Unmanned aerial vehicle multiple three-dimensional positioning device

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle multiple three-dimensional positioning device which comprises an unmanned aerial vehicle body and further comprises four propeller supporting arms arranged at the four corners of the surface of the unmanned aerial vehicle body, propeller bodies are arranged on one sides of the interiors of the propeller supporting arms, and supporting frames are fixedly connected to the two sides of the unmanned aerial vehicle body. Firstly, in the using process, if the unmanned aerial vehicle body is used at night, a night vision imager can be inserted into a positioning shell through cooperation of a mounting plate and a clamping plate, at the moment, a toothed plate is stressed to extrude a second spring, and the clamping plate can be frequently meshed through contact of the clamping plate and the inclined surface of the toothed plate and cooperation of the second spring; after the clamping plate is completely inserted into the positioning shell, the toothed plate is driven by the second spring to be clamped on the surface of the clamping plate for positioning, so that the night vision imager is mounted and electrically connected with the unmanned aerial vehicle body, heat radiation of an object can be seen in the dark, and the night vision imager is very suitable for target detection at night or in a low-light environment.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a multiple three-dimensional positioning device for unmanned aerial vehicles. Background Art

[0002] As the name implies, the UAV multiple three-dimensional positioning device is a system that provides accurate positioning functions for UAVs. It combines multiple technical means to ensure that UAVs can accurately locate and navigate in three-dimensional space. The so-called "three-dimensional positioning" refers to the position determination in three dimensions in space (X, Y, and Z axis directions), which is crucial for the flight stability, path planning, and obstacle avoidance of UAVs. Existing UAV systems already have relatively advanced technologies in multiple three-dimensional positioning devices. Most commercial UAVs already have a combination of multiple positioning technologies.

[0003] However, existing drones use multiple three-dimensional positioning devices during use, such as GPS+MU: This is a common basic combination, suitable for most conventional flight missions, and performs well in open areas (such as farmland, mountains, etc.), GPS+VIO (visual inertial measurement): Suitable for complex environments (such as cities, indoor environments, etc.), which can help drones maintain stable positioning in the absence of GPS signals, GPS+LiDAR (laser radar): High-end drones are often equipped with lidar when performing environmental perception (such as agricultural plant protection, surveying and mapping, etc.), which can provide accurate ground height, obstacle information and three-dimensional space maps, visual system (vision + IMU): used for positioning indoors or in GPS blind spots, commonly used in high-precision navigation tasks such as unmanned warehouse management or industrial inspection, but the visual system camera is highly dependent on lighting and environmental characteristics, and performs poorly at night or in poor light conditions, and the existing drones themselves do not have night vision functions, which leads to the performance of the camera in low-light or night environments being limited. Summary of the invention

[0004] The object of the present invention is to provide a multi-three-dimensional positioning device for an unmanned aerial vehicle to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a multi-three-dimensional positioning device for a drone, comprising a drone body, and further comprising:

[0006] Four thruster arms are arranged at the four corners of the surface of the drone body, a thruster body is arranged on one side of the thruster arms, both sides of the drone body are fixedly connected to support frames, the bottom of the drone body is fixedly connected to a mounting frame, and the inside of the mounting frame is rotatably connected to a monitoring device, and one side of the mounting frame is fixedly connected to an adjustment motor used in conjunction with the monitoring device;

[0007] Extension plates are installed on both sides of the monitoring device, and a connecting frame is fixedly connected between the bottoms of the two extension plates. A night vision imager is arranged on the top of the connecting frame. A positioning shell is fixedly connected to one side of the extension plate, and a mounting assembly for positioning the night vision imager is arranged inside the positioning shell. The mounting assembly includes a second spring and a gear plate. A GPS locator, a laser radar and an ultrasonic infrared sensor are respectively installed at the bottom of the drone body.

[0008] Preferably, an L-shaped frame is fixedly connected to one side of the thruster support arm, and an arc-shaped baffle for protecting the thruster body is fixedly connected to one side of the L-shaped frame.

[0009] Preferably, both sides of the night vision imager are fixedly connected with mounting plates, and the bottom of the mounting plates is fixedly connected with a clamping plate.

[0010] Preferably, a first spring group is fixedly connected to the top of the connection frame, and a movable plate is fixedly connected to the top of the first spring group.

[0011] Preferably, both sides inside the movable plate are slidably connected to limit rods, and both ends of the limit rods are fixedly connected to the connection frame and the positioning shell respectively.

[0012] Preferably, both the front and rear sides of the positioning shell are fixedly connected with reinforcement blocks, and one side of the reinforcement block is fixedly connected to the extension plate.

[0013] Preferably, the second spring is fixed to one side inside the positioning shell, and one side is fixedly connected to the tooth plate, one side of the tooth plate is fixedly connected to a fixing frame, one side of the fixing frame is fixedly connected to a first inclined plate, one side of the first inclined plate is slidably connected to a second inclined plate, one side of the second inclined plate is fixedly connected to a push rod, and the push rod extends from a side away from the second inclined plate to the outside of the extension plate.

[0014] Preferably, both front and rear sides of one side of the tooth plate are fixedly connected to limiting columns, and the side of the limiting column away from the tooth plate penetrates to the outside of the positioning shell.

[0015] Preferably, a third spring is fixedly connected between the top of the push rod and the inner wall of the positioning shell, and a pressing ring is fixedly connected to one side of the push rod.

[0016] Preferably, a sliding rod is slidably connected inside the push rod, and both ends of the sliding rod are fixedly connected to the inner wall of the positioning shell.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] Firstly, during use of the present invention, if the drone body is used at night, the night vision imager can be inserted into the interior of the positioning shell through the mounting plate and the clamping plate. At this time, the tooth plate will be forced to squeeze the second spring, and the clamping plate will contact the inclined surface of the tooth plate, and then cooperate with the second spring to frequently engage the clamping plate until the clamping plate is completely inserted into the interior of the positioning shell. The second spring drives the tooth plate to clamp on the surface of the clamping plate for positioning, thereby installing the night vision imager and electrically connecting the night vision imager to the drone body. The thermal radiation of the object can be seen in the dark, so it is very suitable for target detection at night or in low-light environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of the multi-three-dimensional positioning device for unmanned aerial vehicles provided by the present invention;

[0020] Figure 2 A schematic diagram of a top view structure provided by the present invention;

[0021] Figure 3 A bottom-up structural schematic diagram provided by the present invention;

[0022] Figure 4 A schematic diagram of the rear view and upward view structure provided by the present invention;

[0023] Figure 5 A schematic diagram of a cross-sectional structure of a movable plate provided by the present invention;

[0024] Figure 6 A schematic diagram of the structure of the installation assembly provided by the present invention;

[0025] Figure 7 This is a schematic diagram of the unfolded structure of the second inclined plate provided by the present invention.

[0026] In the figure: 1. UAV body; 2. thruster arm; 3. thruster body; 4. support frame; 5. mounting frame; 6. monitoring device; 7. adjustment motor; 8. extension plate; 9. connection frame; 10. night vision imager; 11. positioning shell; 12. mounting assembly; 1201. second spring; 1202. tooth plate; 1203. fixing frame; 1204. first inclined plate; 1205. second inclined plate; 1206. push rod; 1207. limit column; 1208. third spring; 1209. pressing ring; 1210. sliding rod; 13. L-shaped frame; 14. arc baffle; 15. mounting plate; 16. card plate; 17. first spring group; 18. movable plate; 19. limit rod; 20. GPS locator; 21. laser radar; 22. ultrasonic infrared sensor; 23. reinforcement block. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-7 As shown, a multi-three-dimensional positioning device for unmanned aerial vehicles includes an unmanned aerial vehicle body 1, and also includes: four thruster arms 2 arranged at the four corners of the surface of the unmanned aerial vehicle body 1, a thruster body 3 is arranged on one side of the thruster arms 2, and the thruster body 3 is conveniently supported by the thruster arms 2, and both sides of the unmanned aerial vehicle body 1 are fixedly connected with support frames 4, and the support frames 4 can play a supporting role when the unmanned aerial vehicle body 1 lands, and the bottom of the unmanned aerial vehicle body 1 is fixedly connected with a mounting frame 5, and the internal rotation is connected with a monitoring device 6, and the monitoring device 6 is installed inside the mounting frame 5, and the illumination angle of the monitoring device 6 can be fine-tuned up and down in conjunction with the adjustment motor 7, and the monitoring device 6 is used for tasks such as object recognition, path planning, and ground monitoring, and one side of the mounting frame 5 is fixedly connected with an adjustment motor 7 used in conjunction with the monitoring device 6;

[0029] The extension plates 8 installed on both sides of the monitoring device 6 are convenient for limiting the installation of the night vision imager 10 by cooperating with the connection frame 9. The connection frame 9 is fixedly connected between the bottoms of the two extension plates 8, and the night vision imager 10 is arranged on the top of the connection frame 9. A positioning shell 11 is fixedly connected to one side of the extension plate 8. The night vision imager 10 can be fixed by cooperating with the positioning shell 11 and the mounting assembly 12. The interior of the positioning shell 11 is provided with a mounting assembly 12 for positioning the night vision imager 10. The mounting assembly 12 includes a second spring 1201 and a tooth plate 1202. The bottom of the drone body 1 is respectively installed with a GPS locator 20, a laser radar 21 and an ultrasonic infrared sensor 22. By cooperating with the GPS locator 20, the laser radar 21 and the ultrasonic infrared sensor 22 of the drone body 1, multiple three-dimensional positioning effects can be achieved, and an inertial measurement unit is also installed inside the drone body 1. It should be noted that the GPS locator 20, the laser radar 21 and the ultrasonic infrared sensor 22 in the above description are all devices with relatively mature applications in the prior art. The specific models can be selected according to actual needs and will not be repeated here.

[0030] An L-shaped frame 13 is fixedly connected to one side of the propeller arm 2. The L-shaped frame 13 cooperates with the arc-shaped baffle 14 to protect the fan on the propeller body 3 to prevent the fan blades from hitting branches during ascent, which may cause the drone body 1 to fall. An arc-shaped baffle 14 for protecting the propeller body 3 is fixedly connected to one side of the L-shaped frame 13. Both sides of the night vision imager 10 are fixedly connected with mounting plates 15. The mounting plates 15 are fixed to facilitate the fixing of the card plate 16, and the card plate 16 can cooperate with the mounting assembly 12 to fix the night vision imager 10, thereby facilitating disassembly and assembly. At the same time, when the drone body 1 is used for night vision, the infrared light in the night vision imager 10 is used to enhance the nighttime visibility, so that the drone can fly in an almost completely dark environment. The bottom of the mounting plate 15 is fixedly connected with the card plate 16. A first spring group 17 is fixedly connected to the top of the connecting frame 9, and a movable plate 18 is fixedly connected to the top of the first spring group 17. The movable plate 18 can be installed and fixed by the first spring group 17, and the movable plate 18 can assist the night vision imager 10 in bouncing, so as to facilitate the disassembly of the night vision imager 10. The two sides inside the movable plate 18 are slidably connected with the limit rod 19. By fixing the limit rod 19 to the connecting frame 9 and the positioning shell 11, the movable plate 18 can float up and down on the surface limit of the limit rod 19. The two ends of the limit rod 19 are fixedly connected to the connecting frame 9 and the positioning shell 11 respectively. The front and rear sides of the positioning shell 11 are fixedly connected with a reinforcement block 23. By fixing the reinforcement block 23 to the extension plate 8, the connection strength between the positioning shell 11 and the extension plate 8 can be improved. One side of the reinforcement block 23 is fixedly connected to the extension plate 8.

[0031] The second spring 1201 is fixed to one side of the interior of the positioning shell 11, and one side is fixedly connected to the tooth plate 1202. One side of the tooth plate 1202 is fixedly connected to a fixed frame 1203. One side of the fixed frame 1203 is fixedly connected to a first inclined plate 1204. One side of the first inclined plate 1204 is slidably connected to a second inclined plate 1205. One side of the second inclined plate 1205 is fixedly connected to a push rod 1206. The night vision imager 10 is inserted into the interior of the positioning shell 11 through the mounting plate 15 and the clamping plate 16. At this time, the tooth plate 1202 will be forced to squeeze the second spring 1201. The inclined surface of the card plate 16 and the tooth plate 1202 are in contact, and the second spring 1201 is used to frequently engage the card plate 16 until the card plate 16 is completely inserted into the interior of the positioning shell 11. The tooth plate 1202 is driven by the second spring 1201 to be clamped on the surface of the card plate 16 for positioning, so as to install the night vision imager 10. The push rod 1206 is away from the side of the second inclined plate 1205 and penetrates to the outside of the extension plate 8. The front and rear sides of one side of the tooth plate 1202 are fixedly connected to the limiting column 1207. The limiting column 1207 is away from the side of the tooth plate 1202 and penetrates to the positioning shell The outer side of 11, the top of the push rod 1206 and the inner wall of the positioning shell 11 are fixedly connected with a third spring 1208. When the user does not need to use the night vision imager 10 for disassembly, or maintenance and replacement, the user can push the pressing ring 1209 downward. At this time, the pressing ring 1209 will drive the push rod 1206 to move within the groove of the positioning shell 11. At this time, the push rod 1206 will move downward within the surface limit of the sliding rod 1210 and stretch the third spring 1208. Then the push rod 1206 drives the second inclined plate 1205 to press against the first inclined plate 1204, and the third spring 1208 is stretched. An inclined plate 1204 will be forced to drive the fixed frame 1203 to move, and move the tooth plate 1202 to one side, causing the second spring 1201 to be squeezed. Then the tooth plate 1202 will be separated from the surface of the clamping plate 16. At that time, the night vision imager 10 can drive the mounting plate 15 to make the clamping plate 16 separate from the interior of the positioning shell 11, so as to remove the night vision imager 10. A pressing ring 1209 is fixedly connected to one side of the push rod 1206, and a sliding rod 1210 is slidably connected to the inside of the push rod 1206. Both ends of the sliding rod 1210 are fixedly connected to the inner wall of the positioning shell 11.

[0032] Working principle: First, when the drone body 1 is used at night, the night vision imager 10 can be inserted into the interior of the positioning shell 11 through the mounting plate 15 and the card plate 16. At this time, the tooth plate 1202 will be forced to squeeze the second spring 1201, and the card plate 16 will contact the inclined surface of the tooth plate 1202, and then cooperate with the second spring 1201 to frequently engage the card plate 16 until the card plate 16 is completely inserted into the interior of the positioning shell 11. The second spring 1201 drives the tooth plate 1202 to be clamped on the surface of the card plate 16 for positioning, so as to install the night vision imager 10. At the same time, the bottom of the night vision imager 10 will press against the movable plate 18, and the movable plate 18 will be forced to squeeze and retract the first spring group 17. The fan on the propeller body 3 can be protected by the L-shaped frame 13 and the arc baffle 14 to prevent the fan blades from hitting branches during ascent, causing the drone body 1 to fall. If the drone body 1 is used during the day, it can By pushing the pressing ring 1209 downward, the pressing ring 1209 will drive the push rod 1206 to move within the groove of the positioning shell 11. At this time, the push rod 1206 will move downward within the limit position on the surface of the sliding rod 1210 and stretch the third spring 1208. Then the push rod 1206 drives the second inclined plate 1205 to press the first inclined plate 1204, and the first inclined plate 1204 will be forced to drive the fixed frame 1203 to move, and make the tooth plate 1202 move to one side, causing the second spring 1201 to be squeezed. Then the tooth plate 1202 will be separated from the surface of the card plate 16. At that time, the night vision imager 10 can drive the mounting plate 15 to make the card plate 16 separate from the interior of the positioning shell 11, thereby removing the night vision imager 10. At the same time, the first spring group 17 will also release the restriction, drive the movable plate 18 and move within the limit position on the surface of the limit rod 19, so as to assist the night vision imager 10 to be ejected from the interior of the positioning shell 11 for easy disassembly.

[0033] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-three-dimensional positioning device for an unmanned aerial vehicle, comprising an unmanned aerial vehicle body (1), characterized in that: Also includes: Four thruster arms (2) are arranged at the four corners of the surface of the drone body (1), a thruster body (3) is arranged on one side inside the thruster arms (2), both sides of the drone body (1) are fixedly connected to support frames (4), the bottom of the drone body (1) is fixedly connected to a mounting frame (5) which is rotatably connected to a monitoring device (6), and one side of the mounting frame (5) is fixedly connected to an adjustment motor (7) used in conjunction with the monitoring device (6); Extension plates (8) are installed on both sides of the monitoring device (6), a connection frame (9) is fixedly connected between the bottoms of the two extension plates (8), a night vision imager (10) is arranged on the top of the connection frame (9), a positioning shell (11) is fixedly connected to one side of the extension plate (8), a mounting assembly (12) for positioning the night vision imager (10) is arranged inside the positioning shell (11), and the mounting assembly (12) includes a second spring (1201) and a tooth plate (1202), and a GPS locator (20), a laser radar (21) and an ultrasonic infrared sensor (22) are respectively installed at the bottom of the drone body (1).

2. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 1, characterized in that: An L-shaped frame (13) is fixedly connected to one side of the thruster support arm (2), and an arc-shaped baffle (14) used for protecting the thruster body (3) is fixedly connected to one side of the L-shaped frame (13).

3. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 1, characterized in that: Both sides of the night vision imager (10) are fixedly connected to mounting plates (15), and the bottom of the mounting plate (15) is fixedly connected to a clamping plate (16).

4. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 1, characterized in that: A first spring group (17) is fixedly connected to the top of the connection frame (9), and a movable plate (18) is fixedly connected to the top of the first spring group (17).

5. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 4, characterized in that: Both sides of the movable plate (18) are slidably connected to limit rods (19), and both ends of the limit rods (19) are fixedly connected to the connection frame (9) and the positioning shell (11) respectively.

6. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 1, characterized in that: Reinforcement blocks (23) are fixedly connected to both the front and rear sides of the positioning shell (11), and one side of the reinforcement block (23) is fixedly connected to the extension plate (8).

7. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 1, characterized in that: The second spring (1201) is fixed to one side inside the positioning shell (11), and one side is fixedly connected to the tooth plate (1202); one side of the tooth plate (1202) is fixedly connected to a fixed frame (1203); one side of the fixed frame (1203) is fixedly connected to a first inclined plate (1204); one side of the first inclined plate (1204) is slidably connected to a second inclined plate (1205); one side of the second inclined plate (1205) is fixedly connected to a push rod (1206); the push rod (1206) extends from the side of the second inclined plate (1205) to the outside of the extension plate (8).

8. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 7, characterized in that: The front and rear sides of one side of the tooth plate (1202) are both fixedly connected to the limiting pillars (1207), and the side of the limiting pillars (1207) away from the tooth plate (1202) penetrates to the outside of the positioning shell (11).

9. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 7, characterized in that: A third spring (1208) is fixedly connected between the top of the push rod (1206) and the inner wall of the positioning shell (11), and a pressing ring (1209) is fixedly connected to one side of the push rod (1206).

10. The multi-three-dimensional positioning device for unmanned aerial vehicles according to claim 7, characterized in that: The push rod (1206) is slidably connected to a slide rod (1210) inside, and both ends of the slide rod (1210) are fixedly connected to the inner wall of the positioning shell (11).

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