Intelligent self-adaptive adjusting type unmanned aerial vehicle

Abstract

The intelligent self-adaptive adjusting type unmanned aerial vehicle comprises an unmanned aerial vehicle body, mounting cylinder grooves are formed in the two sides of a vehicle body in the unmanned aerial vehicle body, stretching and retracting mechanisms are fixedly mounted in the mounting cylinder grooves, rotating columns are fixedly mounted at the four corners of the unmanned aerial vehicle body, and connecting arms are rotationally mounted on the outer surfaces of the rotating columns; propellers are rotationally installed on the upper surfaces of the connecting arms, and the push-pull end of the stretching and retracting mechanism is rotationally installed between the two sets of connecting arms. Through the design of the stretching and retracting mechanism, the flight characteristics of the unmanned aerial vehicle body can be changed in the flight process by dynamically adjusting the stretching or retracting of the connecting arms, for example, the direction and speed of the unmanned aerial vehicle body can be changed more quickly and obstacle avoidance can be realized by retracting the connecting arms, and the stability can be improved by opening the connecting arms; and the method is suitable for fine control.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field, concretely is a kind of intelligent self-adapting adjustment type unmanned plane. BACKGROUND

[0002] Unmanned aircraft is called "unmanned plane" for short, and its English abbreviation is "UAV". It is a kind of aircraft without people on board, which is controlled by wireless remote control equipment and self-provided program control device, or is completely or intermittently operated by vehicle-mounted computer. In the civil field, the application of unmanned plane + industry is the real demand for unmanned plane. At present, the application of unmanned plane in the fields of aerial photography, agriculture, plant protection, micro-selfie, express delivery, disaster rescue, observation of wild animals, monitoring of infectious diseases, surveying and mapping, news reporting, power patrol, disaster relief, film shooting and manufacturing romance greatly expands the use of unmanned plane itself. Developed countries are also actively expanding the industry application and developing unmanned plane technology.

[0003] The patent with the state authorization patent announcement No. CN207482207U discloses a new intelligent unmanned plane, which comprises an unmanned plane body and a remote control handle. A storage battery is installed at the top of the middle part of the unmanned plane body. The storage battery is embedded in the unmanned plane body. The new intelligent unmanned plane adopts an innovative design scheme. Through the cooperation of the camera, the fixing column, the fixing coil and the signal amplifier, the problem of unreasonable design of the original unmanned plane is solved. Since one main camera is installed before and after the camera on the new intelligent unmanned plane, and one auxiliary camera is installed on the left and right sides of the camera, the problem of limitation of the shooting angle of the original unmanned plane is effectively solved. In addition, the unmanned plane is also provided with a fixing column, a fixing coil and a signal amplifier. The design of the fixing column and the fixing coil improves the firmness between the unmanned plane and the camera. The signal amplifier improves the ability of the unmanned plane to receive control signals in high altitude, so that the unmanned plane can be more widely applied in the market.

[0004] However, the new intelligent unmanned plane described above cannot retract the connecting arm according to the path during flight in a narrow path, and thus the volume of the unmanned plane will be too large, which may cause collision with surrounding obstacles (such as walls, branches, power lines, etc.), and the flight flexibility of the unmanned plane will be reduced. UTILITY MODEL CONTENT

[0005] The utility model aims at providing an intelligent self-adapting adjustment type unmanned plane to solve the problem that the connecting arm cannot be retracted according to the path during flight in a narrow path, so that it can pass through in a compact space or a complex environment, such as a forest, a building gap, etc.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] The utility model provides an intelligent self -adaptation adjustment type unmanned plane, including: unmanned plane body, the body both sides in unmanned plane body are equipped with the installation cylinder groove, fixed mounting has in the installation cylinder groove and draws the spread and leans the mechanism, four corners of unmanned plane body are fixedly installed with rotating column, rotating column outer surface rotatory mounting has the connecting arm, the connecting arm upper surface rotatory mounting has the propeller, the push -pull end of draw the spread and lean the mechanism rotatory mounting between two groups of connecting arms.

[0008] Preferably, the lower surface of the unmanned aerial vehicle body is fixedly installed with a camera, which can provide visual navigation for the draw-spread and shrink mechanism, so that it can automatically retract the connecting arm through the draw-spread and shrink mechanism when passing through the gap between buildings to pass through narrow areas.

[0009] Preferably, the camera can transmit the captured visual data to the controller (FC) in the unmanned aerial vehicle body through a high-speed transmission interface (such as MIPI, CSI, HDMI, or USB).

[0010] Preferably, the controller of the unmanned aerial vehicle body integrates a video image processing unit, which can process the received video image in real time, identify important information such as path boundary, obstacle position, target object, etc., and based on the visual processing result, the controller uses a preset algorithm (such as path planning algorithm, obstacle avoidance algorithm, target tracking algorithm, etc.) to generate the next action instruction, so that the controller generates specific control signals, which are transmitted to the draw-spread and shrink mechanism through an internal bus (such as I2C, SPI, CAN, etc.), and the draw-spread and shrink mechanism executes the shrink or expansion action after receiving the instruction from the controller.

[0011] Preferably, the draw-spread and shrink mechanism includes an electric push rod, which is fixedly installed in the installation cylinder groove, and the piston rod of the electric push rod is fixedly installed with a connecting plate at one end, and the connecting plate is rotatory mounted with a traction rod at both ends, and the other end of the traction rod is rotatory mounted at the outer surface of the docking column, and the docking column is fixedly installed in the connecting arm.

[0012] Preferably, the electric push rod is controlled by the controller in the unmanned aerial vehicle body.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] 1. Through the design of the unmanned aerial vehicle body, the connecting arm, the camera and the retractable mechanism, when the unmanned aerial vehicle body flies in a compact space or a complex environment, the camera at the lower end of the unmanned aerial vehicle body can capture real-time video of the front or surrounding environment, and these data include key information such as path, obstacles, terrain, etc., which are the basis for the unmanned aerial vehicle body to make flight decisions, and the visual data captured by the camera are transmitted to the controller of the unmanned aerial vehicle body through a high-speed transmission interface. During the transmission process, the video stream will be encoded into a compressed format (such as H.264) to reduce the transmission bandwidth, and the controller of the unmanned aerial vehicle body integrates an image processing unit or a dedicated vision processing chip, which can process the received video images in real time and identify important information such as path boundaries, obstacle positions, target objects, etc. Based on the vision processing results, the controller uses preset algorithms (such as path planning algorithms, obstacle avoidance algorithms, target tracking algorithms, etc.) to generate next-step action instructions, which determine the specific operations that the unmanned aerial vehicle body 1 needs to perform during flight. According to the processed visual information, the controller generates specific control signals, including adjusting the flight attitude (such as pitch angle, roll angle, yaw angle), speed, and retracting or extending the connecting arm, etc. The control signals are transmitted to the retractable mechanism through an internal bus (such as I2C, SPI, CAN, etc.), and the retractable mechanism executes the retracting or extending action after receiving the instructions from the controller. The retractable mechanism will pull the two groups of connecting arms on both sides of the unmanned aerial vehicle body to perform retracting or extending operations synchronously during the retracting or extending process, so that the entire system adopts closed-loop control, that is, the controller generates action instructions based on the vision processing results, and the current state of the unmanned aerial vehicle body (such as the state of the connecting arm, the flight attitude, etc.) is transmitted to the remote control end in real time. The operator can view the flight state of the unmanned aerial vehicle body through the ground station or handheld device and intervene if necessary. In most cases, the unmanned aerial vehicle body will automatically adjust the connecting arm according to the visual information and preset algorithms, and the operator does not need to intervene. This automation greatly improves the safety and efficiency of flight, and improves the stability of flight in complex environments or special tasks. Especially in high-precision shooting or heavy-load tasks, it can automatically fly in a compact space or complex environment, such as forests, building gaps, etc. Retracting the connecting arm can make the unmanned aerial vehicle body smaller and more agile, which helps to enhance flexibility and obstacle avoidance ability. On the contrary, when flying in an open space, extending the connecting arm can increase stability and control force, making the flight more stable. By dynamically adjusting the extension of the connecting arm, the unmanned aerial vehicle body can change its flight characteristics during flight, for example, retracting the connecting arm can make the unmanned aerial vehicle body change direction and speed faster, while extending the connecting arm can increase stability and be suitable for fine control.

[0015] 2、Through the design of electric push rod, traction rod and butt joint column, when the main control unmanned aerial vehicle body in the unmanned aerial vehicle body needs to control the connection arm to shrink, the main control unmanned aerial vehicle body will send a control signal to the electric push rod, and the electric push rod will pull the connecting plate at one end of the piston rod, and the connecting plate will pull the two groups of traction rods, so that the traction rods can pull the butt joint column in the connection arm, and the two groups of connection arms are pulled to the center, so as to reduce the size of the unmanned aerial vehicle body, if the connection arm needs to be expanded, the connecting plate can be pushed, and the connecting plate can drive the traction rod to push the two groups of connection arms to the sides, and when not in use, the connection arm of the unmanned aerial vehicle body can be shrunk to the smallest, so as to improve the portability. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic view of the overall top view structure of the utility model;

[0017] Figure 2 It is a schematic view of the overall bottom view structure of the utility model;

[0018] Figure 3 It is a schematic view of the connection arm shrinkage structure of the utility model;

[0019] Figure 4 It is a schematic view of the expansion and contraction mechanism of the utility model.

[0020] In the figure: 1, unmanned aerial vehicle body; 101, connection arm; 102, body; 103, camera; 104, mounting cylinder groove; 105, rotating column; 2, expansion and contraction mechanism; 201, electric push rod; 202, connecting plate; 203, traction rod; 204, butt joint column. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0022] Please refer to Figures 1-4 The embodiment provides the following technical solutions:

[0023] For example Figures 1-3As shown, an intelligent self-adaptive adjusting unmanned aerial vehicle includes: an unmanned aerial vehicle body 1, a body 102 inside the unmanned aerial vehicle body 1, both sides of which are provided with mounting cylinder grooves 104, a pull-expansion-retraction mechanism 2 is fixedly installed in the mounting cylinder grooves 104, rotating columns 105 are fixedly installed at four corners of the unmanned aerial vehicle body 1, connecting arms 101 are rotatably installed on outer surfaces of the rotating columns 105, propellers are rotatably installed on upper surfaces of the connecting arms 101, and a push-pull end of the pull-expansion-retraction mechanism 2 is rotatably installed between the two groups of connecting arms 101.

[0024] A camera 103 is fixedly installed on a lower surface of the unmanned aerial vehicle body 1, and the camera 103 can provide visual navigation for the pull-expansion-retraction mechanism 2, so that the connecting arms 101 can be automatically retracted by the pull-expansion-retraction mechanism 2 to pass through narrow areas when passing through building gaps.

[0025] The camera 103 can transmit captured visual data to a controller (Flight Controller, FC for short) in the unmanned aerial vehicle body 1 through a high-speed transmission interface (such as MIPI, CSI, HDMI, or USB).

[0026] A video image processing unit is integrated in the controller of the unmanned aerial vehicle body 1, which can perform real-time processing on received video images, identify important information such as path boundaries, obstacle positions, target objects, and the like, and based on the visual processing result, the controller uses preset algorithms such as path planning algorithms, obstacle avoidance algorithms, target tracking algorithms, and the like to generate next-step action instructions, so that the controller generates specific control signals, the control signals are transmitted to the pull-expansion-retraction mechanism 2 through an internal bus (such as I2C, SPI, CAN, and the like), and the pull-expansion-retraction mechanism 2 performs a contraction or expansion action after receiving the instructions from the controller.

[0027] Through the design of the UAV body 1, the connecting arm 101, the camera 103 and the stretching and retracting mechanism 2, when the UAV body 1 flies in a compact space or a complex environment, the camera 103 at the lower end of the UAV body 1 can capture real-time video of the front or surrounding environment, and these data include key information such as path, obstacle, terrain, etc., which is the basis for the UAV body 1 to make flight decisions, and the visual data captured by the camera 103 will be transmitted to the controller of the UAV body 1 through a high-speed transmission interface. During the transmission process, the video stream will be encoded into a compressed format (such as H.264) to reduce the transmission bandwidth, and the controller of the UAV body 1 integrates an image processing unit or a dedicated visual processing chip, which can process the received video images in real time and identify important information such as path boundaries, obstacle positions, target objects, etc. Based on the visual processing results, the controller uses preset algorithms (such as path planning algorithms, obstacle avoidance algorithms, target tracking algorithms, etc.) to generate the next action instructions, which determine the specific operations that the UAV body 1 needs to perform during flight. According to the processed visual information, the controller will generate specific control signals, including adjusting the flight attitude (such as pitch angle, roll angle, yaw angle), speed, and the stretching and retracting action of the connecting arm 101, etc. The control signals are transmitted to the stretching and retracting mechanism 2 through an internal bus (such as I2C, SPI, CAN, etc.), and after receiving the instructions from the controller, the stretching and retracting mechanism 2 will perform the contraction or expansion action. During the contraction or expansion process of the stretching and retracting mechanism 2, the two groups of connecting arms 101 on both sides of the UAV body 1 will be synchronously retracted and expanded, making the entire system adopt closed-loop control, that is, the controller generates action instructions based on visual processing results, and the current state of the UAV body 1 (such as the state of the connecting arm 101, the flight attitude, etc.) will be transmitted to the remote control end in real time. The operator can view the flight state of the UAV body 1 through the ground station or handheld device and intervene when necessary. In most cases, the UAV body 1 will automatically adjust the connecting arm 101 according to the visual information and preset algorithms, and the operator does not need to intervene. This automation greatly improves the safety and efficiency of flight, and improves the stability of flight in complex environments or special tasks. Especially in high-precision shooting or heavy-load tasks, it can automatically fly in a compact space or complex environment, such as a forest, a gap between buildings, etc. The retracted connecting arm 101 can make the UAV body 1 smaller and more compact, making it easier to pass through narrow areas, which helps to enhance flexibility and obstacle avoidance capability. On the contrary, when flying in an open space, the extended connecting arm 101 can increase stability and control force, making the flight more stable. By dynamically adjusting the extension of the connecting arm 101, the UAV body 1 can change its flight characteristics during flight, for example, retracting the connecting arm 101 can make the UAV body 1 change direction and speed faster, while extending the connecting arm 101 can increase stability and be suitable for fine control.

[0028] As Figure 4 shown, the pull-exhibition shrink mechanism 2 includes an electric push rod 201, the electric push rod 201 is fixedly installed in the installation cylinder groove 104, one end of the piston rod of the electric push rod 201 is fixedly installed with a connecting plate 202, both ends of the connecting plate 202 are rotatably installed with a traction rod 203, the other end of the traction rod 203 is rotatably installed at the outer surface of the butt joint column 204, the butt joint column 204 is fixedly installed in the connecting arm 101.

[0029] The electric push rod 201 is controlled by the controller in the unmanned aerial vehicle body 1, and the controller can be selected as a single-chip microcomputer with a model of STC89C51.

[0030] Through the design of the electric push rod 201, the traction rod 203 and the butt joint column 204, when the main control unmanned aerial vehicle body 1 in the unmanned aerial vehicle body 1 needs to control the connecting arm 101 to shrink, the main control unmanned aerial vehicle body 1 will send a control signal to the electric push rod 201, and the electric push rod 201 will pull the connecting plate 202 at one end of the piston rod, and the connecting plate 202 will pull the two groups of traction rods 203, so as to make the traction rod 203 pull the butt joint column 204 in the connecting arm 101, and then the traction rod 203 can pull the two groups of connecting arms 101 to the center to shrink, so as to reduce the size of the unmanned aerial vehicle body 1, if the connecting arm 101 needs to be expanded, the connecting plate 202 can be pushed, and the connecting plate 202 can drive the traction rod 203 to push the two groups of connecting arms 101 to the sides, and when not in use, the connecting arm 101 of the unmanned aerial vehicle body 1 can also be shrunk to the smallest, so as to achieve convenient carrying and storage, and improve the portability.

[0031] According to the above technical scheme, the working steps of the present scheme are summarized and combed: when the unmanned aerial vehicle body 1 flies in a compact space or a complex environment, the camera 103 at the lower end of the unmanned aerial vehicle body 1 will capture real-time videos of the front or surrounding environment, and these data include key information such as path, obstacle, terrain, etc., which are the basis for the unmanned aerial vehicle body 1 to make flight decisions, and the visual data captured by the unmanned aerial vehicle body 1 are transmitted to the controller of the unmanned aerial vehicle body 1 through a high-speed transmission interface. In the transmission process, the video stream is encoded into a compressed format (such as H.264) to reduce the transmission bandwidth, and the controller of the unmanned aerial vehicle body 1 integrates an image processing unit or a dedicated visual processing chip, which processes the received video images in real time to identify important information such as path boundary, obstacle position, target object, etc. Based on the visual processing result, the controller uses a preset algorithm (such as path planning algorithm, obstacle avoidance algorithm, target tracking algorithm, etc.) to generate the next action instruction, which determines the specific operation that the unmanned aerial vehicle body 1 needs to perform in flight. According to the processed visual information, the controller generates specific control signals, including adjusting the flight attitude (such as pitch angle, roll angle, yaw angle), speed, and the pull-out action of the connecting arm 101, etc. The control signals are transmitted to the electric push rod 201 through an internal bus (such as I2C, SPI, CAN, etc.), and the electric push rod 201 receives the instructions from the controller and executes the push or pull of the connecting plate 202 at one end of the piston rod. The connecting plate 202 will pull or pull the two groups of traction rods 203, and then the traction rods 203 will pull or pull the two groups of connecting arms 101 to the center or expand the action of the connecting arms 101, so that the whole system adopts closed-loop control, that is, the controller generates action instructions according to the visual processing result, and the current state of the unmanned aerial vehicle body 1 (such as the state of the connecting arm 101, the flight attitude, etc.) will be transmitted to the remote control end in real time. The operator can check the flight state of the unmanned aerial vehicle body 1 through the ground station or handheld device, and intervene when necessary, so that it can automatically fly in a compact space or a complex environment, such as a forest, a gap between buildings, etc. The retractable connecting arm 101 can make the unmanned aerial vehicle body 1 smaller and more easily pass through narrow areas, which helps to enhance flexibility and obstacle avoidance capability. On the contrary, when flying in an open space, the extended connecting arm 101 can increase stability and control force, making the flight more stable.

[0032] In summary: by dynamically adjusting the expansion or contraction of the connecting arm 101, the unmanned aerial vehicle body 1 can change its flight characteristics during flight, for example, retracting the connecting arm 101 can make the unmanned aerial vehicle body 1 change direction, speed and avoid obstacles faster, while extending the connecting arm 101 can increase stability and be suitable for fine control.

[0033] The parts not involved in the utility model are the same as the prior art or can be realized by using the prior art. Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. An intelligent self-adapting regulating unmanned aerial vehicle, characterized in that, Include: The unmanned aerial vehicle body (1), the body (102) inside the unmanned aerial vehicle body (1) is provided with installation cylinder groove (104) on both sides, the installation cylinder groove (104) is fixedly installed with pullout and expansion leaning and shrinking mechanism (2), the four corners of the unmanned aerial vehicle body (1) are fixedly installed with rotating column (105), the connecting arm (101) is rotatably installed on the outer surface of the rotating column (105), the propeller is rotatably installed on the upper surface of the connecting arm (101), the push-pull end of the pullout and expansion leaning and shrinking mechanism (2) is rotatably installed between the two groups of connecting arms (101).

2. The intelligent self-adapting adjusting unmanned aerial vehicle according to claim 1, wherein: The lower surface of the unmanned aerial vehicle body (1) is fixedly installed with camera (103), the camera (103) can provide visual navigation for the pullout and expansion leaning and shrinking mechanism (2), so that it can pass through the narrow area by automatically shrinking the connecting arm (101) through the pullout and expansion leaning and shrinking mechanism (2) when passing through the building gap.

3. The intelligent self-adjusting drone of claim 2, wherein: The camera (103) can transmit the captured visual data to the controller in the unmanned aerial vehicle body (1) through the high-speed transmission interface.

4. The intelligent self-adjusting drone of claim 3, wherein: The pullout and expansion leaning and shrinking mechanism (2) includes electric push rod (201), the electric push rod (201) is fixedly installed in the installation cylinder groove (104), one end of the piston rod of the electric push rod (201) is fixedly installed with connecting plate (202), the connecting plate (202) is rotatably installed with traction rod (203) on both ends, the other end of the traction rod (203) is rotatably installed at the outer surface of the butt joint column (204), the butt joint column (204) is fixedly installed in the connecting arm (101).

5. The intelligent self-adjusting drone of claim 4, wherein: The electric push rod (201) is controlled by the controller in the unmanned aerial vehicle body (1).

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