CN216916313U - A multi-rotor unmanned aerial vehicle that can be detected in all directions - Google Patents

Abstract

The utility model discloses a multi-rotor unmanned aerial vehicle capable of omnidirectional detection, belonging to the field of unmanned aerial vehicles, comprising a fuselage, an omnidirectional detection device and a power supply structure installed on the fuselage; The motor, the connector fixedly installed on the output shaft of the motor, the circuit board fixedly installed on the connector, the controller, the wireless communication module and the ultrasonic probe installed on the circuit board, the controller, the wireless communication module and the ultrasonic probe Electrical connection; the power supply structure includes positive and negative slip rings fixed on the fuselage, and positive and negative slides fixed on the connector; the positive and negative slip rings are connected to the The positive pole and the negative pole of the power supply on the fuselage are electrically connected, and the positive pole slider and the negative pole slider are respectively electrically connected with the positive pole and the negative pole of the circuit board through the power supply wire. The utility model has multi-directional detection capability and improves flight safety.

Description

A multi-rotor unmanned aerial vehicle that can be detected in all directions

technical field

The utility model relates to the field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle that can be detected in all directions.

Background technique

Helicopters with three or more rotors are called multi-rotor drones or multi-rotor drones. The rotor refers to the propeller that provides power, and the shaft refers to the rotating shaft of the rotor that provides power. The collective pitch of the rotors in the multi-rotor UAV is fixed, not variable like a general helicopter. When the multi-rotor UAV is flying, the relative rotation speed between different rotors is changed, so as to change the size of the single-axis propulsion, so as to control the running trajectory of the aircraft. The multi-rotor UAV has the characteristics of strong maneuverability, vertical take-off and landing and hovering, and is mainly suitable for low-altitude, low-speed, task types with vertical take-off and landing and hovering requirements. In terms of civilian use, rotary-wing drones can be used in fields such as exploration, photography, engineering inspection, emergency rescue, cargo transportation, and traffic monitoring. In terms of military use, rotary-wing UAVs can be used for battlefield reconnaissance, communication, weapon mounting, material delivery and other fields.

However, with the increasing variety of tasks undertaken by multi-rotor UAVs, when flying at low altitudes in urban buildings and complex terrain, multi-rotor UAVs are required to avoid obstacles such as wires, trees, buildings, etc., otherwise it is easy to cause UAV damage. Accidents such as smashing ground personnel and destroying other facilities.

In terms of obstacle detection, ultrasonic ranging is widely used in multi-rotor UAVs due to its low cost and high cost performance. This method calculates the distance of obstacles by calculating the time difference between transmitting and receiving ultrasonic echoes, and controls the unmanned aerial vehicle in time. A method to avoid obstacles by using the flight path of the aircraft. Ultrasonic ranging is cheaper and lighter than other ranging devices, making it easy to install on small rotary-wing UAVs. However, due to the existence of detection blind spots in ultrasonic detection, its working method is to emit ultrasonic waves in a fixed direction for detection, which is not conducive to large-scale and rapid detection of obstacle information around the UAV.

Utility model content

Aiming at the problem that the ultrasonic probe used for detecting obstacles on the multi-rotor unmanned aerial vehicle in the prior art has a detection blind spot and thus affects safe flight, the purpose of the present invention is to provide a multi-rotor unmanned aerial vehicle that can detect in all directions.

For achieving the above object, the technical scheme of the present utility model is:

A multi-rotor drone capable of omnidirectional detection, comprising a fuselage, an arm and a lift assembly, an omnidirectional detection device is installed on the fuselage, and the omnidirectional detection device includes a fixed installation on the fuselage a motor base, a motor fixedly installed on the motor base, a connector fixedly installed on the output shaft of the motor, a circuit board fixedly installed on the connector, and a control device installed on the circuit board a controller, a wireless communication module and an ultrasonic probe, wherein the controller is electrically connected to the wireless communication module and the ultrasonic probe;

It also includes a power supply structure for supplying power to the circuit board, the power supply structure includes a positive pole slip ring and a negative pole slip ring fixedly installed on the fuselage, and a positive pole slider and a negative pole fixed on the connecting piece. The slider; the positive slip ring, the negative slip ring and the output shaft of the motor are arranged coaxially, and the positive slip ring and the negative slip ring are respectively connected to the power supply on the fuselage through the power distribution wire. The positive electrode and the negative electrode are electrically connected; the positive electrode slider and the negative electrode slider are slidably connected to the positive electrode slip ring and the negative electrode slip ring respectively, and the positive electrode slider and the negative electrode slider are respectively powered by electricity The wires are electrically connected to the positive and negative electrodes of the circuit board.

Further, the power supply structure further includes two hollow conduits, one end of the two conduits is fixed on the connecting piece, and the positive slider and the negative slider are detachably and fixedly connected to the two respectively. At the other end of the conduit, the power supply wire is passed through the conduit.

Preferably, one end of the conduit is threadedly connected to the connector, the other end of the conduit is threadedly connected to the positive slider or the negative slider, and the direction of rotation of the threads on both ends of the conduit is threaded. On the contrary, the specifications are the same.

Preferably, the connecting piece is provided with a shaft hole adapted to the output shaft of the motor, and the connecting piece is detachably and fixedly connected with the output shaft of the motor through a key; A positioning shoulder is provided on the output shaft of the motor on the side, and a locking nut is threadedly connected to the output shaft of the motor on the side above the connecting piece.

Preferably, a shaft sleeve is provided between the positioning shoulder and the connecting piece, and between the locking nut and the connecting piece.

Preferably, the top of the fuselage is provided with a groove, the motor base is fixedly installed in the groove, the output shaft of the motor is arranged vertically, and the detection direction of the probe is horizontal.

Preferably, there are two ultrasonic probes, and the two ultrasonic probes are symmetrically installed on the upper and lower sides of the circuit board.

With the above technical solution, due to the arrangement of the omnidirectional detection device, when the motor rotates, the connecting piece can be driven to rotate circumferentially, so that the ultrasonic probe installed on the circuit board can be rotated circumferentially for detection without dead angle, and the detection data can be It is sent to the wireless communication module by the controller, and the detection result is sent out by the wireless communication module; and due to the setting of the power supply structure, the positive slip ring, negative slip ring and positive slider can also pass through the process of the motor driving the circuit board to rotate. , The cooperation of the negative slider can transmit electric energy, so as to ensure the power consumption of the omnidirectional detection device.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the partial enlarged view of A place in Fig. 1;

Fig. 3 is a partial enlarged view at B in Fig. 1;

FIG. 4 is a schematic top view of the power supply structure of the present invention.

In the picture: 1-fuselage, 2-arm, 3-lift motor, 4-propeller, 5-motor base, 6-motor, 7-connector, 8-circuit board, 9-ultrasonic probe, 10-lock Nut, 11-shaft sleeve, 12-positive slip ring, 13-negative slip ring, 14-positive slider, 15-negative slider, 16-conduit, 17-fixing block.

Detailed ways

The specific embodiments of the present utility model will be further described below with reference to the accompanying drawings. It should be noted here that the description of these embodiments is used to help the understanding of the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as there is no conflict with each other.

It should be noted that, in the description of the present invention, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. The description of the structure of the present utility model is only for the convenience of describing the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a description of the present utility model. limits.

For the "first" and "second" in this technical solution, it is only the appellation and distinction of the same or similar structures, or the corresponding structures with similar functions, not the arrangement of the importance of these structures, nor the ordering or comparison. size, or otherwise.

In addition, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, the connection may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, or a connection. It can be an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal connection of the two structures. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the general idea of the present invention and the specific circumstances of the context of the present solution.

A multi-rotor drone that can be detected in all directions, as shown in Figure 1-4, includes a fuselage 1, an arm 2 and a lift component. The arm 2 is usually provided with multiple and fixedly connected to the circumference of the fuselage 1. On the side wall, the tip of each arm 2 is usually arranged with a lift assembly, and the lift assembly usually includes a lift motor 3 and a propeller 4 mounted on the lift motor 3 . In addition, an omnidirectional detection device is installed on the fuselage 1, and the omnidirectional detection device is used to detect whether there are obstacles in a 360° direction around the drone.

In this embodiment, the omnidirectional detection device specifically includes a motor base 5 , a motor 6 , a connector 7 , a circuit board 8 , a controller, a wireless communication module and an ultrasonic probe 9 .

The top of the body 1 is provided with a groove, the above-mentioned motor base 5 is fixedly installed in the groove by means of interference fit or welding, and the motor 6 is detachably and fixedly installed on the motor base by means of bolts or screws. 5 , and the output shaft of the motor 6 is arranged vertically, and the top end of the output shaft protrudes out of the top surface of the fuselage 1 . The connecting piece 7 is provided with a shaft hole matching the output shaft of the motor 6 , and the connecting piece 7 is detachably fixed on the output shaft of the motor 6 through a key. In addition, in order to prevent the axial movement of the connecting piece 7 , a positioning shoulder is provided on the output shaft of the motor 6 located on the lower side of the connecting piece 7 , and a positioning shoulder is provided on the output shaft of the motor 6 located on the upper side of the connecting piece 7 . A lock nut 10 is threadedly connected. Meanwhile, in order to protect the connecting piece 7 and the output shaft of the motor 6 , a shaft sleeve 11 is also provided between the positioning shoulder and the connecting piece 7 and between the locking nut 10 and the connecting piece 7 .

The circuit board 8 is fixedly installed on the connector 7 by screws, and the circuit board 8 is arranged vertically. The above-mentioned controller, wireless communication module and ultrasonic probe 9 are all fixedly installed on the circuit board 8, and the controller is connected with the wireless device at the same time. The communication module and the ultrasonic probe 9 are electrically connected. Among them, the detection direction of the ultrasonic probe 9 is horizontal, so as to facilitate 360° detection without dead angle, the information data detected by the ultrasonic probe 9 is sent to the wireless communication module through the controller, and the wireless communication module sends the information data, such as a computer The flight control system installed in the body 1 helps the UAV to avoid obstacles. Wherein, the wireless communication module can be configured as a Bluetooth module, a WI FI module or a GPRS module. In order to improve the detection effect, two ultrasonic probes 9 are configured, and the two ultrasonic probes 9 are symmetrically installed on the upper and lower sides of the circuit board 8 .

In this embodiment, the multi-rotor UAV further includes a power supply structure for supplying power to the circuit board 8 , and the power supply structure is used to supply the power supply of the battery mounted in the fuselage 1 to the circuit board 8 so as to be easily installed on the circuit board 8 . The powered module on board 8 works.

Specifically, the power supply structure includes a positive slip ring 12 , a negative slip ring 13 , a positive slide 14 and a negative slide 15 made of conductive materials. The positive slip ring 12 and the negative slip ring 13 are fixedly installed on the top of the fuselage 1, and the positive slip ring 12, the negative slip ring 13 and the output shaft of the motor 6 are arranged coaxially, and the positive slip ring 12 and the negative slip ring 13 are respectively It is electrically connected to the positive and negative poles of the power supply on the fuselage 1 through a power distribution wire. The positive slider 14 and the negative slider 15 are slidably connected to the positive slip ring 12 and the negative slip ring 13 respectively, and the positive slider 12 and the negative slider 13 are fixed relative to the connecting member 7 through an electrical insulating structure, while the positive slider 12 The negative slider 13 is electrically connected to the positive electrode and the negative electrode of the circuit board 8 through the power supply wires, respectively.

The above-mentioned electrical insulating structure is configured as two hollow conduits 16, and the upper ends of the two conduits 16 are both fixed on the connecting piece 7. For example, two fixing blocks 17 are welded on the side wall of the connecting piece 7. The two conduits The upper ends of 16 are respectively connected to two fixed blocks 17 . The positive slider 14 and the negative slider 15 are respectively detachably and fixedly connected to the lower ends of the two conduits 16 , and the power supply wires are passed through the conduits 16 . For example, the upper end of the conduit 16 is screwed with the fixing block 17, the lower end is also screwed with the positive slider 14 or the negative slider 15, and the threads on both ends of the conduit 16 have opposite directions of rotation and the same specifications. In this way, by screwing the guide tube 16 , the connection or disassembly with the connecting member 7 and the positive slider 14 (or the negative slider 15 ) can be realized at the same time. In addition, the fixing block 17 is provided with a threading hole, so that when the power supply wire is passed through the conduit 16 , the upper end can be passed through the threading hole in the fixing block 17 .

The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, without departing from the principles and spirit of the present invention, various changes, modifications, substitutions and alterations can be made to these embodiments, which still fall within the protection scope of the present invention.

Claims (7)

1. a multi-rotor unmanned aerial vehicle that can be detected in all directions, comprising a fuselage, an arm and a lift assembly, it is characterized in that: an all-round detection device is installed on the described fuselage, and the all-round detection device includes a fixed installation a motor seat on the body, a motor fixed on the motor seat, a connector fixed on the output shaft of the motor, a circuit board fixed on the connector, and a a controller, a wireless communication module and an ultrasonic probe on the circuit board, wherein the controller is electrically connected to the wireless communication module and the ultrasonic probe; It also includes a power supply structure for supplying power to the circuit board, the power supply structure includes a positive pole slip ring and a negative pole slip ring fixedly installed on the fuselage, and a positive pole slider and a negative pole fixed on the connecting piece. The slider; the positive slip ring, the negative slip ring and the output shaft of the motor are arranged coaxially, and the positive slip ring and the negative slip ring are respectively connected to the power supply on the fuselage through the power distribution wire. The positive electrode and the negative electrode are electrically connected; the positive electrode slider and the negative electrode slider are slidably connected to the positive electrode slip ring and the negative electrode slip ring respectively, and the positive electrode slider and the negative electrode slider are respectively powered by electricity The wires are electrically connected to the positive and negative electrodes of the circuit board. 2 . The multi-rotor drone capable of omnidirectional detection according to claim 1 , wherein the power supply structure further comprises two hollow conduits, and one end of the two conduits is fixed on the connector. 3 . On the other hand, the positive slider and the negative slider are respectively detachably and fixedly connected to the other ends of the two conduits, and the power supply wires are passed through the conduits. 3 . The omnidirectionally detectable multi-rotor unmanned aerial vehicle according to claim 2 , wherein one end of the conduit is threadedly connected to the connector, and the other end of the conduit is connected to the positive slider or the The negative slide block is screwed, and the threads on both ends of the conduit have opposite directions of rotation and the same specifications. 4. The omni-directionally detectable multi-rotor unmanned aerial vehicle according to claim 1, wherein the connecting piece is provided with a shaft hole adapted to the output shaft of the motor, and the connecting piece passes through the The key is detachably and fixedly connected with the output shaft of the motor; and a positioning shoulder is provided on the output shaft of the motor on the side below the connecting piece, and the output shaft of the motor on the side above the connecting piece is provided with a positioning shoulder. A locking nut is threaded on the shaft. 5. The omnidirectionally detectable multi-rotor unmanned aerial vehicle according to claim 4, characterized in that: between the positioning shoulder and the connecting piece, and between the locking nut and the connecting piece A shaft sleeve is provided. 6 . The multi-rotor drone capable of omnidirectional detection according to claim 1 , wherein the top of the fuselage is provided with a groove, and the motor base is fixedly installed in the groove, and the The output shaft of the motor is arranged vertically, and the detection direction of the probe is horizontal. 7. The multi-rotor unmanned aerial vehicle that can be detected in all directions according to claim 6, wherein the ultrasonic probe is configured with two, and the two ultrasonic probes are symmetrically installed on the upper and lower parts of the circuit board. sides.

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