Holder-mounted radar and unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a holder-mounted radar and an unmanned aerial vehicle. The cradle head mounting radar comprises a cradle head motor, a main supporting piece is installed at one end of the cradle head motor, a motor adapter is installed at the other end of the cradle head motor, a cradle head support is installed at the end, away from the cradle head motor, of the motor adapter, a ground simulation radar is installed at the bottom of the cradle head support, and an obstacle avoidance radar is installed on the back of the cradle head support. The ground-imitating radar and the obstacle-avoiding radar are integrated on the pan-tilt motor through the pan-tilt support, the pan-tilt motor drives the pan-tilt support to rotate so as to adjust the detection area in real time according to the flight attitude change of the unmanned aerial vehicle, terrain detection can be carried out while obstacle avoidance is carried out, the monitoring range is flexible, the integration degree is high, and installation is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, and in particular to a pan-tilt mounted radar and an unmanned aerial vehicle. Background Art

[0002] In the field of drones, millimeter-wave radars are widely used for terrain measurement and distance detection. Currently, millimeter-wave radars used on drones are all fixedly installed, which limits the detection range of the millimeter-wave radar, resulting in blind spots in monitoring and insufficient flexibility.

[0003] Existing UAVs usually install multiple millimeter-wave radars in different locations on the UAV. When installing, it is necessary to find the corresponding installation position, which is troublesome to install and takes up space on the UAV body. In addition, the layout of the existing multiple millimeter-wave radars is unreasonable, which often causes some millimeter-wave radars to be blocked, and fails to give full play to the multi-dimensional search advantage of the millimeter-wave radar.

[0004] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the utility model, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to ordinary technicians in this field. Utility Model Content

[0005] The purpose of the utility model is to overcome the deficiencies in the prior art and to provide a gimbal-mounted radar and a UAV to solve the problem that the installation method existing in the related art leads to limited detection of millimeter-wave radar and troublesome installation.

[0006] In order to solve the above technical problems, the utility model is implemented by adopting the following technical solutions:

[0007] On the one hand, the utility model provides a gimbal-mounted radar, including a gimbal motor, a main support member installed at one end of the gimbal motor, a motor adapter installed at the other end, a gimbal bracket installed at the end of the motor adapter away from the gimbal motor, a ground-following radar installed at the bottom of the gimbal bracket, and an obstacle avoidance radar installed on the back.

[0008] Furthermore, the main support member includes a supporting portion and a mounting portion, the supporting portion is used to be connected to the gimbal motor, and the mounting portion is used to be connected to the drone fuselage.

[0009] Furthermore, the support portion and the mounting portion are integrally formed.

[0010] Furthermore, the gimbal bracket includes a first fixing plate and a second fixing plate, the first fixing plate is connected to one end of the second fixing plate, and the opening angle is 120°, a ground-following radar is installed at the bottom of the first fixing plate, and an obstacle avoidance radar is installed at the bottom of the second fixing plate.

[0011] Furthermore, the motor adapter includes a connecting plate for connecting the gimbal motor, the connecting plate has a first connecting edge and a second connecting edge, the first connecting edge is connected to the first fixing plate, and the second connecting edge is connected to the second fixing plate.

[0012] Furthermore, a first weight-reducing groove is formed on the first fixing plate, and a second weight-reducing groove is formed on the second fixing plate.

[0013] Furthermore, the first fixing plate and the second fixing plate are integrally formed.

[0014] Furthermore, the connecting plate is provided with a plurality of connecting holes, and the pan / tilt motor is connected to the motor adapter by passing bolts through the connecting holes.

[0015] Furthermore, the rotation angle of the pan / tilt motor is ±30°.

[0016] On the other hand, the utility model provides a UAV, including a UAV fuselage and the above-mentioned gimbal-mounted radar.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] The utility model integrates the ground-following radar and the obstacle avoidance radar into the pan-tilt motor through the pan-tilt bracket. The pan-tilt motor drives the pan-tilt bracket to rotate to adjust the detection area in real time according to the change of the flight attitude of the UAV. It can detect the terrain while avoiding obstacles, has a flexible monitoring range, high integration and easy installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural exploded diagram of a pan-tilt mounted radar provided in an embodiment of the utility model;

[0020] Figure 2 It is a structural schematic diagram of a pan-tilt mounted radar provided in an embodiment of the utility model;

[0021] Figure 3 It is a structural schematic diagram of the main support member provided by an embodiment of the utility model;

[0022] Figure 4 It is a structural schematic diagram of a motor adapter provided by an embodiment of the utility model;

[0023] Figure 5 It is a structural schematic diagram of the pan / tilt bracket provided by an embodiment of the utility model;

[0024] In the figure: 1: main support member; 11: support part; 12: installation part; 2: pan / tilt motor; 3: motor adapter; 31: connecting plate; 311: connecting hole; 32: first connecting edge; 33: second connecting edge; 4: pan / tilt bracket; 41: first fixing plate; 411: first weight reducing groove; 421: second weight reducing groove; 42: second fixing plate; 5: ground-following radar; 6: obstacle avoidance radar. DETAILED DESCRIPTION

[0025] The utility model is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and cannot be used to limit the protection scope of the utility model.

[0026] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0027] Embodiment 1:

[0028] The present embodiment provides a gimbal-mounted radar, including a gimbal motor 2, a main support member 1 is installed at one end of the gimbal motor 2, and a motor adapter 3 is installed at the other end. A gimbal bracket 4 is installed at the end of the motor adapter 3 away from the gimbal motor 2, a ground-following radar 5 is installed at the bottom of the gimbal bracket 4, and an obstacle avoidance radar 6 is installed on the back.

[0029] Specifically, the main support member 1 is used to install the gimbal-mounted radar on the UAV body, and the gimbal motor 2 is used to communicate with the avionics of the UAV. The IMU data is transmitted to the gimbal motor 2 in real time to ensure that the rotation angle of the gimbal motor 2 can change with the posture of the UAV.

[0030] In this embodiment, the rotation angle of the pan / tilt motor is ±30°.

[0031] Specifically, the motor adapter 3 is used to connect the gimbal motor 2 and the motor adapter 3, and the motor adapter 3 rotates with the gimbal motor 2, thereby driving the ground-following radar 5 and the obstacle avoidance radar 6 on the gimbal bracket 4 to rotate ±30° according to the flight attitude of the drone.

[0032] In this embodiment, the terrain-following radar 5 is used to detect the height between the fuselage and the ground. The UAV can perform terrain-following flight based on the information detected by the terrain-following radar 5. The obstacle avoidance radar 6 is used to detect obstacles in front of the UAV. The gimbal motor 2 can drive the obstacle avoidance radar 6 to rotate to different angles to adjust the detection direction.

[0033] Specifically, when the pitch angle, roll angle or yaw angle of the drone body changes suddenly, the gimbal-mounted radar can protect the ground-following radar 5 and the obstacle avoidance radar 6 from shaking. During the flight, the ground-following radar 5 and the obstacle avoidance radar 6 can adjust the radar's perception angle in real time to avoid the drone from exploding due to detection blind spots.

[0034] In this embodiment, the main support member 1 includes a support portion 11 and a mounting portion 12, the support portion 11 is used to connect with the gimbal motor 2, and the mounting portion 12 is used to connect with the drone body.

[0035] Specifically, the support part 11 and the mounting part 12 are integrally formed, the gimbal motor 2 is mounted at the lower end of the mounting part 12, the support part 11 is connected to the upper end of the mounting part 12, and is provided with a plurality of holes for bolts to pass through, and the main support member 1 is bolted through the holes to install the entire gimbal-mounted radar on the UAV fuselage.

[0036] In this embodiment, the gimbal bracket 4 includes a first fixing plate 41 and a second fixing plate 42. The first fixing plate 41 is connected to one end of the second fixing plate 42, and the opening angle is 120°. A terrain-following radar 5 is installed at the bottom of the first fixing plate 41, and an obstacle avoidance radar 6 is installed at the bottom of the second fixing plate 42.

[0037] Specifically, the first fixing plate 41 and the second fixing plate 42 are integrally formed, and in order to reduce weight, a first weight-reducing groove 411 is formed on the first fixing plate 41 , and a second weight-reducing groove 421 is formed on the second fixing plate 42 .

[0038] In this embodiment, the motor adapter 3 includes a connecting plate 31 for connecting the gimbal motor 2, and the connecting plate 31 has a first connecting edge 32 and a second connecting edge 33, the first connecting edge 32 is connected to the first fixing plate 41, and the second connecting edge 33 is connected to the second fixing plate 42.

[0039] Specifically, two first weight-reducing grooves 411 are formed on the first fixing plate 41, and two second weight-reducing grooves 421 are formed on the second fixing plate 42. The first connecting edge 32 of the connecting plate 31 is fixed to the first fixing plate 41 by screws, and the second connecting edge 33 of the connecting plate 31 is fixed to the second fixing plate 42 by screws. A plurality of connecting holes 311 are formed on the body of the connecting plate 31, and the gimbal motor 2 is connected to the motor adapter 3 by bolts penetrating the connecting holes 311.

[0040] In this embodiment, the terrain-following radar 5 and the obstacle avoidance radar 6 are integrated on the pan-tilt bracket 4, which is easy to install and does not occupy the space of the drone body.

[0041] Specifically, the ground-following radar 5 is fixed to the bottom of the first fixing plate 41 by bolts, and the obstacle avoidance radar 6 is fixed to the back of the second fixing plate 42 by bolts. The opening angle of the first fixing plate 41 and the second fixing plate 42 is set to 120°, which can prevent the ground-following radar 5 and the obstacle avoidance radar 6 from interfering with each other. The layout is reasonable, and the radar can effectively sense the angle.

[0042] Embodiment 2:

[0043] This embodiment provides a drone, comprising a drone body and the gimbal-mounted radar described in the first embodiment, wherein the gimbal-mounted radar is installed on the drone body via a main support member (1).

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

Claims

1. A pan-tilt mounted radar, characterized in that: The invention comprises a pan / tilt motor (2), wherein a main support member (1) is mounted on one end of the pan / tilt motor (2), and a motor adapter member (3) is mounted on the other end; a pan / tilt bracket (4) is mounted on the end of the motor adapter member (3) away from the pan / tilt motor (2); a ground-following radar (5) is mounted on the bottom of the pan / tilt bracket (4), and an obstacle avoidance radar (6) is mounted on the back.

2. The pan-tilt mounted radar according to claim 1, characterized in that: The main support member (1) comprises a support portion (11) and a mounting portion (12); the support portion (11) is used to be connected to the pan / tilt motor (2), and the mounting portion (12) is used to be connected to a drone fuselage.

3. The pan-tilt mounted radar according to claim 2, characterized in that: The support portion (11) and the mounting portion (12) are integrally formed.

4. The PTZ-mounted radar according to claim 1, characterized in that: The pan / tilt bracket (4) comprises a first fixing plate (41) and a second fixing plate (42); the first fixing plate (41) is connected to one end of the second fixing plate (42) and has an opening angle of 120°; a ground-following radar (5) is installed at the bottom of the first fixing plate (41); and an obstacle avoidance radar (6) is installed at the bottom of the second fixing plate (42).

5. The pan-tilt mounted radar according to claim 4, characterized in that: The motor adapter (3) comprises a connecting plate (31) for connecting the pan / tilt motor (2), the connecting plate (31) having a first connecting edge (32) and a second connecting edge (33), the first connecting edge (32) being connected to the first fixing plate (41), and the second connecting edge (33) being connected to the second fixing plate (42).

6. The pan-tilt mounted radar according to claim 4, characterized in that: The first fixing plate (41) is provided with a first weight-reducing groove (411), and the second fixing plate (42) is provided with a second weight-reducing groove (421).

7. The pan-tilt mounted radar according to claim 4, characterized in that: The first fixing plate (41) and the second fixing plate (42) are integrally formed.

8. The pan-tilt mounted radar according to claim 5, characterized in that: The connecting plate (31) is provided with a plurality of connecting holes (311), and the pan / tilt motor (2) is connected to the motor adapter (3) by means of bolts passing through the connecting holes (311).

9. The pan-tilt mounted radar according to claim 1, characterized in that: The rotation angle of the pan / tilt motor (2) is ±30°.

10. A drone, comprising a drone body, characterized in that: It also includes a pan-tilt mounted radar as described in any one of claims 1-9.

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