Multi-sensor integrated pod equipment for low-altitude flight of unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicle nacelles, and discloses a multi-sensor integrated nacelle device for low-altitude flight of an unmanned aerial vehicle, which comprises a nacelle shell, a multi-sensor assembly consisting of a visible light sensor, an infrared thermal imaging sensor, a laser radar and a wide-angle camera mounted in the nacelle shell, and a bracket, the bracket is provided with a three-degree-of-freedom angle adjusting mechanism, the angle adjusting mechanism is used for adjusting the detection angle of the multi-sensor assembly during use, and meanwhile, large-angle adjustment can be carried out in the Y-axis direction, so that the multi-sensor assembly can be quickly hidden below the bracket in an emergency; the shielding assembly is installed in the support. According to the technical scheme, the optical lens of the sensor can be shielded when the unmanned aerial vehicle stops, the optical lens can be quickly hidden below the support for protection in emergency, and the vibration isolation effect is achieved between the pod equipment and the unmanned aerial vehicle body through the redesigned elastic hanging piece.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle (UAV) pod, in particular to a multi-sensor integrated pod device for low-altitude flight of an unmanned aerial vehicle. BACKGROUND

[0002] The UAV pod (Payload Pod) is a task device integrated module carried by the UAV, and its core functions include inspection and detection, such as power inspection (power transmission line, transformer substation), oil pipeline inspection, wind turbine blade detection, etc., which can identify equipment defects (such as rust, cracks, overheating) or abnormal conditions (such as fire). Surveying and mapping is to generate high-precision 3D maps through LiDAR or multispectral sensors, which are used for urban planning, agricultural monitoring, etc. There are also security and monitoring border patrols, large event security, etc., which realize target tracking and early warning combined with AI analysis. Disaster emergency is used for disaster assessment after earthquakes, floods, search and rescue (thermal imaging positioning of living beings). Scientific research and environmental monitoring atmospheric pollution detection, wildlife tracking, glacier change observation, etc., in which the sensors are mostly optical sensors to complete data acquisition, target recognition, environmental monitoring and real-time monitoring. Another important part of the pod is a three-axis gimbal, which consists of two arms and three brushless motors. The three brushless motors (pitch, roll, yaw axis) + high-precision encoder complete the multi-angle adjustment of the sensor and play an important role in stabilizing the sensor attitude when the fuselage tilts. The installation is also relatively simple, which is directly installed between the pod and the UAV, and the adjustment function of the gimbal can be realized through the arm and the brushless motor.

[0003] At present, although the existing structure of the gimbal can perform multi-angle adjustment, the sensor group on the traditional pod is in a naked state, and must be disassembled and boxed for protection when not working or on standby. In addition, the dust generated during the take-off of the UAV will cause the lens of the sensor to be dirty, affecting the quality of the captured image, and in the event of an emergency, the pod is located below the belly of the UAV, which is easily damaged and causes serious loss. SUMMARY

[0004] TECHNICAL PROBLEM

[0005] In view of the shortcomings of the prior art, the present application provides a multi-sensor integrated pod device for low-altitude flight of an unmanned aerial vehicle, which solves the problem that the sensor group on the pod is in a naked state, and must be disassembled and boxed for protection when not working or on standby. In addition, the dust generated during the take-off of the UAV will cause the lens of the sensor to be dirty, affecting the quality of the captured image, and in the event of an emergency, the pod is located below the belly of the UAV, which is easily damaged and causes serious loss.

[0006] TECHNICAL SCHEME

[0007] To achieve the above object, the present application provides the following technical scheme: a multi-sensor integrated pod device for low-altitude flight of unmanned aerial vehicle, comprising a pod shell, a multi-sensor assembly composed of a visible light sensor, an infrared thermal imaging sensor, a laser radar and a wide-angle camera is installed in the pod shell, and further comprising:

[0008] A support is provided with a three-degree-of-freedom angle adjusting mechanism, which is used to adjust the detection angle of the multi-sensor assembly during use, and can make large-angle adjustment in the Y-axis direction, so that the multi-sensor assembly can be quickly hidden under the support in an emergency;

[0009] A shielding assembly is installed in the support, and a curved cover plate designed to cooperate with the pod shell is used to shield the multi-sensor assembly, so that the optical lens of the multi-sensor assembly can be protected and dustproofed when the device is stopped;

[0010] A turret is used to install the drive assemblies of the Z-axis and X-axis of the angle adjusting mechanism, and a fixed plate is installed on the turret, four corners of the fixed plate are provided with elastic hangers connected to the unmanned aerial vehicle body, and the elastic hangers play a vibration isolation role between the pod device and the unmanned aerial vehicle body.

[0011] As a further description of the above technical scheme, the support is in the form of an inverted U-shaped hollow structure, and mounting portions with threaded connecting ports are provided on both sides, a maintenance cover is connected to one side of the mounting portion by threads, a Y-axis motor is fixedly connected in the mounting portion, a connecting plate is fixedly connected to the output end of the Y-axis motor, the pod shell is in the form of a sphere, two parallel connecting portions are symmetrically provided on the side wall of the pod shell, the connecting plate is fixedly connected with the connecting portions, the connecting portions are in contact with each other, the upper end of the pod shell is in contact with the shielding assembly, and a mounting panel is provided at the position where the multi-sensor assembly is installed, the mounting panel is located between the two connecting portions.

[0012] As a further description of the above technical scheme, a Z-axis motor is fixedly connected in the turret, a turntable is fixedly connected to the output end of the Z-axis motor, a sealing gasket is installed at the lower end of the turntable, a round port with a head boss is provided at the upper end of the support, and the turntable and the sealing gasket are jointly fixedly installed on the boss by bolts to seal the round port;

[0013] X-axis motors are fixedly connected to opposite sides of the turret, connecting plates are fixedly connected to the output ends of the two X-axis motors, two fixed blocks are installed on the lower side of the fixed plate, the fixed plate is fixedly installed on the fixed blocks by bolts, and the side wall of the turret is rotatably connected with the output shafts of the X-axis motors and the output shaft of the Z-axis motor by installing sealing bearings.

[0014] As a further description of the above technical scheme, the turret is composed of a tower body and an end cover, the end cover is fixedly connected at the opening of the upper end of the tower body through bolts, a battery cabin is fixedly connected at the center of the end cover, and a cabin cover is sealingly connected at the upper end of the battery cabin.

[0015] As a further description of the above technical scheme, the shielding assembly includes a curved cover plate, a rubber ring is fixedly connected to one side of the concave surface of the curved cover plate, a sliding ring is arranged at the edge of the curved cover plate, the part of the bracket in contact with the upper end of the nacelle shell is a curved surface structure with the same curvature, a circular ring is arranged at the curved surface structure, the inside of the circular ring is a hollow structure, the curved cover plate is sleeved in the circular ring through the sliding ring to cooperate with the curved surface structure to cover the side wall of the nacelle shell, a plurality of L-shaped sliding blocks are fixedly connected to the sliding ring of the curved cover plate, an elastic pressing piece is arranged at the upper end of the sliding block, the elastic pressing piece is obliquely arranged and fixed to the inner side of the circular ring, a sliding groove matched with the sliding block is arranged on the inner side of the circular ring, and a positioning portion is reserved at the bottom of the sliding groove.

[0016] As a further description of the above technical scheme, the side wall of the nacelle shell is provided with two symmetrical annular slides with the Y-axis as the center, one side of the annular slide is parallel to the Y-axis direction, the other side of the annular slide is perpendicular to the Y-axis direction, a positioning assembly is installed on the curved cover plate, and the positioning assembly can make the curved cover plate move downward at a certain angle by using the annular slide to realize covering the side wall of the nacelle shell to shield the multi-sensor assembly.

[0017] As a further description of the above technical scheme, the positioning assembly includes two mutually parallel rectangular boxes, and one side of the rectangular box is attached to the side of the annular slide perpendicular to the Y-axis direction, two rollers are rotatably connected to the lower side of the rectangular box, both rollers are rollingly connected in the annular slide, a flat portion is arranged on one side of the annular slide, the flat portion is arranged in parallel to one side of the multi-sensor assembly, when the nacelle shell rotates to make the multi-sensor assembly face upward, the flat portion is used to make the annular slide and the roller disengage to be unable to support the curved cover plate, so that the curved cover plate moves downward to cover the side wall of the nacelle shell.

[0018] As a further description of the above technical scheme, the elastic hanging piece comprises a barrel, the side wall of the fixing plate is fixedly connected with the side wall of the barrel through an assembly opening, a hanging rod is arranged in the barrel, the upper end of the hanging rod is fixedly connected with a saddle, a through hole larger than the diameter of the hanging rod is formed in the upper end of the barrel, a trumpet-shaped rubber sleeve is installed at the through hole, the hanging rod is in interference fit with an inner tube in the barrel through the through hole, an outer tube is in fit with the barrel and is positioned by a flange arranged in the inner tube, the upper and lower ends of the inner tube and the outer tube are both provided with a curled edge, and a plurality of groups of arc-shaped elastic sheets are fixedly connected with the curled edges, two groups of the arc-shaped elastic sheets are symmetrically fixed at the curled edges respectively, and the two groups of the arc-shaped elastic sheets on the same curled edge are cross arranged.

[0019] As a further description of the above technical scheme, the lower end of the barrel is designed as an open end, and a circular plate is fixedly connected with the open end through bolts, a plurality of cylindrical rubber airbags are fixedly connected with the upper end of the circular plate, the upper ends of the plurality of rubber airbags are fixedly connected with a mounting plate, and the upper end of the mounting plate is fixedly connected with the lower end of the hanging rod.

[0020] As a further description of the above technical scheme, the lower end of the mounting plate is fixedly connected with a magnetic block, and an electromagnet is installed at the lower end of the circular plate, the magnetic attraction generated by the iron core of the electromagnet and the elasticity of the rubber airbags together play a damping role on the elastic hanging piece.

[0021] Beneficial effects

[0022] Compared with the prior art, the present application provides a multi-sensor integrated pod device for low-altitude flight of a UAV, which has the following beneficial effects:

[0023] Different from the traditional rod type structure, the present application adopts a turret type three-degree-of-freedom adjusting mechanism, which can not only adjust the angle of the multi-sensor, but also protect the sensor equipment in the pod, can not only shield the optical lens of the sensor when the machine is stopped, but also quickly hide under the bracket for protection in an emergency, and the re-designed elastic hanging piece plays a vibration isolation role between the pod device and the UAV main body, the vibration isolation effect is stronger than that of the traditional rubber block vibration isolation, the vibration force transmitted by the UAV body is reduced, and the connection strength between the pod and the UAV can be adjusted according to the flight attitude and working condition of the UAV, effectively improving the safety of the UAV during low-altitude flight. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 A structure schematic view of a multi-sensor integrated pod device for low-altitude flight of a UAV is provided in the present application.

[0025] Figure 2A structure schematic view of a support and a rotating disc in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0026] Figure 3 A structure schematic view of a fixed plate, a rotating tower and an elastic hanging piece in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0027] Figure 4 An internal structure schematic view of a rotating tower in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0028] Figure 5 A sectional view of a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application; Figure 4

[0029] A plan view of a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application; Figure 6 Figure 5 A structure schematic view of a support in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0030] Figure 7 A sectional view of a support in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0031] Figure 8 A structure schematic view of a curved cover plate in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0032] Figure 9 A structure schematic view of a curved cover plate and a pod shell in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application

[0033] ; Figure 10 Figure 1 A structure schematic view of a curved cover plate and a pod shell in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application

[0034] ; Figure 11 Figure 2 A structure schematic view of an elastic hanging piece in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0035] Figure 12 A structure schematic view of an inner tube, an outer tube and an arc-shaped elastic sheet in a multi-sensor integrated pod equipment for low-altitude flight of a UAV is provided in the present application;

[0036] Figure 13

[0037] ​​Figure 14 This is a schematic diagram of the boom, mounting plate, circular plate, and electromagnet structure in a multi-sensor integrated pod device for low-altitude flight of unmanned aerial vehicles (UAVs) proposed in this invention.

[0038] Figure 15 This is a cross-sectional view of the elastic lifting component in a multi-sensor integrated pod device for low-altitude flight of unmanned aerial vehicles (UAVs) proposed in this invention.

[0039] Figure 16 This invention proposes a multi-sensor integrated pod device for low-altitude flight of unmanned aerial vehicles (UAVs). Figure 15 The front view.

[0040] In the diagram: 1. Bracket; 2. Cabin shell; 3. Mounting panel; 4. Flat section; 5. Annular slide; 6. Inspection cover; 7. End cover; 8. Turntable; 9. Turret; 10. Fixing plate; 11. Cylinder; 12. Saddle; 13. Cabin cover; 14. Sealing gasket; 15. Curved cover plate; 16. Y-axis motor; 17. X-axis motor; 18. Z-axis motor; 19. Battery compartment; 20. Slider; 21. Slide groove; 22. Elastic pressure plate; 23. Ring; 24. Roller; 25. Rubber ring; 26. Slip ring; 27. Rubber sleeve; 28. Lifting rod; 29. ​​Flange; 30. Arc-shaped elastic sheet; 31. Outer tube; 32. Inner tube; 33. Mounting plate; 34. Rubber airbag; 35. Electromagnet; 36. Magnetic block. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Example 1:

[0043] See attached document Figures 1-16 This technical solution provides a multi-sensor integrated pod device for low-altitude flight of unmanned aerial vehicles (UAVs). Unlike traditional pole-type structures, this invention employs a turret-type three-degree-of-freedom adjustment mechanism. While adjusting the angles of multiple sensors, it also protects the sensor equipment inside the pod. It can not only shield the optical lenses of the sensors when the aircraft is stopped, but also quickly hide under the support frame 1 for protection in emergencies. The specific technical solution is as follows:

[0044] The system includes a hollow spherical pod shell 2, within which a multi-sensor assembly consisting of a visible light sensor, an infrared thermal imaging sensor, a lidar, and a wide-angle camera is installed. It also includes:

[0045] The bracket 1 is provided with a three-degree-of-freedom angle adjusting mechanism, and the bracket 1 is in an inverted U-shaped hollow structure, and is provided with a mounting portion with a threaded connecting port on each side, and is provided with an inspection cover 6 on one side of the mounting portion through threaded connection, and is fixedly connected with a Y-axis motor 16 in the mounting portion, and the output end of the Y-axis motor 16 is fixedly connected with a connecting plate, the whole of the pod shell 2 is spherical, and the side wall is symmetrically provided with two parallel connecting portions, the connecting plate is fixedly connected with the connecting portions, the connecting portions are attached to each other, the upper end of the pod shell 2 is attached to the shielding assembly, and the position where the multi-sensor assembly is installed is provided with a mounting panel 3, and the mounting panel 3 is located between the two connecting portions, the angle adjusting mechanism is used for adjusting the detection angle of the multi-sensor assembly during use, and meanwhile, a large angle adjustment can be made in the Y-axis direction, so that the multi-sensor assembly can be quickly hidden below the bracket 1 in an emergency;

[0046] As shown in Figure 2 , the output shaft of the Y-axis motor 16 is directly fixedly connected with the connecting plate to drive the pod shell 2, the two connecting portions share an axis with the Y-axis motor 16 and the pod shell 2, and at this time, the pitch angle adjustment of the pod shell 2 can be completed, and during use, the automatic adjustment of the detection angle can be completed according to requirements, and secondly, the two connecting portions are perpendicular to the mounting panel 3, so that the angle deviation during the adjustment of the pitch angle is avoided.

[0047] The shielding assembly is installed in the bracket 1, and the curved cover plate 15 cooperated with the pod shell 2 is designed to shield the multi-sensor assembly, so that the optical lens of the multi-sensor assembly can be protected and dustproof during shutdown;

[0048] The turret 9 is fixedly connected with a Z-axis motor 18, the output end of the Z-axis motor 18 is fixedly connected with a turntable 8, the lower end of the turntable 8 is provided with a sealing gasket 14, the upper end of the bracket 1 is provided with a circular port with a head boss, and the turntable 8 and the sealing gasket 14 are fixedly installed on the boss through bolts, and the circular port is sealed by the turntable 8 and the sealing gasket 14;

[0049] The opposite sides of the turret 9 are fixedly connected with X-axis motors 17, the output ends of the two X-axis motors 17 are fixedly connected with connecting plates, the lower side of the fixed plate 10 is provided with two fixed blocks, the fixed plate 10 is fixed on the fixed blocks through bolts, the side wall of the turret 9 is rotatably connected with the output shafts of the X-axis motors 17 and the output shaft of the Z-axis motor 18 through sealing bearings, the center line of the output shaft of the Z-axis motor 18 and the vertical point of the Y-axis are also at the spherical center of the pod shell 2, the turret 9 is composed of a tower body and an end cover 7, the end cover 7 is fixedly connected at the opening of the upper end of the tower body through bolts, a battery cabin is fixedly connected at the center of the end cover 7, the upper end of the battery cabin 19 is sealingly connected with a cabin cover 13, the turret 9 is used for installing the driving assemblies of the Z-axis and the X-axis of the angle adjusting mechanism, and the fixed plate 10 is installed on the turret 9, the four corners of the fixed plate 10 are provided with elastic hanging pieces for connecting the unmanned aerial vehicle body, and the elastic hanging pieces play a vibration isolation role between the pod equipment and the unmanned aerial vehicle body.

[0050] As shown in Figures 3-5 The turret 9 is designed to enclose the X-axis motor 17 and the Z-axis motor 18, so that the outer surface of the turret 9 is smooth and the wind resistance is reduced, and a light lithium battery can be installed in the remaining space as a backup power supply, so that the multi-sensor assembly can work without using a large amount of power supply of the unmanned aerial vehicle in the case of preferentially using the backup power supply, and the endurance of the unmanned aerial vehicle can be improved.

[0051] In use, the present application differs from the traditional rod structure, and adopts a turret type three-degree-of-freedom adjusting mechanism, which can not only adjust the angle of the multi-sensor, but also protect the sensor equipment in the pod, can not only shield the optical lens of the sensor when the machine is stopped, but also quickly hide under the support 1 for protection in an emergency, and the elastic hanging piece is used to play a vibration isolation role between the pod equipment and the unmanned aerial vehicle body, and the vibration isolation effect is stronger than that of the traditional rubber block vibration isolation, and the vibration force transmitted by the unmanned aerial vehicle body is reduced.

[0052] Example 2, based on example 1 but with differences:

[0053] Referring to the drawings Figures 7-11The shielding assembly comprises a curved cover plate 15, one side of the curved cover plate 15 is fixedly connected with a rubber ring 25, a sliding ring 26 is arranged at the edge of the curved cover plate 15, the part of the bracket 1 in contact with the upper end of the pod shell 2 is a curved structure with the same curvature, a circular ring 23 is arranged at the curved structure, the inside of the circular ring 23 is a hollow structure, the curved cover plate 15 is sleeved in the circular ring 23 through the sliding ring 26 and cooperates with the curved structure to cover the side wall of the pod shell 2, a plurality of L-shaped sliding blocks 20 are fixedly connected at the sliding ring 26 of the curved cover plate 15, an elastic pressing piece 22 is arranged at the upper end of the sliding block 20, the elastic pressing piece 22 is arranged obliquely and fixedly arranged at the inside of the circular ring 23, the inside of the circular ring 23 is provided with a sliding groove 21 matched with the sliding block 20, and a positioning portion is reserved at the bottom of the sliding groove 21;

[0054] The side wall of the pod shell 2 is provided with two symmetrical annular slides 5 with the Y axis as the center, one side of the annular slide 5 is parallel to the Y axis direction, the other side of the annular slide 5 is perpendicular to the Y axis direction, the curved cover plate 15 is provided with a positioning assembly, the positioning assembly comprises two mutually parallel rectangular boxes, and one side of the rectangular box is attached to the side of the annular slide 5 perpendicular to the Y axis direction, two roller wheels 24 are rotatably connected to the lower side of the rectangular box, the two roller wheels 24 are rotatably connected in the annular slide 5, and a flat portion 4 is arranged on one side of the annular slide 5, and the flat portion 4 is arranged in parallel with one side of the multi-sensor assembly;

[0055] In the embodiment, as Figures 7-11 When the pod shell 2 rotates to make the multi-sensor assembly upward, the originally vertical flat portion 4 is adjusted to a horizontal state, at this time, the distance between the flat portion 4 and the center is small, so that the annular slide 5 cannot support the roller wheel 24, and then the annular slide 5 is separated from the roller wheel 24 by using the flat portion 4 to make the curved cover plate 15 unable to support the curved cover plate 15, so that the curved cover plate 15 moves downward to cover the side wall of the pod shell 2, the positioning assembly can make the curved cover plate 15 move downward at a certain angle by using the annular slide 5, so as to cover the multi-sensor assembly on the side wall of the pod shell 2, and then when the machine is stopped, the multi-sensor assembly is in a closed state, so that the optical lens of the sensor assembly is not easy to be damaged, and an effective protection effect is achieved, when cleaning, the equipment is powered on, and the sensor assembly automatically rotates to the working state, so that the multi-sensor assembly can be checked and simply cleaned before the unmanned aerial vehicle takes off.

[0056] This solution allows the sensors to extend and operate only after the drone has taken off and ascended to a height of 2-3 meters. This avoids the dust generated by the airflow during drone operation during traditional takeoff, which can cause dust to accumulate on the sensors, affecting the quality of the captured images and making cleaning more difficult. However, this solution allows the sensors to be deployed after takeoff, completely avoiding this drawback. Furthermore, traditional three-axis gimbals are located close to the ground under the fuselage, making the sensors easily scratched upon landing. This solution allows the sensors to be retracted before the drone returns to base, avoiding this common problem. Moreover, the pod equipment does not need to be disassembled when transporting the drone, making it more convenient for users.

[0057] Example 3 is based on Example 1 but differs in the following ways:

[0058] See attached document Figure 1 Appendix Figure 3 and attached Figures 12-16 The elastic lifting component includes a cylinder 11. The side wall of the fixing plate 10 is fixedly connected to the side wall of the cylinder 11 through an assembly port. A lifting rod 28 is provided inside the cylinder 11. A saddle 12 is fixedly connected to the upper end of the lifting rod 28. A through hole larger than the diameter of the lifting rod 28 is opened at the upper end of the cylinder 11. A flared rubber sleeve 27 is installed at the through hole. The lifting rod 28 passes through the through hole and is press-fitted to an inner tube 32 inside the cylinder 11. An outer tube 31 is fitted inside the cylinder 11 and a flange 29 is provided inside to position the outer tube 31. Both the upper and lower ends of the inner tube 32 and the outer tube 31 are provided with rolled edges, and multiple sets of arc-shaped elastic plates 30 are fixedly connected to the rolled edges. The multiple sets of arc-shaped elastic plates 30 are symmetrically fixed in pairs at the rolled edges, and the two sets of arc-shaped elastic plates 30 on the same rolled edge are arranged crosswise.

[0059] The lower end of the cylinder 11 is open, and a circular plate is fixedly connected to the open end by bolts. Multiple cylindrical rubber airbags 34 are fixedly connected to the upper end of the circular plate. The upper ends of the multiple rubber airbags 34 are fixedly connected to the mounting plate 33. The upper end of the mounting plate 33 is fixedly connected to the lower end of the lifting rod 28. A magnetic block 36 is fixedly connected to the lower end of the mounting plate 33. An electromagnet 35 is installed at the lower end of the circular plate. The magnetic attraction generated by the magnetic block 36 attracting the iron core of the electromagnet 35, together with the elasticity of the rubber airbags 34, plays a damping role on the elastic lifting component.

[0060] In this embodiment, considering that the traditional rubber block has elasticity but cannot effectively filter small frequency vibration, most of the vibration force is transmitted to the pod when the fuselage vibrates, affecting the normal work of the multi-sensor, therefore, the technical solution adopts a more flexible arc-shaped elastic sheet 30 as a vibration isolation material (a 0.3mm thick steel sheet is adopted), which can utilize the arc-shaped elastic sheet 30 as an energy absorption component, and the rubber air bag 34 designed at the bottom as a connecting support material, to ensure that when the arc-shaped elastic sheet 30 deforms, the magnetic block 36 attracts the magnetic attraction force generated by the iron core of the electromagnet 35 to jointly damp the elastic hanger, so that small frequency vibration can also be filtered out.

[0061] Secondly, when the vibration force is large and exceeds the filtering range of the rubber air bag 34 and the arc-shaped elastic sheet 30, the electromagnet 35 configured can be started to work to generate a magnetic pole opposite to the magnetic block 36, at this time, the magnetic attraction force generated will pull the mounting plate 33 to extrude the plurality of rubber air bags 34, the support force of the rubber air bag 34 when compressed and the reaction force of the arc-shaped elastic sheet 30 above when deformed are both increased, at this time, the support force of the elastic hanger can be increased, so that the pod and the unmanned aerial vehicle are approximately rigidly connected, at this time, the flight attitude of the unmanned aerial vehicle can be used to stabilize the pod equipment, especially for the stabilization of the pod when the unmanned aerial vehicle is in emergency braking, acceleration and deceleration, and when the unmanned aerial vehicle hovers or cruises, the electromagnet is not powered on, at this time, the support force provided by the elastic hanger is reduced, at this time, the soft and hard combined effect can be used to filter the vibration of the fuselage of the unmanned aerial vehicle, and is suitable for various flight maneuvers made to avoid obstacles when flying at low altitude.

[0062] It should be noted that the term "comprising" or any other variant is intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0063] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-sensor integrated pod device for low-altitude flight of a UAV, comprising a pod shell (2), a multi-sensor assembly composed of a visible light sensor, an infrared thermal imaging sensor, a laser radar and a wide-angle camera is installed in the pod shell (2), characterized in that, Also include: Support (1), three degrees of freedom angle adjusting mechanism is installed on the support (1), the angle adjusting mechanism is used for adjusting the detection angle of the multi-sensor assembly in use, and meanwhile, large angle adjustment can be made in Y axis direction, so that the multi-sensor assembly can be quickly hidden under the support (1) in emergency; The shielding assembly is installed in the support (1), the curved cover plate (15) designed to cooperate with the nacelle shell (2) covers the multi-sensor assembly, so that the optical lens of the multi-sensor assembly can be protected and dustproof when stopping; The turret (9) is used for installing the driving assembly of Z axis and X axis of the angle adjusting mechanism, and the fixing plate (10) is installed on the turret (9), the four corners of the fixing plate (10) are provided with elastic hanging pieces connected with the unmanned aerial vehicle body, and the elastic hanging pieces play a vibration isolation role between the nacelle equipment and the unmanned aerial vehicle body. 2.The multi-sensor integrated pod device for low-altitude flight of a UAV according to claim 1, characterized in that: The support (1) is in inverted U-shaped hollow structure, the installation part with threaded connection port is arranged on both sides, the maintenance cover (6) is connected by threads on one side of the installation part, the Y axis motor (16) is fixedly connected in the installation part, the output end of the Y axis motor (16) is fixedly connected with the connecting plate, the nacelle shell (2) is in spherical shape, the side wall is symmetrically provided with two parallel connecting parts, the connecting plate is fixedly connected with the connecting part, the connecting part is attached with the connecting part, the upper end of the nacelle shell (2) is attached with the shielding assembly, the position where the multi-sensor assembly is installed is provided with the installation panel (3), and the installation panel (3) is located between the two connecting parts. 3.The multi-sensor integrated pod device for low-altitude flight of unmanned aerial vehicles according to claim 1, characterized in that: The Z axis motor (18) is fixedly connected in the turret (9), the output end of the Z axis motor (18) is fixedly connected with the rotating disc (8), the lower end of the rotating disc (8) is provided with the sealing gasket (14), the upper end of the support (1) is provided with the round port with the head boss, the rotating disc (8) and the sealing gasket (14) are fixedly installed on the boss through bolts, and the round port is sealed by the rotating disc (8) and the sealing gasket (14); The X axis motor (17) is fixedly connected on the opposite sides of the turret (9), the output ends of the two X axis motors (17) are fixedly connected with the connecting plate, the lower side of the fixing plate (10) is provided with two fixing blocks, the fixing plate (10) is fixed on the fixing blocks through bolts, and the side wall of the turret (9) is rotatably connected with the output shaft of the X axis motor (17) and the output shaft of the Z axis motor (18) through the installation of the sealing bearing. 4.The multi-sensor integrated pod device for low-altitude flight of a UAV according to claim 1, characterized in that: The turret (9) is composed of a tower body and an end cover (7), the end cover (7) is fixedly connected on the opening of the upper end of the tower body through bolts, a battery compartment is fixedly connected at the center of the end cover (7), and a compartment cover (13) is sealingly connected at the upper end of the battery compartment (19). 5.The multi-sensor integrated pod device for low-altitude flight of unmanned aerial vehicles according to claim 1, characterized in that: The shielding assembly comprises a curved cover plate (15), one side of the curved cover plate (15) is fixedly connected with a rubber ring (25), the edge of the curved cover plate (15) is provided with a sliding ring (26), the part of the support (1) in contact with the upper end of the pod shell (2) is a curved surface structure with the same curvature, a circular ring (23) is arranged at the curved surface structure, the inside of the circular ring (23) is a hollow structure, the curved cover plate (15) is sleeved in the circular ring (23) through the sliding ring (26) and cooperates with the curved surface structure to cover the side wall of the pod shell (2), a plurality of L-shaped sliding blocks (20) are fixedly connected at the sliding ring (26) of the curved cover plate (15), the upper end of the sliding block (20) is provided with an elastic pressing piece (22), the elastic pressing piece (22) is obliquely arranged and fixed on the inner side of the circular ring (23), the inner side of the circular ring (23) is provided with a sliding groove (21) matched with the sliding block (20), and a positioning portion is reserved at the bottom of the sliding groove (21). 6.The multi-sensor integrated pod device for low-altitude flight of a UAV according to claim 5, characterized in that: The side wall of the pod shell (2) is provided with two symmetrical annular slides (5) with the Y axis as the center, one side of the annular slide (5) is parallel to the Y axis direction, the other side of the annular slide (5) is perpendicular to the Y axis direction, the curved cover plate (15) is provided with a positioning assembly, the positioning assembly can make the curved cover plate (15) move downward at a certain angle by using the annular slide (5), and the multi-sensor assembly is covered on the side wall of the pod shell (2). 7.The multi-sensor integrated pod device for low-altitude flight of UAV according to claim 6, characterized in that: The positioning assembly comprises two mutually parallel rectangular boxes, and one side of the rectangular box is attached to the side of the annular slide (5) perpendicular to the Y axis direction, the lower side of the rectangular box is rotatably connected with two rollers (24), the two rollers (24) are rotatably connected in the annular slide (5), a flat portion (4) is arranged on one side of the annular slide (5), the flat portion (4) is arranged in parallel with one side of the multi-sensor assembly, when the pod shell (2) rotates to make the multi-sensor assembly upward, the flat portion (4) is used to make the annular slide (5) and the roller (24) disengage and cannot support the curved cover plate (15), so that the curved cover plate (15) moves downward and covers the side wall of the pod shell (2). 8.The multi-sensor integrated pod device for low-altitude flight of a UAV according to claim 1, characterized in that: The elastic hanging piece comprises a cylinder (11), the side wall of the fixing plate (10) is fixedly connected with the side wall of the cylinder (11) through an assembling opening, a hanging rod (28) is arranged in the cylinder (11), the upper end of the hanging rod (28) is fixedly connected with a saddle (12), the upper end of the cylinder (11) is provided with a through hole larger than the diameter of the hanging rod (28), a trumpet-shaped rubber sleeve (27) is arranged at the through hole, the hanging rod (28) is in interference fit with an inner side pipe (32) in the cylinder (11) through the through hole, an outer side pipe (31) is sleeved in the cylinder (11) and is positioned by a flange (29) arranged inside, the upper and lower ends of the inner side pipe (32) and the outer side pipe (31) are provided with curled edges, and a plurality of groups of arc-shaped elastic sheets (30) are fixedly connected at the curled edges, two groups of the arc-shaped elastic sheets (30) are symmetrically fixed at the curled edges respectively, and the two groups of the arc-shaped elastic sheets (30) on the same curled edge are cross arranged. 9.The multi-sensor integrated pod device for low-altitude flight of UAV according to claim 8, characterized in that: The lower end of the cylinder (11) is designed as an open end, and a circular plate is fixedly connected at the open end through bolts, the upper end of the circular plate is fixedly connected with a plurality of rubber air bags (34) in a columnar structure, the upper ends of the plurality of rubber air bags (34) are fixedly connected with a mounting plate (33) together, and the upper end of the mounting plate (33) is fixedly connected with the lower end of the hanging rod (28). 10.The multi-sensor integrated pod device for low-altitude flight of UAV according to claim 9, characterized in that: The lower end of the mounting plate (33) is fixedly connected with a magnetic block (36), the lower end of the circular plate is provided with an electromagnet (35), the magnetic block (36) generates a magnetic attraction force by attracting the iron core of the electromagnet (35), and the elasticity of the rubber air bag (34) together plays a damping role on the elastic hanging piece.

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