Sensor support suite suitable for obstacle avoidance of unmanned aerial vehicle

Abstract

The utility model provides a sensor support suite suitable for unmanned aerial vehicle obstacle avoidance, comprising an unmanned aerial vehicle, the bottom end of the unmanned aerial vehicle is oppositely provided with supports, and the two ends of the bottom surface of the unmanned aerial vehicle are respectively provided with a first rack structure and a second rack structure; the radar fixing frame is mounted on the top surface of the unmanned aerial vehicle; the wire seat structure comprises a square base, an antenna and a groove, the square base is installed in the bottom end of the unmanned aerial vehicle, the groove is formed in the center of the square base, the groove in the bottom end of the square base is in a hexagonal prism shape, the top end of the groove is circular, and the antenna is arranged in the groove. The antenna is mounted at the central position of the square base through the groove; the sensor support suite suitable for obstacle avoidance of the unmanned aerial vehicle has the advantages that the installation requirements of various sensors can be met conveniently, and the obstacle avoidance performance of the unmanned aerial vehicle in a complex environment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of UAV bracket kits, in particular to a sensor bracket kit suitable for UAV obstacle avoidance. Background Art

[0002] A UAV refers to an unmanned aircraft controlled by a radio remote control device and a self - contained program control device; with the development of the UAV industry, the demand for UAVs in the market is increasing. The use environment of UAVs is complex and changeable, the user group covered is becoming more and more extensive, and the safety prevention requirements are also getting higher and higher.

[0003] At present, the technical requirements of the UAV industry vary, and the production technology levels are different. In order to realize more values of UAVs and improve the obstacle - avoidance performance of UAVs in complex environments, some facilities such as radars and cameras need to be installed on UAVs. However, general UAVs do not come with brackets for installing various facilities, which makes it inconvenient to install these facilities.

[0004] Therefore, it is necessary to provide a new sensor bracket kit suitable for UAV obstacle avoidance to solve the above - mentioned technical problems. Content of the Utility Model

[0005] The technical problem solved by the utility model is to provide a sensor bracket kit suitable for UAV obstacle avoidance, which can easily adapt to the installation requirements of various sensors and improve the obstacle - avoidance performance of UAVs in complex environments.

[0006] To solve the above - mentioned technical problems, the sensor bracket kit suitable for UAV obstacle avoidance provided by the utility model includes: a UAV, on which brackets are oppositely installed at the bottom end, and a first frame structure and a second frame structure are respectively installed at both ends of the bottom surface of the UAV; a radar fixing bracket, which is installed on the top surface of the UAV; a wire seat structure, which includes a square base, an antenna and a groove. The square base is installed inside the bottom end of the UAV, the groove is arranged at the center of the square base, the groove at the bottom end of the square base is hexagonal, the top end of the groove is circular, and the antenna is installed at the center of the square base through the groove.

[0007] Preferably, the radar fixing bracket includes a mounting disc, support legs, bottom feet and plate legs. The bottom feet are fixed on the surface of the UAV by bolts, the support legs and the plate legs are obliquely fixed on the surface of the bottom feet, and the support legs and the plate legs are installed on the side wall of the mounting disc.

[0008] Preferably, the support heights of the support legs and the plate legs are equal, the plate legs are obliquely fixed on the side wall of the mounting disc, and the support legs are vertically fixed on the side wall of the mounting disc.

[0009] Preferably, the first frame structure includes a support plate, a fixing column, a reinforcing rib, and a first base. The first base is installed on the bottom surface of the drone through bolts. The fixing column is fixed to the bottom end of the first base. The upper and lower ends of the reinforcing rib with an arc-shaped side wall are respectively fixedly connected to the support plate and the first base.

[0010] Preferably, the bottom end of the fixing column is semi-circular, and the length of the fixing column is less than the height of the reinforcing rib.

[0011] Preferably, the second frame structure includes a mounting plate, a reinforcing strut, and a second base. The mounting plate is fixed to the bottom surface of the drone through bolts. Both ends of multiple reinforcing struts are respectively obliquely and fixedly connected to the mounting plate and the second base.

[0012] Preferably, the top surface of the second base and the first base are on the same plane, and the first base and the second base are in contact with each other.

[0013] Compared with the related art, the sensor bracket kit for UAV obstacle avoidance provided by the present utility model has the following beneficial effects:

[0014] The present utility model provides a sensor bracket kit for UAV obstacle avoidance. When installing other auxiliary devices, first, the radar fixing bracket is fixed on the top surface of the UAV structure through bolts, making the radar fixing bracket the main platform for installing the 360-degree radar. Then, the radar is fixed on this disc through the screw holes provided on its surface. There is a certain distance between the radar and the UAV, which can raise the 360-degree radar, enabling it to obtain a wider range of environmental information on the UAV and reducing blind spots. Then, the T265 camera and the D435i depth camera are installed on the bottom surface of the UAV structure through the first frame structure and the second frame structure respectively, so that the two groups of cameras are installed side by side and oppositely. The installation directions of the two groups of cameras are different. The installed D435i depth camera can improve the accuracy of the obstacle avoidance system, and the installed T265 camera can improve the positioning and navigation accuracy. Especially when the UAV is avoiding obstacles or flying autonomously, the antenna is installed through the wire seat structure, which can reduce the stress concentration between the bolts and the UAV, improve the durability of the overall structure, and the square design is convenient for installation adjustment, enabling the antenna to adapt to different installation requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of a preferred embodiment of the sensor bracket kit for UAV obstacle avoidance provided by the present utility model;

[0016] Figure 2 is Figure 1 a schematic structural diagram of the first frame shown;

[0017] Figure 3 is Figure 1 the structural schematic diagram of the second rack shown;

[0018] Figure 4 is Figure 1 the structural schematic diagram of the whole radar fixture shown;

[0019] Figure 5 is Figure 1 the three-dimensional structural schematic diagram of the whole wire base shown;

[0020] Figure 6 is Figure 5 the sectional structural schematic diagram of the wire base shown.

[0021] Reference numerals in the figure: 1, support; 2, unmanned aerial vehicle; 3, radar fixing bracket; 31, mounting plate; 32, support leg; 33, bottom support foot; 34, plate leg; 4, first rack structure; 41, support plate; 42, fixing column; 43, reinforcing rib; 44, first base; 5, second rack structure; 51, mounting board; 52, reinforcing strut; 53, second base; 6, wire base structure; 61, square base; 62, antenna; 63, groove. Specific embodiments

[0022] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] Please refer to Figures 1 to 6 , Figure 1 which is the structural schematic diagram of a preferred embodiment of the sensor support kit for unmanned aerial vehicle obstacle avoidance provided by the present utility model; Figure 2 is Figure 1 the structural schematic diagram of the first rack shown; Figure 3 is Figure 1 the structural schematic diagram of the second rack shown; Figure 4 is Figure 1 the structural schematic diagram of the whole radar fixture shown; Figure 5 is Figure 1 the three-dimensional structural schematic diagram of the whole wire base shown; Figure 6 is Figure 5Schematic diagram of the cross-sectional structure of the shown wire seat structure; among them, the sensor bracket kit applicable to UAV obstacle avoidance includes: a UAV 2, a bracket 1 is oppositely installed at the bottom end of the UAV 2, and a first frame structure 4 and a second frame structure 5 are respectively installed at both ends of the bottom surface of the UAV 2; a radar fixing bracket 3, the radar fixing bracket 3 is installed on the top surface of the UAV 2; a wire seat structure 6, the wire seat structure 6 includes a square base 61, an antenna 62 and a groove 63, the square base 61 is installed inside the bottom end of the UAV 2, the groove 63 is provided at the center position of the square base 61, the groove 63 at the bottom end of the square base 61 is hexagonal, the bottom end of the groove 63 is circular, the antenna 62 is installed at the center position of the square base 61 through the groove 63, a screw is placed at the top end of the groove 63, because the top end of the groove 63 is hexagonal, the screw is stuck inside the hexagonal groove at the top end of the groove 63, when installing the antenna 62, insert the antenna 62 upward into the inside of 63 to contact the screw, rotate the antenna 62 to thread-connect the antenna 62 with the screw, and fix the top end of the antenna 62 inside 61.

[0024] In the specific implementation process, such as Figure 1 and Figure 4 shown, the radar fixing bracket 3 includes a mounting plate 31, support legs 32, bottom feet 33 and plate legs 34, the bottom feet 33 are fixed on the surface of the UAV 2 by bolts, the support legs 32 and the plate legs 34 are obliquely fixed on the surface of the bottom feet 33, and the mounting plate 31 is installed on the side walls of the support legs 32 and the plate legs 34; the support heights of the support legs 32 and the plate legs 34 are equal; the support heights of the support legs 32 and the plate legs 34 are equal. In order to make the surface of the mounting plate 31 in a horizontal state for facilitating the installation of the radar, and the support legs 32 are vertically installed on the side wall of the mounting plate 31, the plate legs 34 are obliquely fixed on the side wall of the mounting plate 31, and the support of the mounting plate 31 is improved through different angles of the support legs 32 and the plate legs 34, increasing the stability and firmness of the mounting plate 31.

[0025] In the specific implementation process, such as Figure 1 and Figure 2 shown, the first frame structure 4 includes a support plate 41, a fixing column 42, a reinforcing rib 43 and a first base 44, the first base 44 is installed on the bottom surface of the UAV 2 by bolts, the fixing column 42 is fixed at the bottom end of the first base 44, and the upper and lower ends of the reinforcing rib 43 with an arc-shaped side wall are respectively fixedly connected to the support plate 41 and the first base 44; facilitating the reinforcing rib 43 to strengthen the connection strength between the first base 44 and the support plate 41.

[0026] The bottom end of the fixing column 42 is semi-circular, and the length of the fixing column 42 is less than the height of the reinforcing rib 43; during the installation of the camera, the camera is aligned and in contact with the fixing column 42, which facilitates the alignment of the camera with the mounting holes on the surface of 41. The fixing column 42 can enhance the installation accuracy and stability of the device, and prevent the components from sliding or shifting.

[0027] In the specific implementation process, as Figure 1 and Figure 3 shown, the second frame structure 5 includes a mounting plate 51, reinforcing struts 52, and a second base 53. The mounting plate 51 is fixed to the bottom surface of the drone by bolts. Both ends of multiple reinforcing struts 52 are inclined and fixedly connected to the mounting plate 51 and the second base 53 respectively; to facilitate the installation of a camera on the surface of the second base 53, the top surface of the second base 53 and the top surface of the first base 44 are on the same plane, and the first base 44 and the second base 53 are in contact with each other, increasing the stability between the support plate 44 and the second base 53, and reducing the errors caused by the jitter and displacement of the support plate 44 and the second base 53.

[0028] The working principle of the sensor bracket kit applicable to drone obstacle avoidance provided by the present utility model is as follows:

[0029] When adding other devices externally, first determine the position of the device to be added externally according to its function. For example, when adding a radar to the drone 2, first bolt the support legs 32 fixed to the side wall of the mounting disk 31 and the bottom legs 33 fixed to one end of the plate legs 34 to the top surface of the drone 2, so that the mounting disk 31 is supported and lifted by the support legs 32 and the plate legs 34. Then, according to the mounting holes provided on the mounting disk 31, bolt the radar to be installed to the mounting disk 31, so that the radar is supported and lifted by the radar fixing frame 3, and the installed radar has a better view.

[0030] When adding and installing a T265 camera externally, first make the side wall of the T265 camera contact one end of the fixing column 42, so that the T265 camera is accurately installed on the support plate 41 through the fixing column 42, and the fixing column 42 enhances the stability of the T265 camera. Then, bolt the first base 44 to the bottom surface of the drone 2, so that the drone 2 can improve the positioning and navigation accuracy through the installed T265 camera, especially during the obstacle avoidance or autonomous flight of the drone 2.

[0031] When externally installing the D435i depth camera, first fix the D435i to the support plate 41 with bolts, and then install the installed D435i depth camera parallel to the previously installed D435i depth camera at the other end of the bottom surface of the fuselage 21, so that the two groups of cameras are installed side by side and opposite to each other. Since the installation angles and directions of the two groups of cameras are different, the two groups of cameras will not affect each other during the operation of the drone 2. It can monitor a wider perspective, and then can enhance the accuracy of the obstacle avoidance system through the cooperation of the two groups of cameras.

[0032] Then install the antenna 62 inside the bottom end of the drone 2 through the square base 61, with the smaller end of the square base 61 facing down. Pass the bolt at one end of the antenna 62 through the groove 63 and fix it at the top with a bolt, so that the installed square base 61 does not conflict with other brackets 1. And the square design of the square base 61 is convenient for installation and adjustment, enabling the antenna to adapt to different installation requirements. This device has the advantage of being able to adapt to the installation requirements of a variety of sensors and improving the obstacle avoidance performance of the drone 2 in complex environments.

[0033] Compared with the related technology, the sensor bracket kit for drone obstacle avoidance provided by the present utility model has the following beneficial effects:

[0034] The present utility model provides a sensor bracket kit for drone obstacle avoidance. When installing other auxiliary devices, first fix the radar fixing frame 3 to the top surface of the structure of the drone 2 with bolts, making the radar fixing frame 3 the main platform for installing the 360-degree radar. Then fix the radar to the disc through the screw holes provided on its surface. There is a certain distance between the radar and the drone 2, which can raise the 360-degree radar so that it can obtain a wider environmental information on the drone 2 and reduce the blind area. Then install the T265 camera and the D435i depth camera on the bottom surface of the drone 2 structure through the first frame structure 4 and the second frame structure 5 respectively, so that the two groups of cameras are installed side by side and opposite to each other. The installation directions of the two groups of cameras are different. The installed D435i depth camera can improve the accuracy of the obstacle avoidance system, and the installed T265 camera can improve the positioning and navigation accuracy. Especially when the drone 2 avoids obstacles or flies autonomously, the antenna 62 is installed through the wire seat structure 6, which can reduce the stress concentration between the bolts and the drone 2, improve the durability of the overall structure, and the square design is convenient for the installation and adjustment of the antenna, enabling the antenna to adapt to different installation requirements.

[0035] The above are only embodiments of the present utility model, and thus do not limit the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall similarly be included within the patent protection scope of the present utility model.

Claims

1. A sensor bracket kit suitable for unmanned aerial vehicle obstacle avoidance, characterized in that: include; An unmanned aerial vehicle (2), wherein a bracket (1) is symmetrically mounted on the bottom end of the unmanned aerial vehicle (2), and a first frame structure (4) and a second frame structure (5) are respectively mounted on two ends of the bottom surface of the unmanned aerial vehicle (2); A radar fixing frame (3), wherein the radar fixing frame (3) is installed on the top surface of the drone (2); A wire seat structure (6), the wire seat structure (6) comprising a square base (61), an antenna (62) and a groove (63), the square base (61) being installed inside the bottom end of a drone (2), the groove (63) being arranged at the center of the square base (61), the top end of the groove (63) being hexagonal, the bottom end of the groove (63) being circular, and the antenna (62) being installed at the center of the square base (61) through the groove (63).

2. The sensor bracket kit for unmanned aerial vehicle obstacle avoidance according to claim 1, characterized in that: The radar fixing frame (3) comprises a mounting plate (31), a supporting leg (32), a bottom supporting foot (33) and a plate leg (34); the bottom supporting foot (33) is fixed to the surface of the UAV (2) by means of bolts; the bottom ends of the supporting leg (32) and the plate leg (34) are fixedly connected to the bottom supporting foot (33); and the supporting leg (32) and the plate leg (34) are mounted on the side wall of the mounting plate (31).

3. The sensor bracket kit for unmanned aerial vehicle obstacle avoidance according to claim 2, characterized in that: The supporting heights of the supporting legs (32) and the plate legs (34) are equal, and the plate legs (34) are obliquely fixed to the side walls of the mounting plate (31), and the supporting legs (32) are vertically fixed to the side walls of the mounting plate (31).

4. The sensor bracket kit for unmanned aerial vehicle obstacle avoidance according to claim 1, characterized in that: The first frame structure (4) comprises a support plate (41), a fixing column (42), a reinforcing rib (43) and a first base (44); the first base (44) is mounted on the bottom surface of the drone (2) by means of bolts; the fixing column (42) is fixed to the bottom end of the first base (44); and the upper and lower ends of the reinforcing rib (43) with an arc-shaped side wall are respectively fixedly connected to the support plate (41) and the first base (44).

5. The sensor bracket kit for unmanned aerial vehicle obstacle avoidance according to claim 4, characterized in that: The bottom end of the fixing column (42) is hemispherical, and the length of the fixing column (42) is smaller than the height of the reinforcing rib (43).

6. The sensor bracket kit for unmanned aerial vehicle obstacle avoidance according to claim 4, characterized in that: The second frame structure (5) comprises a mounting plate (51), a reinforcing support rod (52) and a second base (53); the mounting plate (51) is fixed to the bottom surface of the drone by bolts; two ends of a plurality of reinforcing support rods (52) are respectively and obliquely fixedly connected to the mounting plate (51) and the second base (53).

7. The sensor bracket kit for unmanned aerial vehicle obstacle avoidance according to claim 6, characterized in that: The top surfaces of the second base (53) and the first base (44) are located on the same plane, and the first base (44) and the second base (53) are in conflict with each other.

Images