Six-rotor unmanned aerial vehicle

Abstract

The utility model discloses a six-rotor unmanned aerial vehicle which is composed of an unmanned aerial vehicle rack, a GPS module, a pixhawk2.4. 8 flight control module, an airborne computer, an airborne computer shell, a brushless motor, a depth camera, a motor clamping piece, a landing support, a GPS support, self-locking propeller blades, a flight control damping plate, a lithium battery support carbon plate, a power distribution plate, a pod protection shell, a pod and a pod installation support. The unmanned aerial vehicle airborne computer shell is connected with the carbon plate below the unmanned aerial vehicle rack in a buckling mode. The pod is a spherical pod. The pod is protected through active lifting of the pod and cooperation of the pod protection shell, and therefore the pod protection device can not play a role in protection in some severe environments such as the environment where sand storm is large or the pod is harmed.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to a six-rotor unmanned aerial vehicle. Background Art

[0002] Unmanned Aerial Vehicles (UAVs) have become an important tool in many fields, including military, civil aviation, scientific research, and commercial applications. With the continuous development and popularization of UAV technology, the requirements for its performance, functions, and scope of application are also constantly increasing.

[0003] Traditional drones tend to have a fixed structure, and their fuselage and payload compartment are usually an integrated design, which makes it difficult to flexibly adapt to the needs of different tasks. However, in many application scenarios, users may need to adjust the payload compartment of the drone according to the requirements of specific tasks to adapt to different sensor equipment, cargo transportation or other purposes.

[0004] There are already some adjustable designs for drone payload compartments, such as using detachable modules or accessories. However, these designs often have certain limitations, such as complex loading and unloading processes, poor stability, or adverse effects on the overall structure of the drone, and thus cannot protect the pod in some harsh environments such as strong winds and sand or environments that are harmful to the pod.

[0005] Therefore, a new solution is needed that can simply, quickly and reliably adjust the payload cabin of the UAV to meet the needs of different users and missions and improve the applicability and flexibility of the UAV. Summary of the invention

[0006] In order to solve the shortcomings of the prior art, the utility model proposes a retractable pod, which can adjust the payload cabin of the drone according to user needs while maintaining the stability of the overall structure and flight performance of the drone. The utility model adopts the following technical solutions:

[0007] A six-rotor unmanned aerial vehicle comprises: a frame, wherein the frame comprises a group of carbon tubes and three layers of carbon plates interconnected from top to bottom, a power module and a positioning module are arranged on the first layer of carbon plates, a flight control module, a power distribution board and a depth camera are arranged between the first and second layers of carbon plates, the group of carbon tubes are arranged in coordination with the second layer of carbon plates, and are evenly arranged radially along the outer edge of the carbon plates, a brushless motor and a propeller are arranged at the end of the carbon tubes, a group of vertical connectors are arranged between the second and third layers of carbon plates, an onboard computer wrapped between the carbon plates can play a certain protective role for the onboard computer, and the onboard computer requires a certain amount of heat dissipation space, the column-type connection method can provide sufficient heat dissipation space for the onboard computer, especially when the unmanned aerial vehicle is flying, it can provide multi-angle front and rear ventilation, and a vertical connector is arranged There is a landing bracket extending downward to the outside. If the landing bracket is set too high, such as being set on the second layer of carbon plate, it may affect the structure of the original device on the second layer of carbon plate, and increase the center of gravity, which is not conducive to the stability of the drone. If it is set too low, such as being set on the third layer of carbon plate, it may affect the use of the pod and increase the overall height of the drone. The lower part of the third layer of carbon plate is detachably connected to the lifting pod, and a pod protective shell is set around the pod to protect the pod lens when the pod is raised. When the pod is in use, the lowered pod can be used normally. The power module supplies power to the positioning module, flight control module, brushless motor, depth camera, and onboard computer through the distribution board. The onboard computer obtains the position and depth information of the positioning module and the depth camera, and controls the flight of the drone through the flight control module.

[0008] Furthermore, the power distribution board is provided with a split electric regulator, and the wires of the brushless motor pass through the hollow carbon tube and are connected to the power module through the split electric regulator. The installation of the split electric regulator is very simple and the response speed is fast during flight.

[0009] Furthermore, a flight control shock absorbing plate is provided between the flight control module and the power distribution board to cushion the bottom of the flight control module to prevent it from being damaged by bumps.

[0010] Furthermore, the positioning module is provided with a positioning bracket, the positioning bracket is fixed on one side of the power distribution board, and the GPS bracket is a rotatable bracket, which can be rotated to the front or upward for fixing.

[0011] Furthermore, the depth camera is fixed to one side of the power distribution board by screws and a clamping mechanism to obtain depth information of the current environment and output its own position information as a visual odometer.

[0012] Furthermore, the propeller adopts a self-locking propeller blade, and a shock-absorbing member is provided above the brushless motor and at the connection between the self-locking propeller blade to prevent the propeller from rubbing against the motor.

[0013] A six-rotor drone is based on the six-rotor drone and adopts six carbon tubes and corresponding brushless motors and propellers.

[0014] The advantages and beneficial effects of the utility model are:

[0015] The utility model provides a six-rotor UAV, which reduces the cost and load of the UAV, reduces the redundancy of sensors while enhancing the functions, and further increases the flight time of the UAV; compared with the existing structure, the utility model has a compact structure, and through the design of connecting columns and anti-collision blocks, when the UAV collides, its impact force can be buffered and absorbed, thereby protecting the UAV's precision devices to a great extent; in addition, a UAV pod protective shell is added to provide a physical barrier for the spherical pod, protecting the equipment from external environmental factors such as collision, bumps, rain, wind and sand. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The utility model is a schematic diagram of the overall structure of the UAV.

[0017] Figure 2 This is a schematic diagram of the pod structure of the utility model.

[0018] Figure 3 This is a system execution flow chart of the utility model.

[0019] Figure numerals: 1. frame; 2. GPS module; 3. flight control module; 4. onboard computer; 5. onboard computer housing; 6. brushless motor; 7. depth camera; 8. motor clamp; 9. landing bracket; 10. GPS bracket; 11. self-locking propeller blades; 12. flight control shock absorber plate; 13. lithium battery bracket; 14. distribution board; 15. pod protective shell; 16. pod; 17. pod mounting bracket. DETAILED DESCRIPTION

[0020] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments, but the present invention is not limited to the scope of the embodiments.

[0021] The flight stability of existing drones may be affected under harsh conditions, and their autonomous flight and obstacle avoidance capabilities in complex environments need to be improved. In view of the shortcomings of the existing technology, the utility model proposes a six-rotor drone structure that can improve the scalability of the overall structure while increasing endurance. At the same time, the existing pod structure does not have the function of retracting the pod body during use. The utility model also proposes a new pod structure to solve the problem of the existing technology causing damage to the drone due to unstable factors encountered during flight or take-off and landing.

[0022] Specifically, a six-rotor drone, such as Figure 1As shown, it includes a drone frame 1, a GPS module 2, a pixhawk2.4.8 flight control module 3, an onboard computer 4, an onboard computer housing 5, a brushless motor 6, a depth camera 7, a motor clamp 8, a landing bracket 9, a GPS bracket 10, a self-locking propeller blade 11, a flight control shock absorber plate 12, a lithium battery carbon plate bracket 13, a distribution board 14, a pod protective shell 15, a pod 16, and a pod mounting bracket 17 (the third layer of carbon plate).

[0023] The pixhawk flight control module 3 is connected to the GPS module 2 through a wire to obtain its own position information. The GPS module 2 is provided with a GPS bracket 10, which is fixed on one side of the power distribution board 14. The brushless motor 6 is connected to the model aircraft lithium battery through the electric regulator for power supply, and serves as the power system of the aircraft to drive the aircraft to fly. The Intel D430 camera is connected to the second carbon plate from top to bottom through a stabilizing mechanism, and is located in the direction of the nose. Its depth camera can obtain the depth of the current environment through an algorithm, and can control the position information of the drone through the ROS node through the ROS function package. The power system of the aircraft adopts a split electric regulator and a brushless motor method. The installation of the split electric regulator is very simple and the response speed is fast during flight. The D430 depth camera 7 is used as the visual system of the aircraft. By comparing the images presented by the camera lens and observing the depth distance of each pixel in the space of each point of interest (POI) (and the distance of each object), it is realized by constructing a triangle between the point in the space and the two camera lenses. The depth camera 7 is rigidly fixed by a clamping mechanism and screws. The drone body is composed of two layers of carbon plates, six carbon tubes and a power distribution board 14. The second carbon plate from top to bottom fixes the depth camera 7, and a sponge pad is installed to prevent information errors caused by low-frequency vibration of the drone. The brushless motor 6 is located at the end of the carbon tube and is fixed by four screws and a clamping mechanism. There is a shock absorber connected above the motor and at the connection between the propeller to prevent the propeller from rubbing the motor. In this embodiment, the six carbon tubes serve as the arms of the drone, and the motor wires pass through the carbon plates and are connected to the split electric regulators at the edge of the carbon tube.

[0024] In this embodiment, the onboard computer is LubanCat4 onboard computer 4, referred to as LubanCat, which is clamped under the carbon plate by a clamping mechanism. The onboard computer is connected to the depth camera 7 through a data cable to transmit the position information and depth information to the ROS node. The pixhawk flight control module 3 communicates with the serial port of the LubanCat onboard computer through the telem2 port to realize the control of the drone by the ROS node. In this embodiment, the power distribution board 14 of the flight control module 3 is attached to the second layer of carbon plate from top to bottom of the drone body by sponge glue, and the lithium battery is fixed on the lithium battery bracket 13 (the first layer of carbon plate), fixed with cable ties and tape, and the flight control power distribution board is used to power the electric adjustment, flight control, and onboard computer.

[0025] Electrical connection:

[0026] The six motors are connected to 60A split electric regulators, which are welded to the distribution board 14 through wires. The distribution board 14 is powered by a lithium battery and has two power lines to power the onboard computer. The power2 port of the distribution board 14 is connected to the power port of the flight control module 3 to power the flight control module 3. The GPS module 2 is connected to the flight control module 3 through a flat cable. The onboard computer is connected to the Telem2 port of the flight control module 3 through a serial bus to realize serial communication. The depth camera is connected to the USB data port of the onboard computer through a data cable to realize data transmission. Figure 1 As shown, the overall hardware structure is based on the pixhawk2.4.8 flight control module. When the onboard computer is connected to the flight control module, the onboard computer can obtain information such as position, image, and environmental depth. The image information is processed using the opencv library and the cv_bridge of ROS to realize the visual processing function. By subscribing to the position information, depth information, etc. published by the camera driver node, the local route is planned to achieve the basic functions of tracking and avoiding obstacles. The expected planning results are published to the flight control module 3 through the MAVROS interface, so that the drone can fly according to the planned route. The onboard computer is protected by the clamp 1 and clamped on the carbon plate of the frame by the movable depth buckle plate behind the clamp 2. The clamp 1 and the clamp 2 can be connected by 3M tape. A spherical pod mounting plate is connected in the middle of the landing bracket 9. This pod mounting plate is connected to the pod 16 body by screws. Below the pod mounting plate, there is a circular carbon ring that wraps the spherical pod 16, so that the spherical pod 16 is largely free from external interference.

[0027] A design method for the structure and system of a six-rotor drone, and its specific operation method is:

[0028] Step 1: Build the system's software architecture; install ROSMelodic on a computer with Ubuntu 18.04 installed, with C++ and Python as the main programming languages; download the official firmware package of the pixhawk flight controller, and download its firmware to the flight controller;

[0029] Step 2: Connect the communication module to the data transmission port of the flight control module and pre-network the communication module in advance;

[0030] Step 3: When using the pod, the pod can be lowered to complete the shooting information normally;

[0031] like Figure 3As shown in the figure, the system execution process is as follows: the drone obtains the information of each sensor and the attitude data of the drone through the flight control, and sends these data to the ground station through the pixhawk flight control. At the same time, the control publishing node subscribes to the position information and depth information from the depth camera, and sends the planning results to the flight control module through the MAVROS node. After receiving the results, the flight control will control the aircraft to fly according to the path planning algorithm. When the pod is needed, the pod module can receive the information to lower the pod.

[0032] The utility model is not limited to the above-mentioned embodiments. Any changes in shape or structure are within the protection scope of the utility model. The protection scope of the utility model is defined by the attached claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the utility model, but these changes and modifications are within the protection scope of the utility model.

Claims

1. A six-rotor drone, comprising: A frame (1), characterized in that the frame (1) comprises a group of carbon tubes and three layers of carbon plates interconnected from top to bottom, a power module and a positioning module are arranged on the first layer of carbon plates, a flight control module (3), a power distribution board (14) and a depth camera (7) are arranged between the first and second layers of carbon plates, the group of carbon tubes are arranged in coordination with the second layer of carbon plates, and are evenly arranged radially along the outer edge of the carbon plates, a brushless motor (6) and a propeller are arranged at the end of the carbon tubes, a group of vertical connectors are arranged between the second and third layers of carbon plates, and the machine between the carbon plates is wrapped. An onboard computer (4) is provided with a landing bracket (9) extending outward and downward on the vertical connecting piece. A lifting pod (16) is detachably connected below the third layer of carbon plate. A pod protection shell (15) is provided around the pod (16). A power module supplies power to a positioning module, a flight control module (3), a brushless motor (6), a depth camera (7), and an onboard computer (4) through a power distribution board (14). The onboard computer (4) obtains the position and depth information of the positioning module and the depth camera, and controls the flight of the unmanned aerial vehicle through the flight control module (3).

2. A six-rotor drone according to claim 1, characterized in that: The power distribution board (14) is provided with a split electric regulator, and the wire of the brushless motor (6) passes through the hollow carbon tube and is connected to the power module via the split electric regulator.

3. A six-rotor drone according to claim 1, characterized in that: A flight control damping plate (12) is provided between the flight control module (3) and the power distribution plate (14).

4. The six-rotor drone according to claim 1, characterized in that: The positioning module is provided with a positioning bracket, and the positioning bracket is fixed on one side of the power distribution board (14).

5. The six-rotor drone according to claim 1, characterized in that: The depth camera (7) is fixed on one side of the power distribution board (14), obtains depth information of the current environment, and outputs its own position information as a visual odometer.

6. The six-rotor drone according to claim 1, characterized in that: The propeller adopts a self-locking propeller blade (11), and a shock absorbing component is provided above the brushless motor (6) and at the connection between the self-locking propeller blade (11).

7. A six-rotor drone, characterized in that: A six-rotor drone according to any one of claims 1 to 6, comprising six carbon tubes and corresponding brushless motors (6) and propellers.

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