Miniature detection unmanned aerial vehicle

Abstract

The utility model relates to the field of unmanned aerial vehicles, and particularly discloses a miniature detection unmanned aerial vehicle which comprises a frame type frame body, the frame type frame body specifically comprises a bottom frame, a fixing frame and a top frame which are sequentially connected from bottom to top, the bottom frame is in a square frame shape, and a plurality of rotor wings are rotationally arranged in a square frame area defined by the bottom frame; a driving piece used for driving the rotor wings to rotate is mounted on the fixing frame, and a detection module, a flight control module, a data processing module and a power module are arranged on the frame type frame body. The multi-layer frame type structure is adopted to achieve integration of a plurality of modules, miniaturization and light weight of the unmanned aerial vehicle are achieved, and meanwhile the obstacle avoidance capacity and the detection precision of the unmanned aerial vehicle are guaranteed through the laser radar.

Description

Technical Field

[0001] The present application relates to the field of drones, and in particular to a micro-detection drone. Background Art

[0002] As an advanced unmanned aerial vehicle (UAV), detection drones have been widely used in military reconnaissance, environmental monitoring, disaster relief, and other fields. In some special scenarios, UAVs need to enter confined spaces for detection. Therefore, it is necessary to minimize the size of the UAV while maintaining its obstacle avoidance capabilities and detection accuracy. This allows miniaturized UAVs to enter confined spaces that large UAVs cannot reach and perform various complex detection missions. Utility Model Content

[0003] In order to achieve the miniaturization of drones, the present application provides a miniature detection drone.

[0004] The micro-detection drone provided in this application adopts the following technical solution:

[0005] A micro-detection UAV, comprising:

[0006] The frame-type frame body comprises a bottom frame, a fixed frame and a top frame connected in sequence from bottom to top, wherein the bottom frame is in a square frame shape;

[0007] A plurality of rotors are rotatably arranged in a square frame area surrounded by the base frame;

[0008] a driving member, mounted on the fixing frame, for driving the rotor to rotate;

[0009] A detection module, fixedly arranged on the bottom frame or the top frame, for performing detection;

[0010] A flight control module, fixedly mounted on the fixed frame, for controlling the flight speed and attitude of the UAV;

[0011] A data processing module, fixedly mounted on the top frame, for processing detection data;

[0012] The power supply module is fixedly arranged on the fixing frame and is used for supplying power.

[0013] This application adopts a multi-layer frame structure to achieve the integration of multiple modules, which is conducive to the miniaturization and lightweighting of the UAV; compared with the conventional UAV using cantilevered rotors, the rotors in this application are arranged in the square area surrounded by the chassis, which is conducive to reducing the size of the UAV and achieving miniaturization, thereby facilitating detection in a small space.

[0014] Furthermore, the detection module includes a laser radar and a camera.

[0015] LiDAR is used to provide three-dimensional point cloud data of the environment and to support autonomous path planning and obstacle avoidance of drones, thereby ensuring the drone's obstacle avoidance capability and detection accuracy; the camera is used to collect image information of the environment.

[0016] Furthermore, the laser radar is fixedly mounted on the top frame, and the laser radar is tilted toward the direction of travel of the UAV.

[0017] Tilted installation helps increase the detection angle of the lidar on the drone's route, thereby ensuring the drone's safety.

[0018] Furthermore, a radar base for mounting the laser radar is fixedly provided on the top frame. The radar base is made of aluminum and is provided with a plurality of weight-reducing grooves.

[0019] Conventional radar bases are made of one-piece casting and are heavy; this application uses aluminum for CNC processing, which is lighter; the setting of the weight-reducing groove can not only reduce the weight of the radar base, but also help to enhance the heat dissipation capacity.

[0020] Furthermore, the camera is fixedly mounted on the chassis, and faces the direction of travel of the UAV.

[0021] Furthermore, the camera is equipped with a built-in lighting device.

[0022] The camera collects images along the drone's route, and the lighting device can provide lighting in dark scenes to improve image clarity and recognition rate.

[0023] Furthermore, the bottom frame and the fixing frame, and the fixing frame and the top frame are connected by aluminum columns.

[0024] Aluminum columns are light in weight and have good strength to ensure the firmness and durability of the connection.

[0025] Furthermore, the bottom frame, the fixing frame and the top frame are all made of carbon fiber material.

[0026] Carbon fiber material has the characteristics of high strength and low density, which can significantly reduce the overall weight of the drone while ensuring sufficient rigidity and stability.

[0027] Furthermore, the top frame is provided with a plurality of mounting holes for fixing a variety of expansion modules.

[0028] The mounting holes can be used to install temperature sensors, humidity sensors, gas detectors or other auxiliary equipment to expand the functions and application scenarios of the drone.

[0029] Furthermore, the four corners of the base frame are provided with mounting openings for fixing the buffer bracket.

[0030] The buffer bracket has good shock absorption and cushioning performance, which increases the safety of the drone during takeoff and landing and avoids damage caused by hard landing.

[0031] In summary, this application includes at least one of the following beneficial technical effects:

[0032] 1. This application adopts a multi-layer frame structure to achieve the integration of multiple modules, which is conducive to the miniaturization and lightweighting of the UAV;

[0033] 2. Compared to conventional drones with cantilevered rotors, the rotors in this application are arranged within the frame-shaped area enclosed by the chassis, which helps reduce the size of the drone and achieve miniaturization, thereby facilitating detection in confined spaces.

[0034] 3. LiDAR supports autonomous path planning and obstacle avoidance for drones, thereby ensuring the drone's obstacle avoidance capability and detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0036] Figure 2 It is a schematic diagram of the explosion structure of an embodiment of the present application.

[0037] Figure numerals: 1, base frame; 2, fixing frame; 3, top frame; 31, upper crossbeam; 311, front beam; 312, rear beam; 313, mounting hole; 32, lower crossbeam; 4, aluminum column; 5, rotor; 6, motor; 7, radar base; 71, weight reduction groove; 8, lidar; 9, camera; 10, flight control module; 11, data processing module; 12, power module. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-2 This application is described in further detail.

[0039] The present application embodiment discloses a micro-detection drone. Figure 1 and Figure 2 The micro-detection UAV includes a frame-type frame, a rotor 5, a driving component, a detection module, a flight control module 10, a data processing module 11 and a power module 12.

[0040] Among them, reference Figure 1 and Figure 2The frame consists of a base frame 1, a fixed frame 2, and a top frame 3, connected in sequence from bottom to top. Both base frame 1 and fixed frame 2 are square-shaped. Each of these three frames is made from a single piece of 3mm thick 3K carbon fiber sheet. Carbon fiber's high strength and low density significantly reduce the drone's overall weight while ensuring sufficient rigidity and stability.

[0041] Reference Figure 1 and Figure 2 The four corners of the fixing frame 2 are connected to the four sides of the bottom frame 1 by aluminum columns 4. The top frame 3 is low in the front and high in the back. The front end of the top frame 3 is connected to the bottom frame 1 by aluminum columns 4, and the rear end of the top frame 3 is connected to the fixing frame 2 by aluminum columns 4. There are two top frames 3 symmetrically arranged, and the two top frames 3 are connected by aluminum columns 4. The aluminum columns 4 are light in weight and have good strength to ensure the firmness and durability of the connection. In other embodiments, the aluminum columns 4 can also be replaced by bolts and nuts made of stainless steel.

[0042] Reference Figure 2 Each top frame 3 includes an upper crossbeam 31 and a lower crossbeam 32. The upper crossbeam 31 comprises an inclined front beam 311 and a horizontal rear beam 312, while the lower crossbeam 32 is arranged horizontally. The horizontal rear beam 312 is provided with multiple mounting holes 313 for attaching various expansion modules, such as temperature sensors, humidity sensors, gas detectors, or other auxiliary equipment, to expand the drone's functionality and application scenarios and achieve more comprehensive environmental monitoring. The number and layout of mounting holes 313 can be adjusted according to actual needs to ensure convenient and flexible installation.

[0043] Furthermore, mounting openings are provided at the four corners of the chassis 1 for securing the buffer bracket. The buffer bracket can be made of rubber or silicone. The rubber buffer bracket can be secured to the four corners of the chassis 1 using an adhesive, while the silicone buffer bracket can be secured using a snap-fit ​​structure. The height of the buffer bracket can be adjusted according to actual needs. A height of 10-20mm is generally recommended to ensure sufficient cushioning distance when the drone touches the ground. The buffer bracket has excellent shock absorption and cushioning properties, increasing the safety of the drone during takeoff and landing, and avoiding damage caused by hard landings.

[0044] Reference Figure 1 and Figure 2 The four rotors 5 are rotatably arranged in the square frame area surrounded by the chassis 1. The rotors 5 can be three-blade, four-blade or five-blade rotors. The blades can be 2.5-inch carbon fiber blades with good aerodynamic performance and durability.

[0045] Reference Figure 1 and Figure 2The driving element is a motor 6. Four motors 6 are installed on the four sides of the bottom of the fixing frame 2 via screws. The output end of each motor 6 is connected to a rotor 5 to drive the corresponding rotor 5 to rotate. Motor 6 can be a 1404 brushless FTV motor, which has high speed and high torque, suitable for power output of small drones.

[0046] Reference Figure 1 and Figure 2 The detection module includes a laser radar 8 and a camera 9. The laser radar 8 is a 360° laser radar, which can adopt MID360 or 4DLiDAR L13D. It has the characteristics of high precision and high refresh rate, and can provide accurate three-dimensional point cloud data in complex environments to support autonomous path planning and obstacle avoidance of the UAV.

[0047] Specifically, refer to Figure 1 and Figure 2 A lidar base 7, for mounting a laser radar 8, is fixed to the inclined front beam 311 of the top frame 3. The base 7 is made of aluminum and is equipped with multiple weight-reducing grooves 71. Furthermore, the laser radar 8 is tilted toward the direction of the drone's travel. This tilted installation increases the laser radar 8's detection angle along the drone's path, thereby ensuring its safe travel.

[0048] Reference Figure 1 and Figure 2 Camera 9 faces the direction of the drone's travel and is secured to chassis 1 via clips. These clips can be 3D-printed from TPU, offering excellent flexibility and wear resistance, ensuring stable mounting. Camera 9 can be a high-definition camera, such as the Sony IMX477, which offers high resolution and low power consumption, making it suitable for capturing video in low-light environments. To provide illumination in dark scenes and enhance image clarity and recognition, camera 9 incorporates a built-in high-brightness LED.

[0049] Reference Figure 1 and Figure 2 Data processing module 11 is fixed to the lower crossbeam 32 of top frame 3. Data processing module 11 can be an embedded computer, such as RK3566, which has strong computing and graphics processing capabilities and can process large amounts of sensor data in real time. Data processing module 11 is connected to lidar 8 and camera 9 via cables, respectively, to process the data collected by lidar 8 and camera 9.

[0050] Reference Figure 1 and Figure 2The flight control module 10 is screwed to the center of the mounting bracket 2. The flight control module 10 can utilize a high-performance flight control chip, such as the Pixhawk series, which offers powerful computing capabilities and extensive interface resources. The flight control module 10 is electrically connected to the data processing module 11 and the motor 6. The data processing module 11 transmits processed data to the flight control module 10, which in turn sends control commands to the motor 6, enabling precise flight speed control and attitude adjustment.

[0051] The flight control module 10 also includes a controller and a wireless communication module connected to the controller, which allows remote control via a wireless control terminal. The wireless control terminal includes a remote control terminal and a data transmission terminal, supporting multiple communication protocols such as WiFi, Bluetooth, and LoRa to adapt to different application scenarios.

[0052] Reference Figure 1 and Figure 2 The power module 12 is located between the fixed frame 2 and the rear beam 312 of the top frame 3. It is fixed to the fixed frame 2 with a cable tie and connected to the flight control module 10 via the XT30 interface. The flight control module 10 provides power to the data processing module 11 and the motor 6. The power module 12 is also connected to the lidar 8 and the camera 9 for power supply.

[0053] The power module 12 can use a 14.8V 4S model aircraft battery, which has high energy density and discharge capacity, and can provide power for long-term flight of the drone. An anti-spark power module 12 can also be installed between the power module 12 and the flight control module 10 to prevent sparks during the plug-in and unplug process, thereby increasing the safety and reliability of the system.

[0054] This application adopts a multi-layer frame structure to achieve the integration of multiple modules. Compared with the conventional UAV using cantilevered rotors, the rotor 5 in this application is set in the square area surrounded by the chassis 1, which is conducive to reducing the size of the UAV and achieving miniaturization. The overall mass is controlled within 350g, and the wheelbase is only 90mm, which is convenient for detection in a small space.

[0055] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A miniature detection drone, characterized by: include: The frame-type frame body comprises a bottom frame, a fixed frame and a top frame connected in sequence from bottom to top, wherein the bottom frame is in a square frame shape; A plurality of rotors are rotatably arranged in a square frame area surrounded by the base frame; a driving member, mounted on the fixing frame, for driving the rotor to rotate; A detection module, fixedly arranged on the bottom frame or the top frame, for performing detection; A flight control module, fixedly mounted on the fixed frame, for controlling the flight speed and attitude of the UAV; A data processing module, fixedly mounted on the top frame, for processing detection data; The power supply module is fixedly arranged on the fixing frame and is used for supplying power.

2. The micro-detection drone according to claim 1, characterized in that: The detection module includes a laser radar and a camera.

3. The micro-detection drone according to claim 2, characterized in that: The laser radar is fixedly arranged on the top frame, and the laser radar is tilted toward the moving direction of the UAV.

4. The micro-detection drone according to claim 3, characterized in that: A radar base for mounting the laser radar is fixedly provided on the top frame. The radar base is made of aluminum and is provided with a plurality of weight-reducing grooves.

5. The micro-detection drone according to claim 2, characterized in that: The camera is fixedly arranged on the base frame, and the camera faces the moving direction of the UAV.

6. The micro-detection drone according to claim 5, characterized in that: The camera is equipped with a built-in lighting device.

7. The micro-detection drone according to claim 1, characterized in that: Aluminum columns are used to connect the bottom frame and the fixing frame, and the fixing frame and the top frame.

8. The micro-detection drone according to claim 1, characterized in that: The bottom frame, the fixing frame and the top frame are all made of carbon fiber material.

9. The micro-detection drone according to claim 1, characterized in that: The top frame is provided with a plurality of mounting holes for fixing a variety of expansion modules.

10. The micro-detection drone according to claim 1, characterized in that: The four corners of the base frame are provided with mounting openings for fixing the buffer bracket.

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