可位於後隔間140的正下方，且可以具有足夠厚度與密度的一耐久吸震材料來組裝，以進一步保護在隔間140內的組件，例如航空電子40(圖1)。3 is a simplified side view of the fuselage 100 of the unmanned aerial vehicle 10 of the waterway of FIG. In this embodiment, the selective sliding pads 180 and 190 are fixed to the bottom wall 110b of the body 100. The sliding pads 180 and 190 are in this embodiment tied to a hard surface. The gliding pad 180 can be located directly below the front compartment 120 and can be assembled with a durable shock absorbing material of sufficient thickness and density to further protect the impact of components within the compartment 120, such as the battery 20 (Fig. 1). Similarly, the taxi pad 190 can be located directly below the rear compartment 140 and can be assembled with a durable shock absorbing material of sufficient thickness and density to further protect components within the compartment 140, such as avionics 40 (Fig. 1) .
滴流孔128s係延伸穿過機身100的側壁110s。滴流孔128s延伸穿過側壁110s並進入電池隔間120的後通道126r。滴流孔228s延伸穿過側壁110s並進入中央負載隔間130的外殼163。The drip holes 128s extend through the side walls 110s of the fuselage 100. The drip holes 128s extend through the side walls 110s and into the rear channel 126r of the battery compartment 120. The drip holes 228s extend through the side walls 110s and into the outer casing 163 of the central load compartment 130.
流體排水口可為滴流孔、流體排水埠、或類似物。The fluid drain can be a drip hole, a fluid drain, or the like.
各種實施例提供一機身100，使一UAV能降落於水面及起伏地形。非將整個飛行器密封以防水侵入，各種實施例達到降落於水面的能力，是透過將個別的電氣的與電子組件即電池、負載、航空電子及相關的連接器與配線密封。Various embodiments provide a fuselage 100 that enables a UAV to land on water and undulating terrain. Instead of sealing the entire aircraft for waterproof intrusion, various embodiments achieve the ability to land on the surface by sealing individual electrical and electronic components, ie, batteries, loads, avionics, and related connectors and wiring.
這使得飛行器的其他部分能保持漂浮，且當該UAV從水中退出時，藉由一組流體排出埠，將任何飛行器內的水排出。以此方式，電氣的與電子組件的保護即非依賴於保持機身100或外壁110的整體性，因機身100或外壁110可能會在降落於堅硬及/或起伏地形(一般為降落於地面)期間受損壞。This allows the rest of the aircraft to remain afloat, and when the UAV exits the water, the water in any aircraft is discharged by a set of fluid discharge ports. In this manner, the protection of the electrical and electronic components is independent of maintaining the integrity of the fuselage 100 or the outer wall 110, as the fuselage 100 or outer wall 110 may land on hard and/or undulating terrain (generally landing on the ground) ) was damaged during the period.
這也使得飛行器內需要進行防水的體積達到最小化，從而減低整個系統的重量和複雜性。This also minimizes the volume of water that needs to be waterproofed within the aircraft, thereby reducing the weight and complexity of the overall system.
再者，該飛行器能降落於堅硬表面或起伏地形而不損壞電氣的與電子組件的能力，不僅是藉由將這些組件置於模組化隔間120、130、及140內來達成，亦藉由允許隔間120、130、及140的壁110能部分地變形而不致造成UAV故障來達成。該壁110形成一衝擊區圍繞在隔間120、130、及140內的電氣的與電子組件，且分隔板能抑制組件20、30、及40相撞。可選擇地，在一些實施例中，壁110與安裝座122、132f、132r、及142係為從壁110及/或其相對的分隔板150與160(圖2)處嵌設的組件20、30、及40(圖1)。額外的吸震材料(未圖示)可加入至隔間120、130、或140內以更減少任何因衝擊而損壞組件20、30、或40的機會。Furthermore, the ability of the aircraft to land on hard surfaces or undulating terrain without damaging electrical and electronic components is achieved not only by placing these components in modular compartments 120, 130, and 140, but also by borrowing This is achieved by allowing the walls 110 of the compartments 120, 130, and 140 to be partially deformed without causing a UAV failure. The wall 110 forms an electrical and electronic component with an impact zone surrounding the compartments 120, 130, and 140, and the divider prevents the components 20, 30, and 40 from colliding. Alternatively, in some embodiments, wall 110 and mounts 122, 132f, 132r, and 142 are components 20 that are embedded from wall 110 and/or its opposing dividers 150 and 160 (FIG. 2). , 30, and 40 (Figure 1). Additional shock absorbing material (not shown) can be added to the compartments 120, 130, or 140 to further reduce any chance of damaging the components 20, 30, or 40 due to impact.
如圖1與2所示，機身110可含有一選擇性的外通道110c於機身110的側面110s，於航空電子隔間140的側壁110上，從一孔218向後延伸至飛行器10的尾部。配線203延伸通過孔218並沿著外通道110c以將航空電子組件40連接至一驅動器組件202，用來致動在飛行器10尾部的翼面(control surfaces)。外通道110c使得可以很容易地接觸配線以進行檢查、維修和更換。As shown in FIGS. 1 and 2, the fuselage 110 can include an optional outer channel 110c on the side 110s of the fuselage 110, on the side wall 110 of the avionics compartment 140, extending rearwardly from a hole 218 to the rear of the aircraft 10. . Wiring 203 extends through aperture 218 and along outer channel 110c to connect avionics assembly 40 to a driver assembly 202 for actuating control surfaces at the tail of aircraft 10. The outer channel 110c makes it easy to contact the wiring for inspection, repair and replacement.
圖4繪示一負載模組30之一實施例的一簡化的剖開側視圖。參照圖1、3及4-7，提供一負載400的一回縮機構410係用來將負載400從UAV 10內的一停佇位置(如圖6所示)，且因此從UAV 10的機身100的底部110b，移動至延伸至如圖4所示的負載模組30之外的一位置。圖5繪示圖4的一負載模組30之一實施例的一簡化的剖開側視圖，負載400係部分地收進殼體35內，而圖6繪示圖4的一負載模組30之一實施例的一簡化的剖開側視圖，負載係全部收進殼體35內。4 is a simplified cross-sectional side view of one embodiment of a load module 30. Referring to Figures 1, 3 and 4-7, a retraction mechanism 410 for providing a load 400 is used to position the load 400 from a parking position within the UAV 10 (as shown in Figure 6), and thus from the UAV 10 The bottom 110b of the body 100 is moved to a position that extends beyond the load module 30 as shown in FIG. 5 is a simplified cross-sectional side view of an embodiment of a load module 30 of FIG. 4, the load 400 is partially received in the housing 35, and FIG. 6 is a load module 30 of FIG. In a simplified cutaway side view of one embodiment, the load is fully retracted into the housing 35.
負載400可為一萬向盤，及如所示的傾斜照相機組件405，其在延伸位置可在UAV 10下方並繞其而觀看。在照相機組件405的收回或延伸期間，照相機組件405繞著一單一樞轉點/軸或鉸鏈420移動。照相機組件405以延著該殼體35之外的箭頭422d所示的調動的方向而移動，及延著將負載400裝進殼體35內的箭頭422s所示的方向而移動。在其他實施例中，鉸鏈420可具有多個樞轉軸(未圖示)的多個樞轉點。The load 400 can be a universal disk, and a tilt camera assembly 405 as shown, which can be viewed under and around the UAV 10 in an extended position. Camera assembly 405 moves about a single pivot point/shaft or hinge 420 during retraction or extension of camera assembly 405. The camera assembly 405 is moved in a direction of movement indicated by an arrow 422d outside the housing 35, and is moved in a direction indicated by an arrow 422s for loading the load 400 into the housing 35. In other embodiments, the hinge 420 can have multiple pivot points of a plurality of pivot axes (not shown).
一般而言，在照相機組件405上的此鉸鏈420的另一端係一絞盤430。絞盤430接著係直接地或間接地透過一纜繩440連接於、連接至、或與殼體35之一壁35w連接，例如與一鎖固件450，或其他對前壁35f的鎖定構件，以使得透過操作絞盤430而能將照相機組件405全部收回於模組30的殼體35內。絞盤430係位於盤狀托盤415內。In general, the other end of the hinge 420 on the camera assembly 405 is a winch 430. The winch 430 is then directly or indirectly connected to, connected to, or coupled to a wall 35w of the housing 35 via a cable 440, such as with a locking member 450, or other locking member for the front wall 35f, such that The camera unit 405 can be fully retracted into the housing 35 of the module 30 by operating the winch 430. The winch 430 is located within the disc tray 415.
在於或圍繞於鉸鏈420的一偏壓元件，如一彈簧460，係用來將負載400偏向朝其延伸位置的下方(如圖4所示)。連接至照相機組件405及/或殼體35的停止件、座或限制器(未圖示)可用來限制該照相機組件在它的延伸位置的運動。在一些實施例中，纜繩440可以其本身或額外地與其他限制器，限制照相機組件405在它的延伸的位置處的運動，並因此在該照相機完全延伸時處於張力狀態。再者，在一些實施例中，當照相機組件405伸入氣流中時，彈簧460提供足夠的力量以保持照相機組件405穩定。在其他實施例中，當其在延伸時若需要的話，可使用一可致動的鎖固機構(未圖示)來固定該照相機組件。A biasing element, such as a spring 460, located in or around the hinge 420 is used to bias the load 400 below its extended position (as shown in Figure 4). A stop, seat or limiter (not shown) coupled to camera assembly 405 and/or housing 35 can be used to limit movement of the camera assembly in its extended position. In some embodiments, the cable 440 may, by itself or additionally with other limiters, limit the movement of the camera assembly 405 at its extended position and thus be in tension when the camera is fully extended. Again, in some embodiments, spring 460 provides sufficient force to keep camera assembly 405 stable as camera assembly 405 extends into the airflow. In other embodiments, an actuatable locking mechanism (not shown) can be used to secure the camera assembly when it is extended.
負載400可設置於UAV 10中，如此沿著UAV 10行進的方向會使照相機組件405繞鉸鏈420旋轉而進入該殼體。在回縮機構410故障的情況下，當其在降落而接觸地面時，此配置將允許照相機組件405縮回至UAV 10中，從而降低損及負載400的可能性與嚴重性。為利於此目的，鉸鏈420或其他樞軸構件係位於前方且靠近殼體35的底部。因此，鉸鏈420可置於該殼體35的前壁35f，使得鉸鏈樞軸桿795(圖7)的中心軸係垂直於UAV 10運動的方向。The load 400 can be disposed in the UAV 10 such that the direction of travel along the UAV 10 causes the camera assembly 405 to rotate about the hinge 420 into the housing. In the event of a failure of the retraction mechanism 410, this configuration will allow the camera assembly 405 to be retracted into the UAV 10 when it is landing to contact the ground, thereby reducing the likelihood and severity of damage to the load 400. For this purpose, the hinge 420 or other pivot member is located forward and near the bottom of the housing 35. Thus, the hinge 420 can be placed in the front wall 35f of the housing 35 such that the central axis of the hinge pivot rod 795 (Fig. 7) is perpendicular to the direction of movement of the UAV 10.
纜繩440的使用進一步提供了可靠的操作和環境的適應能力，及重量的減輕。此處述及的用語纜繩，包括了編織纜繩、帶狀纜繩、一皮帶、一帶子、一繩子、一鎖鏈、或其他用來支撐張力或拉力的可撓構件。在一實施例中，纜繩440可為一尼龍(NYLON)、克維拉纖維(KEVLAR)、或其他材料的可靠的、重量輕的、不易腐蝕的帶子。The use of cable 440 further provides reliable handling and environmental adaptability, as well as weight reduction. The terminology cable as referred to herein includes a braided cable, a ribbon cable, a belt, a strap, a cord, a chain, or other flexible member for supporting tension or tension. In one embodiment, the cable 440 can be a reliable, lightweight, non-corrosive tape of nylon (NYLON), Kevlar, or other materials.
在此實施例中，鎖固件450可作為供照相機組件405的一停止件或座450r。在此實施例中，當該照相機組件如圖6所示全部縮回時，盤狀托盤415面向座450r而置放。在其他實施例中，鎖固件450與座450r可為不同的機構。In this embodiment, the fastener 450 can act as a stop or seat 450r for the camera assembly 405. In this embodiment, when the camera assembly is fully retracted as shown in Fig. 6, the disc tray 415 is placed facing the seat 450r. In other embodiments, the lock 450 and the seat 450r can be different mechanisms.
圖7繪示照相機組件405的盤狀托盤415之一實施例的一剖開上視簡圖。盤狀托盤415包覆盤狀馬達組件745，其係用來使照相機組件405移動拍攝。絞盤馬達735亦被包覆於盤狀托盤415中，並經由同樣包覆於盤狀托盤415中的蝸輪755而耦接至絞盤滾筒785。絞盤滾筒785係在盤狀托盤415之外部，並位於樞軸桿795對面。 7 is a cutaway top plan view of one embodiment of a disc tray 415 of the camera assembly 405. The disc tray 415 encloses a disc motor assembly 745 that is used to move the camera assembly 405 to capture. The winch motor 735 is also wrapped in the disc tray 415 and coupled to the winch drum 785 via a worm gear 755 that is also wrapped in the disc tray 415. The winch drum 785 is external to the disc tray 415 and is located opposite the pivot rod 795.
在此實施例中，殼體35的底部35b未密封，所以負載模組30具有一開放式底部35b以利於負載400的調動。因此，在此實施例中，盤狀托盤415及傾斜圓柱425係個別地被密封。傾斜圓柱425一般係包覆俯仰操縱電動機組件(未圖示)及攝相的、偵測的、或其他被動的、主動的、非致命的、或致命的負載裝置465與475。 In this embodiment, the bottom 35b of the housing 35 is unsealed, so the load module 30 has an open bottom 35b to facilitate the transfer of the load 400. Therefore, in this embodiment, the disc tray 415 and the inclined cylinder 425 are individually sealed. The angled cylinder 425 is typically covered with a pitching motor assembly (not shown) and phased, detected, or other passive, active, non-fatal, or deadly load devices 465 and 475.
值得注意的是任何參照「一個實施例」或「一實施例」意指任何描述與該實施例有關的一特定特徵、結構或特性，必要時應包含於一實施例中。在本說明書不同處的用詞「在一實施例中」，並非皆指相同實施例。 It is noted that any reference to "an embodiment" or "an embodiment" means any particular feature, structure, or characteristic described in connection with the embodiment, and, if necessary, included in an embodiment. The word "in one embodiment" is used in the different parts of the specification and does not refer to the same embodiment.
此處提供的圖式和例子係為說明之目的，而不是為了用來限制所附的申請專利範圍。本揭示應視為本發明的例證原則，所附實施例並無意限制本發明的精神和範圍及/或申請專利範圍。 The drawings and examples are provided for illustrative purposes and are not intended to limit the scope of the appended claims. The present disclosure is to be considered as an exemplification of the invention, and is not intended to limit the scope of the invention.
該領域中的技術者可將本發明進行修改，以達到本發明特定的應用。 The present invention can be modified by those skilled in the art to achieve a particular application of the present invention.
本專利中所含的討論目的是作為一個基本的描述。讀者應知道，具體的討論可能不會明確描述所有可行的實施例，且替代方案是隱含的。此外，此討論可能未完全解釋本發明的一般性質，亦可能沒有明確說明每個功能或元件可如何被取代或等效置換。再者，這些概念是隱含在本揭示中的。在本發明中介紹了裝置導向的用語，每個元件的隱含地執行該裝置的一項功能。還應該了解的是，可作出各種變化而不偏離本發明的本質。這種變化也隱含在此描述中。這些變化仍屬於本發明所要求保護的範圍。The discussion contained in this patent is intended as a basic description. The reader should be aware that specific discussions may not explicitly describe all possible embodiments, and alternatives are implicit. In addition, this discussion may not fully explain the general nature of the invention, and may not explicitly explain how each function or element can be substituted or substituted. Again, these concepts are implicit in this disclosure. Device-oriented terms are introduced in the present invention, each element implicitly performing a function of the device. It should also be understood that various changes may be made without departing from the essence of the invention. This change is also implicit in this description. These variations are still within the scope of the claimed invention.
此外，本發明及申請專利範圍中的每一不同的元件亦可以各種方式來實現。本揭示應理解為包括每個這樣的變型，無論是任何裝置實施例、一方法實施例的變型，甚至僅僅是任何這些元件的一個變化。特別是，應理解的是，與本發明元件相關的揭示，即使僅功能或結果相同，其每個元件的用語可用等價的設備用語來表示。這種等效，更廣泛，更通用的用語，甚至應該被認為是涵蓋在描述每個元件或動作。這些用語可為了顯現本發明所賦予的隱含的範圍的目的而被替代。同樣地，每個所揭示的物理元件應被理解為涵蓋物理元件利於達成的所揭示的動作。這些變化和替代用語應被認為是此詳細說明所明確揭示。In addition, each of the various elements of the invention and the scope of the claims can be implemented in various ways. The present disclosure is to be understood to include each such variation, regardless of any device embodiment, a variation of a method embodiment, or even a variation of any of these elements. In particular, it is to be understood that the disclosure of the elements of the present invention, even if only the functions or results are the same, the terms of each of the elements may be represented by equivalent device terms. This equivalent, broader, and more general term should even be considered to cover each element or action described. These terms may be substituted for the purpose of revealing the implicit scope of the invention. Likewise, each disclosed physical element should be understood to encompass the disclosed actions that the physical elements are susceptible to. These variations and alternative terms should be considered as clearly disclosed in this detailed description.
在描述了與本發明相關的數個實施例後，應對於該技術領域者具有將其變化的建議。此處的例示實施例非用於限制，而各種配置和特徵的組合均為可能的。因此，本發明不僅限於所揭實施例，應以所附的申請專利範圍為準。Having described several embodiments related to the present invention, there should be suggestions for those skilled in the art to change them. The illustrative embodiments herein are not intended to be limiting, and various configurations and combinations of features are possible. Therefore, the invention is not limited to the disclosed embodiments, but should be based on the scope of the appended claims.
10．．．無人機(UAV)10. . . Drone (UAV)
15．．．翼部15. . . Wing
16．．．翼部16. . . Wing
20．．．電池模組20. . . Battery module
30．．．負載模組30. . . Load module
35．．．殼體35. . . case
35b．．．底部35b. . . bottom
35f．．．前壁35f. . . Front wall
35w．．．壁35w. . . wall
40．．．航空電子模組40. . . Avionics module
100．．．機身100. . . body
104、105、106．．．突耳104, 105, 106. . . Lug
105h．．．把手105h. . . handle
110．．．壁110. . . wall
110b．．．底壁110b. . . Bottom wall
110c．．．外通道110c. . . Outer channel
110s．．．側壁110s. . . Side wall
120．．．電池隔間120. . . Battery compartment
122．．．安裝座122. . . Mount
123b．．．配線123b. . . Wiring
123f．．．配線123f. . . Wiring
124．．．連接器124. . . Connector
124m．．．接合表面124m. . . Joint surface
126f．．．前通道126f. . . Front channel
126r．．．後通道126r. . . Rear channel
128b．．．滴流孔128b. . . Drip hole
128s．．．滴流孔128s. . . Drip hole
130．．．負載隔間130. . . Load compartment
131．．．大型開口131. . . Large opening
132f．．．前安裝表面132f. . . Front mounting surface
132r．．．後安裝表面132r. . . Rear mounting surface
134．．．連接器134. . . Connector
134m．．．接合表面134m. . . Joint surface
140．．．航空電子隔間140. . . Avionics compartment
141．．．開口141. . . Opening
142．．．安裝座142. . . Mount
146f．．．前通道146f. . . Front channel
146r．．．後通道146r. . . Rear channel
150、160．．．分隔板150, 160. . . Partition plate
163．．．外殼163. . . shell
180．．．滑行墊180. . . Sliding mat
190．．．滑行墊190. . . Sliding mat
202．．．驅動器組件202. . . Drive component
203．．．配線203. . . Wiring
218．．．孔218. . . hole
228b．．．滴流孔228b. . . Drip hole
228s．．．滴流孔228s. . . Drip hole
229．．．凹部229. . . Concave
400．．．負載400. . . load
405．．．照相機組件405. . . Camera assembly
410．．．回縮機構410. . . Retraction mechanism
415．．．盤狀托盤415. . . Disc tray
420．．．鉸鏈420. . . Hinge
422d、422s．．．箭頭422d, 422s. . . arrow
425．．．傾斜圓柱425. . . Tilted cylinder
430．．．絞盤430. . . winch
440．．．纜繩440. . . Cable
450．．．固定件450. . . Fastener
450r．．．座450r. . . seat
460．．．彈簧460. . . spring
465、475．．．負載裝置465, 475. . . Load device
735．．．絞盤馬達735. . . Winch motor
745．．．盤狀馬達組件745. . . Disk motor assembly
755．．．蝸輪755. . . Worm gear
785．．．絞盤滾筒785. . . Winch drum
795．．．樞軸桿795. . . Pivot rod
本發明的特徵與優點可藉由詳細說明、後附申請專利範圍、及隨附的圖式而更易於理解，其中：The features and advantages of the present invention are more readily understood by the detailed description, the appended claims and the accompanying drawings.
圖1繪示一水路兩用無人飛行載具的一透視簡圖。FIG. 1 is a perspective schematic view of a waterway dual-purpose unmanned aerial vehicle.
圖2繪示圖1之水路兩用無人飛行載具的機身的一簡化上視圖。2 is a simplified top view of the fuselage of the waterway dual-purpose unmanned aerial vehicle of FIG. 1.
圖3繪示圖1之水路兩用無人飛行載具的機身的一簡化側視圖。3 is a simplified side view of the fuselage of the waterway dual-purpose unmanned aerial vehicle of FIG. 1.
圖4繪示一負載模組之一實施例的一簡化的剖開側視圖。4 is a simplified cross-sectional side view of one embodiment of a load module.
圖5繪示圖4的一負載模組之一實施例的一簡化的剖開側視圖，該負載係部分地收進該殼體內。5 is a simplified cross-sectional side view of one embodiment of a load module of FIG. 4 partially received into the housing.
圖6繪示圖4的一負載模組之一實施例的一簡化的剖開側視圖，該負載係全部收進該殼體內。6 is a simplified cross-sectional side view of one embodiment of a load module of FIG. 4, the load being fully received within the housing.
圖7繪示照相機組件的盤狀托盤之一實施例的一簡化的剖開上視圖。7 is a simplified cross-sectional top view of one embodiment of a disc tray of a camera assembly.
30．．．負載模組30. . . Load module
35．．．殼體35. . . case
35b．．．底部35b. . . bottom
35f．．．前壁35f. . . Front wall
35w．．．壁35w. . . wall
110b．．．底壁110b. . . Bottom wall
400．．．負載400. . . load
405．．．照相機組件405. . . Camera assembly
415．．．盤狀托盤415. . . Disc tray
420．．．鉸鏈420. . . Hinge
422d、422s．．．箭頭422d, 422s. . . arrow
425．．．傾斜圓柱425. . . Tilted cylinder
430．．．絞盤430. . . winch
440．．．纜繩440. . . Cable
450．．．固定件450. . . Fastener
450r．．．座450r. . . seat
460．．．彈簧460. . . spring
465、475．．．負載裝置465, 475. . . Load device
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| TW108139933A TWI736002B (en) | 2010-06-29 | 2011-06-29 | Uav payload module camera assembly and retraction mechanism |
| TW107123474A TWI679151B (en) | 2010-06-29 | 2011-06-29 | Uav payload module camera assembly and retraction mechanism |
| TW100122918A TWI590990B (en) | 2010-06-29 | 2011-06-29 | Uav payload module camera assembly and retraction mechanism |
| TW106111932A TWI635026B (en) | 2010-06-29 | 2011-06-29 | Uav payload module camera assembly and retraction mechanism |
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| TW108139933A TWI736002B (en) | 2010-06-29 | 2011-06-29 | Uav payload module camera assembly and retraction mechanism |
| TW107123474A TWI679151B (en) | 2010-06-29 | 2011-06-29 | Uav payload module camera assembly and retraction mechanism |
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| US9694909B2 (en) | 2014-07-17 | 2017-07-04 | Aai Corporation | Modular mounting structure with embedded electrical bus |
| US10232940B2 (en) * | 2016-09-09 | 2019-03-19 | Wing Aviation Llc | Methods and systems for raising and lowering a payload |
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| US4884766A (en) * | 1988-05-25 | 1989-12-05 | The United States Of America As Represented By The Secretary Of The Air Force | Automatic fin deployment mechanism |
| US6811113B1 (en) * | 2000-03-10 | 2004-11-02 | Sky Calypso, Inc. | Internet linked environmental data collection system and method |
| EP1971519A1 (en) * | 2006-01-10 | 2008-09-24 | Alavi Kamal | Unmanned aircraft for telecommunicative or scientific purposes |
| US7841783B2 (en) * | 2006-02-16 | 2010-11-30 | Brandebury Tool Company, Inc. | Miniaturized turret-mounted camera assembly |
| FR2903656B1 (en) * | 2006-07-12 | 2008-09-26 | Airbus France Sas | BOX FOR STORING THE FRONT TRAIN OF AN AIRCRAFT. |
| GB0619615D0 (en) * | 2006-10-04 | 2006-11-15 | Airbus Uk Ltd | A door for opening and closing a door aperture in an aircraft |
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| TWI679151B (en) | 2019-12-11 |
| TW201733858A (en) | 2017-10-01 |
| TW201206767A (en) | 2012-02-16 |
| TW201919948A (en) | 2019-06-01 |
| TW202023900A (en) | 2020-07-01 |
| TW202218943A (en) | 2022-05-16 |
| TWI736002B (en) | 2021-08-11 |
| TWI804914B (en) | 2023-06-11 |
| TWI635026B (en) | 2018-09-11 |
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