Damping and air filtering device for unmanned aerial vehicle detection module

Abstract

The invention relates to a damping and air filtering device for an unmanned aerial vehicle detection module, belongs to the technical field of unmanned aerial vehicles, and solves the problems that the attitude and speed of an unmanned aerial vehicle are difficult to stabilize due to high-frequency vibration and air turbulence in the prior art, and flight control is influenced. The damping and air filtering device for the unmanned aerial vehicle detection module comprises a protective cover, an air filtering cushion, a detection circuit board, a supporting block and a damping cushion, the protective cover and the detection circuit board are connected with a flight control board, the air filtering cushion, the detection circuit board, the supporting block and the damping cushion are all arranged in the protective cover, and an air pressure sensor and an IMU sensor are arranged on the detection circuit board. The porous structure of the foaming sponge cushion of the damping and air filtering device can buffer air flow changes under the condition that normal circulation of air is guaranteed, the air filtering performance is improved, and the air filtering use requirements of rotor unmanned aerial vehicles including micro unmanned aerial vehicles are met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a shock absorbing and air filtering device for an unmanned aerial vehicle detection module. Background Art

[0002] Inertial measurement unit (IMU) and barometer are the core components of rotary wing drones. They are required for drone attitude solution, velocity fusion, position fusion and other state estimation algorithms. The more accurate the data of IMU and barometer and the less noise, the more accurate the state estimation results of fusion algorithms such as Kalman filter and complementary filter, and the better the flight control effect. Therefore, ensuring the accuracy of IMU and barometer data is crucial for the normal flight of drones.

[0003] IMU is the core sensor of drones and is usually designed on a separate core board. However, during the flight of a rotorcraft drone, the high-frequency rotation of the rotor blades and motor will cause serious offset and noise in the IMU data. The airflow and sudden changes in environmental wind speed caused by the high-speed rotation of the rotor will also cause serious interference to the barometer.

[0004] Most of the common micro-rotor drones, especially the open-source flight control boards, do not have IMU shock absorption and air filtering devices, and do not filter the air on the barometer. Although some have shock absorption and air filtering devices, they are all for the IMU and barometer distributed on different circuit boards, and they are processed separately with different devices. The structure is large and complex, which affects flight control.

[0005] In summary, high-frequency vibrations and gas turbulence are likely to cause the drone’s attitude and speed to be difficult to stabilize, or even cause it to lose control and crash. Different devices are commonly used to deal with them separately, and the structure is large and complex, which affects flight control. Summary of the invention

[0006] In view of the above analysis, an embodiment of the present invention aims to provide a shock-absorbing and air-filtering device for a drone detection module, so as to solve the problem in the prior art that high-frequency vibration and gas turbulence will cause the drone's posture and speed to be difficult to stabilize, thus affecting flight control.

[0007] The purpose of the present invention is mainly achieved through the following technical solutions:

[0008] A shock-absorbing and air-filtering device for an unmanned aerial vehicle detection module comprises a protective cover, an air-filtering pad, a detection circuit board, a support block and a shock-absorbing pad. The protective cover and the detection circuit board are respectively connected to a flight control board of the unmanned aerial vehicle. The air-filtering pad, the detection circuit board, the support block and the shock-absorbing pad are all arranged in the protective cover. An air pressure sensor and an IMU sensor are arranged on the detection circuit board.

[0009] Furthermore, the outer dimensions of the protective cover are no greater than 15 mm×15 mm×7 mm.

[0010] Furthermore, the protective cover is a metal protective cover.

[0011] Furthermore, the air filter pad is a foam sponge pad, which has a loose porous structure and is elastic.

[0012] Furthermore, the detection circuit board is manufactured using a flexible PCB process and is elastic.

[0013] Furthermore, the thickness of the detection circuit board is not greater than 0.2 mm, and the weight is not greater than 0.5 g.

[0014] Furthermore, the support block is a lead metal block, which is adhered and fixed to the detection circuit board by a thin double-sided adhesive tape.

[0015] Furthermore, the shock-absorbing pad is a sponge pad.

[0016] Furthermore, the air filter pad is placed between the protective cover and the detection circuit board, the support block is placed between the detection circuit board and the shock-absorbing pad, and the air filter pad, the detection circuit board, the support block, and the shock-absorbing pad have the same shape, length, and width.

[0017] Furthermore, a method for assembling a shock-absorbing and air-filtering device for a drone detection module is provided, and the shock-absorbing and air-filtering device for a drone detection module is assembled.

[0018] Furthermore, a method for replacing components of a shock-absorbing and air-filtering device for a drone detection module is provided, which replaces components of the shock-absorbing and air-filtering device for a drone detection module.

[0019] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0020] (1) The porous structure of the foam sponge pad of the filter pad of the shock-absorbing filter device of the present invention can buffer the change of air flow while ensuring the normal circulation of gas, improve the air filtering performance, and meet the air filtering requirements of rotorcraft drones including micro drones;

[0021] (2) The hook-shaped buckle structure of the shock-absorbing and air-filtering device of the present invention can easily and quickly disassemble and assemble the protective cover, and then quickly replace or add or remove the air filter pad, shock-absorbing pad and support block, so as to realize the rapid adjustment of the shock-absorbing force;

[0022] (3) The gap between the side wall of the protective cover of the shock-absorbing and air-filtering device of the present invention and the flight control board can keep the airflow entering the protective cover normally. Due to the size limitation of the gap, the air turbulence caused by the rotation of the blades during the flight of the rotor UAV and the sudden change of airflow caused by the change of wind speed in the environment, the air intake amount entering the shock-absorbing and air-filtering device of the present invention through the gap is very small, so the airflow interference can be reduced. At the same time, the gap allows the air inside and outside the protective cover to flow, which can dissipate the heat generated by the air pressure sensor, IMU sensor and detection circuit board, suppress the temperature drift of the sensor, and improve the data accuracy.

[0023] (4) The locking block of the shock-absorbing and air-filtering device of the present invention can be inserted into or out of the gap between the two positioning blocks, so that the position of the top cover and the surrounding shell can be adjusted. The limiting mechanism is used to limit the movement of the locking block to prevent the locking block from being separated from the top cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the installation structure of the locking connection part;

[0027] Figure 3 It is a schematic diagram of the overall structure of the protective cover;

[0028] Figure 4 The overall structural diagram of the enclosure is shown in FIG.

[0029] Figure 5 It is a schematic diagram of the overall structure of the top cover;

[0030] Figure 6 It is a schematic diagram of the overall structure of the restriction mechanism;

[0031] Figure 7 is a schematic diagram of the assembly method;

[0032] Figure 8 A flowchart of a method for replacing parts is shown in FIG.

[0033] Reference numerals:

[0034] 1-protective cover; 2-locking connection; 3-air filter pad; 4-detection circuit board; 5-air pressure sensor; 6-IMU sensor; 7-support block; 8-shock pad; 9-flight control board; 11-shell; 12-top cover; 13-positioning block; 14-locking block; 15-closing plate; 16-stop bar; 17-center block; 18-spring; 19-pit; 141-push part. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0036] Example 1

[0037] A specific embodiment of the present invention, as Figure 1 and Figure 2 As shown, a shock-absorbing and air-filtering device (hereinafter referred to as the shock-absorbing and air-filtering device) for a drone detection module is disclosed, including a protective cover 1, an air filter pad 3, a detection circuit board 4, a support block 7 and a shock-absorbing pad 8. The protective cover 1 and the detection circuit board 4 are respectively connected to the flight control board 9, and the air filter pad 3, the detection circuit board 4, the support block 7 and the shock-absorbing pad 8 are all arranged in the protective cover 1. The detection circuit board 4 is provided with an air pressure sensor 5 and an IMU sensor 6. The air filter pad 3 can filter out the gas turbulence caused by the rotation of the blades when the drone is flying and the sudden change of airflow caused by the change of wind speed in the environment for the air pressure sensor 5, and the shock-absorbing pad 8 can absorb the high-frequency vibration generated by the rotation of the blades and the motor during the flight of the drone, thereby achieving a shock-absorbing effect.

[0038] Preferably, the shock-absorbing and air-filtering device of the present invention has an overall size of no more than 15 mm × 15 mm × 7 mm and a weight of no more than 5 g. It has a simple structure, a small size, a light weight, is easy to install, has a high degree of integration, and is compatible with micro-UAVs.

[0039] Preferably, the protective cover 1 is a metal protective cover with high mechanical strength and good heat conduction.

[0040] Preferably, the air filter pad 3 is a foam sponge pad having a loose porous structure and elasticity. The porous structure of the foam sponge pad can buffer air flow changes while ensuring normal gas circulation, improve air filtering performance, and meet the air filtering needs of rotorcraft drones including micro drones.

[0041] Preferably, the detection circuit board 4 is made using a flexible PCB process, is elastic and can be bent without breaking. The thickness of the detection circuit board 4 is no more than 0.2 mm, and the weight is no more than 0.5 g. It is thin and light, can greatly reduce the impact of vibration and weight, and is suitable for use in small spaces.

[0042] Preferably, the air pressure sensor 5 and the IMU sensor 6 are both welded on one side of the detection circuit board 4, which is the working side, and the collected vibration and air pressure data are transmitted to the flight control board 9 through a flexible flat cable.

[0043] Preferably, the support block 7 is a lead metal block, which is arranged on the other side of the detection circuit board 4, which side is the mounting side, and is fixed to the detection circuit board 4 by means of a thin double-sided adhesive. The support block 7 is used to enhance the rigidity of the detection circuit board 4, maintain the shape of the detection circuit board 4, and prevent the detection circuit board 4 from being deformed and damaged. At the same time, the weight of the lead metal block makes the detection circuit board 4 have inertia and is not easy to vibrate.

[0044] Preferably, the shock-absorbing pad 8 is a sponge pad, which can absorb the high-frequency vibration generated by the rotation of the blades and motors during the flight of the drone, thereby achieving a shock-absorbing effect, and the shock-absorbing strength can be adjusted by increasing or decreasing the number of the shock-absorbing sponge pads and metal counterweights to meet the needs of shock-absorbing characteristics of aircraft of different weights and sizes.

[0045] Preferably, the air filter pad 3 is placed between the protective cover 1 and the detection circuit board 4, the support block 7 is placed between the detection circuit board 4 and the shock-absorbing pad 8, and the air filter pad 3, the detection circuit board 4, the support block 7, and the shock-absorbing pad 8 have the same appearance, the same length and width, and the edges of the length and width are aligned to ensure that the center of gravity of each part is consistent, thereby reducing the installation detection error of the IMU sensor 6 caused by the installation.

[0046] Preferably, if Figure 2 As shown, a locking connection portion 2 is provided on the protective cover 1 , and the locking connection portion 2 is used to connect the protective cover 1 to the flight control board 9 .

[0047] Preferably, the locking connection part 2 is four locking pins, and the locking pins are a buckle structure in a hook shape. By pressing the four locking pins, the hook-shaped buckle structure can be in a tightened state. After passing through the slot of the flight control board, the four locking pins can be restored to the initial hook shape through their own elasticity, thereby realizing the installation and fixation of the shock-absorbing and air-filtering device of the present invention. When disassembling the protective cover 1, it is still only necessary to press the four locking pins to put them in a tightened state and then pass them out of the slot of the flight control board to complete the disassembly. The hook-shaped buckle structure can be used to easily and quickly disassemble and assemble the protective cover 1, and then the air filter cushion 3, the shock-absorbing pad 8 and the support block 7 can be quickly replaced or added or subtracted, thereby realizing rapid adjustment of the shock-absorbing force.

[0048] Preferably, after the protective cover 1 is connected to the flight control board 9 , a gap is provided between the side wall of the protective cover 1 and the flight control board 9 , and the gap can ensure that the airflow enters the protective cover 1 normally.

[0049] Preferably, the width of the gap is 0.1-0.2 mm. Due to the size limitation of the gap, the air turbulence caused by the rotation of the blades during the flight of the rotor UAV and the sudden change of airflow caused by the change of wind speed in the environment, the air intake amount entering the shock-absorbing air filter device of the present invention through the gap is very small, so the airflow interference can be reduced. At the same time, the gap allows air flow inside and outside the protective cover 1, which can dissipate the heat generated by the air pressure sensor 5, the IMU sensor 6 and the detection circuit board 4, suppress the temperature drift of the sensor, and improve the data accuracy.

[0050] Compared with the prior art, the porous structure of the foam sponge pad of the air filter cushion 3 of the present embodiment can buffer the air flow changes while ensuring the normal circulation of gas, improve the air filtering performance, and meet the air filtering use needs of rotorcraft drones including micro-drones; the hook-shaped buckle structure can easily and quickly disassemble and assemble the protective cover 1, and then can quickly replace or add or subtract the air filter cushion 3, shock-absorbing pad 8 and support block 7 to achieve rapid adjustment of the shock-absorbing force; the gap between the side wall of the protective cover 1 and the flight control board 9 can keep the air flow entering the protective cover 1 normally. Due to the size limitation of the gap, the gas turbulence caused by the rotation of the blades during the flight of the rotorcraft drone and the sudden change of air flow caused by the change of wind speed in the environment, the air intake amount entering the shock-absorbing air filter device of the present invention through the gap is very small, so the air flow interference can be reduced. At the same time, the gap allows air to flow inside and outside the protective cover 1, which can dissipate the heat generated by the air pressure sensor 5, IMU sensor 6 and detection circuit board 4, suppress the sensor temperature drift, and improve data accuracy.

[0051] Example 2

[0052] Another specific embodiment of the shock-absorbing and air-filtering device of the present invention is that the protective cover 1 is further improved on the basis of the first embodiment.

[0053] Preferably, if Figure 3 As shown, the protective cover 1 includes a casing 11 and a top cover 12 , and the top cover 12 can be connected to the casing 11 to accommodate the air filter pad 3 , the detection circuit board 4 , the support block 7 and the shock-absorbing pad 8 .

[0054] Preferably, if Figure 4 As shown, the enclosure 11 is box-shaped, and a positioning block 13 is provided on the side wall of the enclosure 11. There are multiple positioning blocks 13, and the distance between each positioning block 13 and the adjacent positioning blocks 13 is the same. There are multiple groups of positioning blocks 13, and each group of positioning blocks 13 is located at the same inner corner of the enclosure 11. The top cover 12 can be connected with the positioning blocks 13, and the positioning blocks 13 ensure that the top cover 12 is perpendicular to the side wall of the enclosure 11.

[0055] Preferably, if Figure 5 As shown, a locking block 14 and a limiting mechanism are provided on the top cover 12. There are two locking blocks 14, which are respectively connected to the two ends of the limiting mechanism. The locking block 14 can be inserted into or out of the gap between the two positioning blocks 13, so that the position of the top cover 12 and the surrounding shell 11 can be adjusted. The limiting mechanism is used to limit the movement of the locking block 14 to prevent the locking block 14 from being separated from the top cover 12.

[0056] Preferably, if Figure 6As shown, the limiting mechanism includes a closing plate 15, a stop bar 16, a center block 17 and a spring 18. The closing plate 15 is connected to the stop bar 16. The stop bar 16 and the center block 17 are both connected to the top cover 12. The spring 18 is arranged in a hollow area enclosed by the stop bar 16 and the center block 17. The closing plate 15 can prevent the spring 18 and the locking block 14 from escaping from the limiting mechanism.

[0057] Preferably, the locking block 14 includes a push portion 141, which is connected to the limiting mechanism. The blocking bar 16 and the center block 17 form an H-shaped structure, the push portion 141 is sandwiched between the two blocking bars 16, the end of the push portion 141 is a first protrusion, and the end of the blocking bar 16 is a second protrusion, which can block the first protrusion to prevent the push portion 141 from escaping from the limiting mechanism at the second protrusion.

[0058] Preferably, one end of the spring 18 is connected to the push portion 141, and the other end of the spring 18 is connected to the center block 17. The spring 18 can keep the push portion 141 away from the center block 17, thereby ensuring that the locking block 14 is always inserted into the gap between the two positioning blocks 13, preventing the top cover 12 from moving on the enclosure 11, that is, keeping the top cover 12 locked.

[0059] Preferably, a pit 19 is also provided on the locking block 14, and the pit 19 is arranged on the pushing portion 141. A clamping tool such as tweezers (not shown in the figure) can be inserted into the pit 19. By clamping the tweezers, the two pushing portions 141 can be moved toward the center block 17, thereby separating the two locking blocks 14 from the gap between the two positioning blocks 13, so that the top cover 12 can move on the shell 11, thereby realizing the unlocking of the top cover 12.

[0060] Compared with the prior art, the locking block 14 of this embodiment can be inserted into or out of the gap between the two positioning blocks 13, so that the position of the top cover 12 and the surrounding shell 11 can be adjusted. The limiting mechanism is used to limit the movement of the locking block 14 to prevent the locking block 14 from being separated from the top cover 12; the spring 18 can keep the pushing portion 141 away from the center block 17 at all times, keeping the top cover 12 locked, and the clamping tweezers can move the two pushing portions 141 toward the center block 17 to unlock the top cover 12.

[0061] Example 3

[0062] Another specific embodiment of the present invention, as Figure 7 As shown, a method for assembling a shock-absorbing and air-filtering device for a UAV detection module (hereinafter referred to as the assembly method) is disclosed, and the shock-absorbing and air-filtering device of Example 1 or Example 2 is assembled.

[0063] The assembly method includes the following steps:

[0064] Step 1: Create a model adaptation table

[0065] Preferably, the model adaptation table is a list of the corresponding specifications of the UAV models and the shock-absorbing and air-filtering devices. The parameters included in the model adaptation table include: the model of the flight control board 9 corresponding to the UAV model, and the models of the air filter pad 3, the detection circuit board 4, the support block 7 and the shock-absorbing pad 8 corresponding to the flight control board 9.

[0066] Using the model of flight control board 9 as the index, establish a model adaptation table.

[0067] Step 2: Assemble the shock-absorbing and air-filtering device, including the following sub-steps:

[0068] Step 21: Get the material

[0069] According to the specific model of the flight control board 9, select the corresponding air filter pad 3, detection circuit board 4, support block 7 and shock-absorbing pad 8 according to the model adaptation table.

[0070] Sub-step 22: Assembly

[0071] The support block 7 is pasted on the mounting surface of the detection circuit board 4, the shock-absorbing pad 8 is arranged on the flight control board 9, the detection circuit board 4 is connected to the flight control board 9, the air filter pad 3 is placed on the detection circuit board 4, and the protective cover 1 is covered. The air filter pad 3, the detection circuit board 4, the support block 7 and the shock-absorbing pad 8 are all placed in the protective cover 1. After the locking connection part 2 is inserted into the card slot of the flight control board, the four locking pins are restored to the initial hook shape by their own elasticity, thereby realizing the installation and fixation of the shock-absorbing and air filtering device of the present invention.

[0072] Step 3: Complete Assembly

[0073] Pull the two locking blocks 14 together to move the top cover 12 toward the air filter cushion 3 until the top cover 12 is connected to the air filter cushion 3. Loosen the two locking blocks 14 to insert the locking blocks 14 into the gap between the two positioning blocks 13, and the top cover 12 is locked.

[0074] Preferably, the air filter pad 3 and the shock-absorbing pad 8 are elastic and can push the protective cover 1 away from the flight control board 9, maintaining a gap between the side wall of the protective cover 1 and the flight control board 9, and the width of the gap is 0.1-0.2 mm.

[0075] Example 4

[0076] Another specific embodiment of the present invention, as Figure 8 As shown, a method for replacing components of a shock-absorbing and air-filtering device for a UAV detection module (hereinafter referred to as a replacement method) is disclosed, and components of the shock-absorbing and air-filtering device of Example 1 or Example 2 are replaced.

[0077] Since the load balance may change during use of the drone, the support block 7 of the shock-absorbing and air-filtering device may need to be replaced, or the airspace in which the drone flies may change, the air filter pad 3 or the shock-absorbing pad 8 may need to be replaced.

[0078] The replacement method includes the following steps:

[0079] Step 1: Verify the requirements for using drones

[0080] If the air filter cushion 3, support block 7 or shock-absorbing cushion 8 needs to be replaced, execute step 2; if the air filter cushion 3, support block 7 or shock-absorbing cushion 8 does not need to be replaced, execute step 5.

[0081] Step 2: Open the shield 1

[0082] The two locking blocks 14 are pulled together so that the top cover 12 is separated from the surrounding shell 11 .

[0083] Step 3: Replace the parts

[0084] Replace the air filter pad 3, the support block 7 or the shock-absorbing pad 8.

[0085] Step 4: Close the protective cover 1 and complete the replacement of the parts

[0086] Pull the two locking blocks 14 together, put the top cover 12 into the enclosure 11 and move it toward the air filter cushion 3 until the top cover 12 is connected to the air filter cushion 3. Loosen the two locking blocks 14 so that the locking blocks 14 are inserted into the gap between the two positioning blocks 13, and the top cover 12 is locked.

[0087] Preferably, the air filter pad 3 and the shock-absorbing pad 8 are elastic and can push the protective cover 1 away from the flight control board 9, maintaining a gap between the side wall of the protective cover 1 and the flight control board 9, and the width of the gap is 0.1-0.2 mm.

[0088] Step 5: No replacement of parts.

[0089] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A shock absorbing and air filtering device for a drone detection module, characterized in that: The invention comprises a protective cover (1), an air filter cushion (3), a detection circuit board (4), a support block (7) and a shock-absorbing cushion (8); the protective cover (1) and the detection circuit board (4) are respectively connected to a flight control board (9) of an unmanned aerial vehicle; the air filter cushion (3), the detection circuit board (4), the support block (7) and the shock-absorbing cushion (8) are all arranged in the protective cover (1); and an air pressure sensor (5) and an IMU sensor (6) are arranged on the detection circuit board (4).

2. The shock absorbing and air filtering device for the drone detection module according to claim 1 is characterized in that: The outer dimensions of the protective cover (1) are no greater than 15 mm×15 mm×7 mm.

3. The shock absorbing and air filtering device for the drone detection module according to claim 2 is characterized in that: The protective cover (1) is a metal protective cover.

4. The shock absorbing and air filtering device for the drone detection module according to claim 1, characterized in that: The air filter pad (3) is a foam sponge pad.

5. The shock absorbing and air filtering device for the drone detection module according to claim 1, characterized in that: The detection circuit board (4) is manufactured using a flexible PCB process and has elasticity.

6. The shock absorbing and air filtering device for the drone detection module according to claim 5, characterized in that: The detection circuit board (4) has a thickness of no more than 0.2 mm and a weight of no more than 0.5 g.

7. The shock absorbing and air filtering device for the drone detection module according to claim 1, characterized in that: The support block (7) is a lead metal block and is adhered and fixed to the detection circuit board (4) by means of a thin double-sided adhesive tape.

8. The shock absorbing and air filtering device for a drone detection module according to claim 1, characterized in that: The air filter pad (3) is placed between the protective cover (1) and the detection circuit board (4), the support block (7) is placed between the detection circuit board (4) and the shock-absorbing pad (8), and the air filter pad (3), the detection circuit board (4), the support block (7), and the shock-absorbing pad (8) have the same appearance, length, and width.

9. An assembly method for a vibration-absorbing and air-filtering device for a drone detection module, characterized in that: Assemble the shock absorbing and air filtering device for the drone detection module described in claims 1-8.

10. A method for replacing components of a shock-absorbing and air-filtering device for a drone detection module, characterized in that: Replace the components of the shock absorbing and air filtering device for the drone detection module described in claims 1-8.

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