Surveying drone

Abstract

The application discloses a surveying and mapping unmanned plane, which comprises a rack, a plurality of telescopic wings and a propeller arranged on the side of the rack, a body arranged below the rack, a lower part of the body being semispherical, a battery pack arranged in the body through a lifting mechanism, a function box arranged at the bottom of the body, a camera and an infrared range finder symmetrically arranged in the function box, and a damping elastic layer wrapped on the outer layer of the lower part of the body. The body in the shape of "Tumbler" and the damping elastic layer at the bottom of the body can prevent the unmanned plane from falling down when landing, so that the equipment and the wings on the unmanned plane are prevented from being damaged by falling, the unmanned plane recovery speed is improved, and the working efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and specifically relates to a surveying UAV. Background Technology

[0002] Existing surveying drones cannot fully utilize their advantages in some emergency rescue missions. After taking pictures of the scene, the surveying drones need to return as soon as possible. However, the existing drones have limited structures, and if they land quickly after returning, the equipment may be damaged. Therefore, the landing speed during the return is limited, resulting in low work efficiency. Summary of the Invention

[0003] To address the problems mentioned above in the background art, embodiments of the present invention propose a mapping drone.

[0004] The mapping drone of this invention includes: a frame, on which multiple retractable wings and propellers are arranged around the periphery; a body, which is located below the frame and has a hemispherical lower part; a battery pack, which is located inside the body via a lifting mechanism; a function box, which is located at the bottom of the body and has a camera and an infrared rangefinder symmetrically arranged inside; and a damping elastic layer, which wraps around the lower outer layer of the body.

[0005] Optionally, the battery pack includes a housing and multiple batteries. The housing of the battery pack is hemispherical, and a bushing is provided at the center of the housing in a longitudinal direction. The inner wall of the bushing is provided with internal threads.

[0006] Optionally, the lifting mechanism includes a ball screw disposed within the main body, the ball screw being longitudinally disposed within the main body along the central axis, and the nut of the ball screw being disposed within the bushing of the battery pack, with the bushing and the nut being fixedly connected.

[0007] Optionally, the main body is further provided with a partition plate, which is arranged laterally in the main body, and a bearing is provided between the partition plate and the lead screw. A sealing ring is provided between the bearing and the lead screw (401), and a damping fluid is provided below the partition plate, which fills the outer shell of the battery pack.

[0008] Optionally, the side of the functional box corresponding to the battery pack has an arc-shaped edge, which matches the outer shell of the battery pack.

[0009] Optionally, the damping elastic layer has through holes at positions corresponding to the camera and infrared rangefinder.

[0010] Optionally, the relationship between the structure of the body (2) and the landing limit attitude is as follows:

[0011]

[0012] Where M is the mass of the UAV, g is the gravitational acceleration, α is the maximum allowable angle of the center of gravity deflection during the landing process of the UAV (2), V is the horizontal velocity of the UAV when it lands, and d is the distance between the center of gravity and the center of the hemisphere.

[0013] Optionally, the relationship between the distance from the wing to the ground and the angle α when the body lands is as follows:

[0014]

[0015] Where α is the angle of the body's center of gravity deflection upon landing, L is the length of the wing upon landing, H is the distance from the lowest point of the body's bottom to the center of the frame, and X is the distance from the lowest point of the body's bottom to the original contact point upon landing.

[0016] The beneficial effects of this invention are that by setting up a "roly-poly" type body and a damping elastic layer at the bottom of the body, the drone can remain upright when it lands, thereby preventing damage to the equipment and wings on the drone. It also improves the drone recovery speed and increases work efficiency. By setting up a ball screw and damping fluid, the center of gravity is adjusted by using the drone's rotation to move the battery pack along the ball screw. The structure is simple and the design is ingenious. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a surveying drone according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the original contact point of the surveying drone of the present invention when it is normally stopped and without tilting.

[0019] Figure 3 This is a schematic diagram of the surveying drone of the present invention landing at a certain angle.

[0020] Figure label:

[0021] Frame 1; Wing 101;

[0022] Body 2; Damping elastic layer 201; Partition 202; Damping fluid 203;

[0023] Battery pack 3; bushing 301;

[0024] Ball screw 4; Screw 401; Nut 402;

[0025] Function box 5; camera 501; infrared rangefinder 502. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] like Figures 1-3 As shown, the mapping drone of the present invention includes: a frame 1, a body 2, a battery pack 3, a function box 5, and a damping elastic layer 201. The frame 1 is provided with telescopic wings 101 and propellers around its circumference. There are four telescopic wings 101, which are arranged circumferentially around the frame 1. The length of the telescopic wings 101 can be extended or shortened as needed.

[0028] The main body 2 is located below the frame 1. The lower part of the main body 2 is hemispherical, and the upper part of the main body 2 is relatively narrow. The main body 2 is shaped like a roly-poly toy, which can prevent the main body 2 from tipping over when it is placed on the ground.

[0029] The main body 2 is equipped with a battery pack 3, which is the center of gravity of the main body 2, i.e. the center of gravity of the "roly-poly toy". The battery pack 3 is located inside the main body 2 through a lifting mechanism.

[0030] The battery pack 3 includes a casing and multiple batteries. The casing of the battery pack 3 is hemispherical, and multiple batteries are neatly arranged inside the casing. A bushing 301 is provided at the center of the casing, and the inner wall of the bushing 301 is provided with internal threads.

[0031] The lifting mechanism includes a ball screw 4 installed inside the main body. The screw 401 of the ball screw 4 is longitudinally installed in the main body 2 along the central axis. The nut 402 of the ball screw 4 is installed in the bushing 301 of the battery pack 3. The bushing 301 and the nut 402 are fixedly connected.

[0032] When the wing 101 rotates along with the body 2, the lead screw 401 of the ball screw 4 will rotate, causing the bushing 301 of the battery pack 3 to move up and down along the lead screw 401 with the nut 402, thereby causing the battery pack 3 to move up and down.

[0033] The main body 2 is also provided with a partition plate 202, which is arranged laterally inside the main body 2. A bearing is provided between the partition plate 202 and the lead screw 401. A sealing ring is provided between the bearing and the lead screw 401. That is, the bearing enables the lead screw 401 to rotate relative to the partition plate 202, and the sealing ring is used to seal the gap between the lead screw 401 and the bearing.

[0034] A damping fluid 203 is disposed below the separator 202, and the damping fluid 203 fills around the outer casing of the battery pack 3. The damping fluid 203 can be water, silicone oil or glycerin, and the function of the damping fluid 203 is to further reduce the rotational speed of the battery pack 3 to less than the rotational speed of the lead screw 401.

[0035] Function box 5 is located at the bottom of body 2. Camera 501 and infrared rangefinder 502 are symmetrically arranged in function box 5. The side of function box 5 corresponding to battery pack 3 is arc-shaped, and the arc-shaped side matches the outer shell of battery pack 3.

[0036] The camera 501 is mounted on the bottom of the main body 2 via the first telescopic rod, and the infrared rangefinder 502 is mounted on the bottom of the main body 2 via the second telescopic rod. The infrared rangefinder 502 and the camera 501 are symmetrically arranged along the central axis of the main body 2.

[0037] A damping elastic layer 201 is provided at the bottom of the main body 2, which wraps around the lower outer layer of the hemispherical main body 2. The damping elastic layer 201 can use deformation energy consumption to dissipate the vertical energy and part of the horizontal energy when the UAV lands.

[0038] The damping elastic layer 201 has through holes at positions corresponding to the camera 501 and the infrared rangefinder 502, allowing the camera 501 and the infrared rangefinder 502 to extend out of the through holes to operate.

[0039] like Figures 2-3 As shown, let C be the center of gravity of the drone, which is also the center of gravity of battery pack 3. When the drone is upright, that is, when the lowest point of the drone's body 2 is in contact with the ground, it is in the original contact state, let this contact point be the original contact point A. Let O be the center of the lower hemisphere of body 2, the distance between the center of the sphere O and the original contact point A be the radius R, and the distance between the center of gravity C and the center of the sphere O be d. When the drone lands with a certain speed V and turns through an angle α, the contact point between the lowest point of the drone's body 2 and the ground is A'. The drone's kinetic energy is converted into potential energy, and the drone's potential energy at this time is...

[0040] E P =Mg(R-dcosα) (1)

[0041] The potential energy of the drone in its original contact state is

[0042] E P =Mg(Rd) (2)

[0043] Therefore, the horizontal kinetic energy of the drone is converted into the change in its potential energy, that is...

[0044]

[0045] Therefore, the relationship between the construction of Body 2 and its ultimate landing attitude is as follows:

[0046]

[0047] Where M is the mass of the UAV, g is the gravitational acceleration, α is the maximum allowable angle of the center of gravity deflection during the landing process of the body (2), V is the horizontal velocity of the UAV when it lands, and d is the distance between the center of gravity and the center of the sphere O.

[0048] When the main body 2 lands and turns through angle α, the relationship between the distance from the wing to the ground and angle α is as follows:

[0049]

[0050] Where α is the angle of the body's center of gravity deflection, L is the length of the wing when landing, H is the distance from the lowest point of the body's bottom to the center of the frame, and X is the distance from the lowest point of the body's bottom to the original contact point A when landing. The value of X changes with the angle of α.

[0051] In addition, combined Figure 3 We can obtain:

[0052]

[0053] From formula (6), we can obtain that

[0054]

[0055] Substituting formula (7) into formula (5), we get

[0056]

[0057] Substituting formula (8) into formula (4), we get

[0058]

[0059] As can be seen from formula (9), when the center of gravity height remains unchanged, if we want to increase the landing speed of the drone, the corresponding α will increase. In order to avoid the wings touching the ground, the length of the wings needs to be shortened. Conversely, when the landing speed of the drone decreases, α will decrease, and the length of the wings can be extended.

[0060] When the wing length and angle α remain constant, to increase the drone's landing speed, increase the length of d, which means simply lowering the center of gravity, i.e., moving the battery pack downwards. Conversely, when the wing length and angle α remain constant, to decrease the drone's landing speed, decrease d, which means raising the center of gravity, i.e., raising the height of the battery pack.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0064] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A surveying unmanned aerial vehicle (UAV), characterized in that, include: A frame (1) is provided with multiple retractable wings (101) and propellers around its perimeter; The body (2) is located below the frame (1), and the lower part of the body (2) is hemispherical; Battery pack (3), which is installed inside the main body (2) via a lifting mechanism; Function box (5), the function box (5) is located at the bottom of the main body (2), and a camera (501) and an infrared rangefinder (502) are symmetrically arranged in the function box (5). A damping elastic layer (201) is wrapped around the lower outer layer of the body (2); The battery pack (3) includes a shell and multiple batteries. The shell of the battery pack (3) is hemispherical, and a bushing (301) is provided at the center of the shell. The inner wall of the bushing (301) is provided with internal threads. The lifting mechanism includes a ball screw (4) installed in the body (2). The screw (401) of the ball screw (4) is longitudinally installed in the body (2) along the central axis. The nut (402) of the ball screw (4) is installed in the bushing (301) of the battery pack (3). The bushing (301) and the nut (402) are fixedly connected. The main body (2) is also provided with a partition (202), which is arranged horizontally inside the main body (2). A bearing is provided between the partition (202) and the lead screw (401), and a sealing ring is provided between the bearing and the lead screw (401). A damping fluid (203) is provided below the partition (202), and the damping fluid (203) fills around the outer shell of the battery pack (3).

2. The mapping UAV according to claim 1, characterized in that, The box of the functional box (5) has an arc-shaped side on the side corresponding to the battery pack (3), which matches the outer shell of the battery pack (3).

3. The mapping UAV according to claim 1, characterized in that, The camera (501) is mounted on the bottom of the body (2) via a first telescopic rod, and the infrared rangefinder (502) is mounted on the bottom of the body (2) via a second telescopic rod. The infrared rangefinder (502) and the camera (501) are symmetrically arranged along the central axis of the body (2).

4. The mapping UAV according to claim 1, characterized in that, The damping elastic layer (201) has through holes at positions corresponding to the camera (501) and the infrared rangefinder (502).

5. The mapping UAV according to claim 1, characterized in that, The relationship between the structure of the body (2) and the landing limit attitude is as follows: （4） in, M Let g be the mass of the drone, and g be the acceleration due to gravity. α The angle of the body's center of gravity deflection upon landing. V The horizontal velocity of the drone when it lands. d This is the distance between the center of gravity and the center of the hemisphere.

6. The mapping UAV according to claim 1, characterized in that, The distance from the wing to the ground when the main body (2) lands is... α The relationship between the angles is: （5） in, α The angle of the body's center of gravity deflection upon landing. L The length of the wing upon landing. H The distance from the lowest point of the bottom of the main body to the center of the frame. X This is the distance from the lowest point of the body's bottom to the original contact point upon landing.

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