Indoor unmanned aerial vehicle device based on SLAM composition technology

Abstract

The utility model relates to an indoor unmanned aerial vehicle device based on SLAM picture composition technology, which comprises an unmanned aerial vehicle main body, a laser radar, an RTK positioning module and a visual SLAM positioning module, the upper end face of the unmanned aerial vehicle main body is provided with a mounting groove, the mounting groove is internally and detachably connected with a mounting shell through an arranged connecting assembly, and the mounting shell is internally provided with a lifting mechanism and a self-locking protection mechanism. A mounting plate is arranged at the top lifting end of the lifting mechanism, the lifting mechanism comprises an adjusting disc, an adjusting rod, an L-shaped mounting frame, a servo motor, a gear ring and a gear, the adjusting disc is rotationally connected into the mounting shell in the horizontal direction, a spherical pair at the bottom end of the adjusting rod is connected to one side of the upper end face of the adjusting disc, and the gear ring is axially fixed to the outer side of the adjusting disc; the servo motor is connected into the mounting shell through a motor frame bolt. The bottom output end of the servo motor is axially fixed to the gear. And through the design of the connecting assembly, the lifting mechanism and the self-locking protection mechanism, the laser radar and the RTK positioning module can be effectively protected.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, and more specifically to an indoor unmanned aerial vehicle device based on SLAM composition technology. Background Art

[0002] SLAM, translated into Chinese as simultaneous localization and mapping, is a technology that uses one or more sensors to build an environmental model and estimate its own motion without prior information about the environment. As an important method for positioning and building environmental models, it has a wide range of applications in fields such as autonomous driving. The basic visual SLAM structure is relatively simple, but it can cause problems such as inaccurate positioning and trajectory deviation in many scenarios. The visual-inertial unit that combines an inertial measurement unit and a camera has become an increasingly popular application framework. Existing outdoor visual-inertial SLAM methods use relatively mature SLAM frameworks, such as VINS-Mono, ORB-SLAM3, and other SLAM frameworks, which can achieve relatively ideal experimental results in outdoor environments.

[0003] However, the laser radar and RTK positioning modules used in the existing outdoor environment visual inertial SLAM composition are generally fixed on the upper end surface of the drone body. Once a collision occurs, the laser radar and RTK positioning modules are easily bumped into surrounding objects, causing damage to the laser radar and RTK positioning modules. Repair will cost a lot of money and time. The utility model proposes a new solution to the above problems. Utility Model Content

[0004] In view of the problems existing in the prior art, the purpose of the utility model is to provide an indoor drone device based on SLAM composition technology to solve the technical problems mentioned in the background technology.

[0005] To solve the above problems, the utility model adopts the following technical solutions.

[0006] An indoor drone device based on SLAM composition technology comprises a drone body, a laser radar, an RTK positioning module and a visual SLAM positioning module. The upper end surface of the drone body is provided with a mounting groove, and a mounting shell is detachably connected to the mounting groove through a connecting component provided therein. The upper end surface of the mounting shell is rotatably connected to two sets of cover plates through a hinge. A lifting mechanism and a self-locking protection mechanism are provided in the mounting shell. A mounting plate is provided at the top lifting end of the lifting mechanism. The laser radar and the RTK positioning module are fixed on the mounting plate. The lifting mechanism comprises an adjustment plate, an adjustment rod, an L-shaped mounting plate, and a self-locking protection mechanism. The mounting frame comprises a mounting frame, a servo motor, a gear ring, and a gear. The adjustment disk is connected to the mounting shell by rotating in the horizontal direction. The bottom spherical pair of the adjusting rod is connected to one side of the upper end surface of the adjusting disk. The gear ring is axially fixed to the outside of the adjusting disk. The servo motor is connected to the mounting shell through the motor frame bolts. The bottom output end of the servo motor is axially fixed on the gear. The gear is meshed with the gear ring. The bottom of the L-shaped mounting frame is fixed in the mounting shell. The top spherical pair of the L-shaped mounting frame is connected with an adjustment block. The adjusting rod is connected to the mounting plate through the adjustment block bolts. The working end of the self-locking protection mechanism is connected to the adjustment disk.

[0007] Preferably, an aviation plug is provided on the lower end surface of the mounting shell, an aviation socket is provided in the mounting groove, the aviation plug and the aviation socket are arranged in coordination, and the servo motor and the self-locking protection mechanism are communicatively connected with the mainboard of the drone body through the aviation plug and the aviation socket.

[0008] In any of the above schemes, it is preferred that the connecting components are provided with two groups, the connecting components include a V-shaped spring and an L-shaped limiting claw, two groups of connecting grooves are symmetrically arranged on the side wall of the mounting groove, one end of the V-shaped spring is fixed in the connecting groove, and the other end of the V-shaped spring is fixed to the L-shaped limiting claw, and a limiting groove is arranged on the side wall of the mounting shell, and one end of the L-shaped limiting claw is inserted into the limiting groove.

[0009] In any of the above schemes, it is preferred that the self-locking protection mechanism includes a micro electric telescopic rod, a locking block, and a collision sensor; the micro electric telescopic rod is fixed in the mounting shell; the locking block is bolted to the outer edge of the upper end surface of the adjusting disk; a limiting hole is provided on the locking block corresponding to the working end of the micro electric telescopic rod; the limiting hole is cooperated with the working end of the micro electric telescopic rod; the collision sensor is installed in the mounting shell, and the collision sensor is communicatively connected to the micro electric telescopic rod and the servo motor.

[0010] In any of the above schemes, preferably, a first electric telescopic rod is provided on the lower end surface of the cover plate, the bottom end of the first electric telescopic rod is fixed in the mounting shell, the telescopic end of the first electric telescopic rod is rotatably connected to the lower end surface of the cover plate, and the first electric telescopic rod is communicatively connected to the collision sensor.

[0011] Preferably, in any of the above solutions, the lower end surface of the UAV body is bolted to two sets of landing gears.

[0012] Compared with the prior art, the advantages of the present invention are:

[0013] The connection components, lifting mechanism and self-locking protection mechanism in the utility model are designed such that when the UAV device is in a non-working state, the lifting mechanism is in a lowering mode, that is, the laser radar and RTK positioning module are in the mounting shell, so as to avoid the laser radar and RTK positioning module being damaged by collision; when in normal use, the lifting mechanism is in an ascending mode, that is, the laser radar and RTK positioning module are outside the mounting shell, and the laser radar and RTK positioning module are in a working state; once the UAV device is bumped, the self-locking protection mechanism will be triggered to retract the laser radar and RTK positioning module into the mounting shell, so as to effectively protect the laser radar and RTK positioning module. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of an indoor UAV device based on SLAM mapping technology of the utility model;

[0015] Figure 2 It is a schematic diagram of the internal structure of the installation shell;

[0016] Figure 3 This is a partial cross-sectional view of the drone body.

[0017] Description of the numbers in the figure:

[0018] 1. UAV body; 2. LiDAR; 3. RTK positioning module; 4. Visual SLAM positioning module; 5. Mounting slot; 6. Connecting assembly; 7. Mounting shell; 8. Cover plate; 9. Lifting mechanism; 10. Self-locking protection mechanism; 11. Mounting plate; 901. Adjustment plate; 902. Adjustment rod; 903. L-shaped mounting bracket; 904. Servo motor; 905. Gear ring; 906. Gear; 907. Adjustment block; 12. Aviation plug; 13. Aviation socket; 601. V-shaped spring; 602. L-shaped limit claw; 14. Connecting slot; 15. Limiting slot; 1001. Micro electric telescopic rod; 1002. Locking block; 1003. Collision sensor; 1004. Limiting hole; 16. First electric telescopic rod; 17. Landing gear. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the utility model without making creative work are within the scope of protection of the utility model.

[0020] Example:

[0021] See also Figures 1 to 3 , an indoor UAV device based on SLAM composition technology, including a UAV body 1, a laser radar 2, an RTK positioning module 3, and a visual SLAM positioning module 4, the upper end surface of the UAV body 1 is provided with a mounting groove 5, and a mounting shell 7 is detachably connected to the mounting groove 5 through a connecting component 6, and the upper end surface of the mounting shell 7 is rotatably connected to two sets of cover plates 8 through a hinge, and a lifting mechanism 9 and a self-locking protection mechanism 10 are arranged in the mounting shell 7, and a mounting plate 11 is arranged at the top lifting end of the lifting mechanism 9, and the laser radar 2 and the RTK positioning module 3 are fixed on the mounting plate 11, and the lifting mechanism 9 includes an adjustment plate 901, an adjustment rod 902, an L-shaped mounting frame 903, a servo motor 904, and a gear ring 90 5. Gear 906, the adjustment disk 901 is connected to the mounting shell 7 in a horizontal direction, the bottom spherical pair of the adjustment rod 902 is connected to one side of the upper end surface of the adjustment disk 901, the ring gear 905 is axially fixed to the outer side of the adjustment disk 901, the servo motor 904 is connected to the mounting shell 7 through the motor frame bolts, the bottom output end of the servo motor 904 is axially fixed on the gear 906, the gear 906 is meshed with the ring gear 905, the bottom of the L-shaped mounting frame 903 is fixed in the mounting shell 7, the top spherical pair of the L-shaped mounting frame 903 is connected with an adjustment block 907, the adjustment rod 902 passes through the adjustment block 907 and is bolted to the mounting plate 11, and the working end of the self-locking protection mechanism 10 is connected to the adjustment disk 901;

[0022] The connection component 6, the lifting mechanism 9 and the self-locking protection mechanism 10 are designed so that when the UAV device is in a non-working state, the lifting mechanism 9 is in a lowering mode, that is, the laser radar 2 and the RTK positioning module 3 are in the mounting shell 7, to prevent the laser radar 2 and the RTK positioning module 3 from being damaged by collision. When in normal use, the lifting mechanism 9 is in a raising mode, that is, the laser radar 2 and the RTK positioning module 3 are outside the mounting shell 7, and the laser radar 2 and the RTK positioning module 3 are in a working state. Once the UAV device is bumped, the self-locking protection mechanism 10 will be triggered to retract the laser radar 2 and the RTK positioning module 3 into the mounting shell 7, to effectively protect the laser radar 2 and the RTK positioning module 3.

[0023] In this embodiment, an aviation plug 12 is provided on the lower end surface of the mounting shell 7, and an aviation socket 13 is provided in the mounting groove 5. The aviation plug 12 and the aviation socket 13 are arranged in coordination with each other. The servo motor 904 and the self-locking protection mechanism 10 are connected to the main board of the drone body 1 through the aviation plug 12 and the aviation socket 13. The aviation plug 12 and the aviation socket 13 are used to realize the rapid communication connection between the mounting shell 7 and the drone body 1, and the rapid disassembly and assembly are realized.

[0024] In this embodiment, two groups of connecting components 6 are provided, and the connecting components 6 include a V-shaped spring 601 and an L-shaped limiting claw 602. Two groups of connecting grooves 14 are symmetrically provided on the side wall of the mounting groove 5. One end of the V-shaped spring 601 is fixed in the connecting groove 14, and the other end of the V-shaped spring 601 is fixed in the L-shaped limiting claw 602. A limiting groove 15 is provided on the side wall of the mounting shell 7, and one end of the L-shaped limiting claw 602 is inserted into the limiting groove 15. The elastic force of the V-shaped spring 601 is utilized in combination with the L-shaped limiting claw 602 to lock the mounting shell 7 into the mounting groove 5, and the installation and disassembly are quick.

[0025] In this embodiment, the self-locking protection mechanism 10 includes a micro electric telescopic rod 1001, a locking block 1002, and a collision sensor 1003. The micro electric telescopic rod 1001 is fixed in the mounting shell 7, and the locking block 1002 is bolted to the outer edge of the upper end surface of the adjusting disk 901. A limiting hole 1004 is provided on the locking block 1002 corresponding to the working end of the micro electric telescopic rod 1001. The limiting hole 1004 is arranged in cooperation with the working end of the micro electric telescopic rod 1001. The collision sensor 1003 is installed in the mounting shell 7, and the collision sensor 1003 is communicated with the micro electric telescopic rod 1001 and the servo motor 904; when the adjusting disk 901 rotates to a specified position, the micro electric The telescopic rod 1001 moves, and the telescopic end of the micro electric telescopic rod 1001 is inserted into the limit hole 1004 on the lock block 1002 to lock the adjustment disk 901. During use, the collision sensor 1003 is used to sense whether the drone body 1 is collided. When a collision occurs, the collision sensor 1003 senses the collision, and the signal is transmitted to the micro electric telescopic rod 101 and the servo motor 904. The micro electric telescopic rod 101 moves, the micro electric telescopic rod 101 is disengaged from the lock block 1002, and the servo motor 904 moves. The servo motor 904 drives the gear ring 905 to rotate through the gear 906, thereby storing the laser radar 2 and the RTK positioning module 3 in the mounting shell 7.

[0026] In this embodiment, a first electric telescopic rod 16 is provided on the lower end surface of the cover 8, the bottom end of the first electric telescopic rod 16 is fixed in the mounting shell 7, the telescopic end of the first electric telescopic rod 16 is rotatably connected to the lower end surface of the cover 8, and the first electric telescopic rod 16 is communicatively connected to the collision sensor 1003; the first electric telescopic rod 16 is used to control the opening and closing of the cover 8, and when the collision sensor 1003 senses a collision, the collision sensor 1003 transmits a signal to the first electric telescopic rod 16, and the first electric telescopic rod 16 cooperates with the self-locking protection mechanism 10 to open and close the cover 8, thereby completing the storage of the laser radar 2 and the RTK positioning module 3.

[0027] In this embodiment, two sets of landing gears 17 are bolted to the lower end surface of the drone body 1; landing gears 17 of different heights can be made in advance according to the place of use, and landing gears 17 of different heights can be selected according to the use environment of the drone body 1.

[0028] The working process of the utility model is as follows:

[0029] When the UAV device is in a non-working state, the lifting mechanism 9 is in a lowering mode, that is, the laser radar 2 and the RTK positioning module 3 are in the mounting shell 7, to prevent the laser radar 2 and the RTK positioning module 3 from being damaged by collision. When in normal use, the lifting mechanism 9 is in a raising mode, that is, the laser radar 2 and the RTK positioning module 3 are outside the mounting shell 7, and the laser radar 2 and the RTK positioning module 3 are in a working state. Once the UAV device is bumped, the self-locking protection mechanism 10 will be triggered to retract the laser radar 2 and the RTK positioning module 3 into the mounting shell 7, thereby effectively protecting the laser radar 2 and the RTK positioning module 3.

[0030] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. An indoor UAV device based on SLAM mapping technology, comprising a UAV body (1), a laser radar (2), an RTK positioning module (3), and a visual SLAM positioning module (4), characterized in that: The upper end surface of the drone body (1) is provided with a mounting groove (5), and a mounting shell (7) is detachably connected to the mounting groove (5) via a connecting assembly (6). The upper end surface of the mounting shell (7) is rotatably connected to two sets of cover plates (8) via a hinge. A lifting mechanism (9) and a self-locking protection mechanism (10) are provided in the mounting shell (7). A mounting plate (11) is provided at the top lifting end of the lifting mechanism (9). The laser radar (2) and the RTK positioning module (3) are fixed on the mounting plate (11). The lifting mechanism (9) comprises an adjustment plate (901), an adjustment rod (902), an L-shaped mounting frame (903), a servo motor (904), a gear ring (905), and a gear (906). The adjustment plate (901) is rotatably connected to the mounting plate (906) in a horizontal direction. The bottom spherical pair of the adjusting rod (902) is connected to one side of the upper end surface of the adjusting disk (901) in the mounting shell (7), the gear ring (905) is axially fixed to the outer side of the adjusting disk (901), the servo motor (904) is connected to the mounting shell (7) through a motor frame bolt, the bottom output end of the servo motor (904) is axially fixed to a gear (906), the gear (906) is meshed with the gear ring (905), the bottom of the L-shaped mounting frame (903) is fixed in the mounting shell (7), the top spherical pair of the L-shaped mounting frame (903) is connected to an adjusting block (907), the adjusting rod (902) is bolted through the adjusting block (907) and connected to the mounting plate (11), and the working end of the self-locking protection mechanism (10) is connected to the adjusting disk (901).

2. The indoor UAV device based on SLAM mapping technology according to claim 1, characterized in that: The lower end surface of the mounting shell (7) is provided with an aviation plug (12), and the mounting groove (5) is provided with an aviation socket (13). The aviation plug (12) and the aviation socket (13) are arranged in coordination with each other, and the servo motor (904) and the self-locking protection mechanism (10) are connected to the main board of the drone body (1) through the aviation plug (12) and the aviation socket (13).

3. The indoor UAV device based on SLAM mapping technology according to claim 2, characterized in that: The connection assembly (6) is provided with two groups, and the connection assembly (6) includes a V-shaped spring (601) and an L-shaped limiting claw (602). Two groups of connection grooves (14) are symmetrically provided on the side wall of the installation groove (5). One end of the V-shaped spring (601) is fixed in the connection groove (14), and the other end of the V-shaped spring (601) is fixed in the L-shaped limiting claw (602). A limiting groove (15) is provided on the side wall of the installation shell (7), and one end of the L-shaped limiting claw (602) is inserted into the limiting groove (15).

4. The indoor UAV device based on SLAM mapping technology according to claim 2, characterized in that: The self-locking protection mechanism (10) comprises a micro electric telescopic rod (1001), a locking block (1002), and a collision sensor (1003); the micro electric telescopic rod (1001) is fixed in the mounting shell (7); the locking block (1002) is bolted to the outer edge of the upper end surface of the adjustment plate (901); a limiting hole (1004) is provided on the locking block (1002) corresponding to the working end of the micro electric telescopic rod (1001); the limiting hole (1004) is arranged in cooperation with the working end of the micro electric telescopic rod (1001); the collision sensor (1003) is installed in the mounting shell (7), and the collision sensor (1003) is communicatively connected to the micro electric telescopic rod (1001).

5. The indoor UAV device based on SLAM mapping technology according to claim 4, characterized in that: A first electric telescopic rod (16) is arranged on the lower end surface of the cover plate (8); the bottom end of the first electric telescopic rod (16) is fixed in the mounting shell (7); the telescopic end of the first electric telescopic rod (16) is rotatably connected to the lower end surface of the cover plate (8); and the first electric telescopic rod (16) is communicatively connected to the collision sensor (1003) and the servo motor (904).

6. The indoor UAV device based on SLAM mapping technology according to claim 1, characterized in that: The lower end surface of the drone body (1) is bolted to two sets of landing gears (17).

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