INS unmanned aerial vehicle positioning device
By designing an INS drone positioning device, which combines a rotary drive unit and a lifting slide, the problem of drone shaking and deviation under GPS interference was solved, enabling multi-angle adjustment and stable flight, and high-precision navigation that can adapt to complex environments.
Patent Information
- Application Number
- CN202520420357.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2026-01-16
- Estimated Expiration
- 2035-03-11
AI Technical Summary
Traditional drones are prone to shaking or deviating from their flight path when GPS interference occurs, making it difficult to achieve high-precision navigation and stable flight in complex environments, especially when they need to carry cameras or other equipment.
An INS drone positioning device was designed, comprising multiple rotary drive units and a lifting slide. The combination of rotary drive units enables multi-angle adjustment of cameras or other devices, enhancing adaptability and stability.
This technology enables multi-angle adjustment and improved stability of UAV equipment, enhancing its adaptability and meeting the high-precision navigation requirements in complex environments.
Smart Images
Figure CN223803818U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to positioning unmanned plane technical field, especially in a kind of INS unmanned plane positioning device. BACKGROUND
[0002] The traditional concept's inspection flying robot all uses GPS to navigate, however when GPS is interfered, flying robot will occur jitter or deviate from original flight route, seriously when flying robot loses control, so, the workload of each execution outdoor operation is very big, when flying environment is more complex, rely on single GPS to navigate, its stability is difficult to achieve the requirement of aerial inspection
[0003] In recent years, unmanned aerial vehicle, referred to as unmanned plane as very flexible platform, increasingly become the faithful assistant of human to complete various different tasks, has received more and more attention.Unmanned plane value lies in forming aerial platform, its carrying beidou / GPS navigation system and inertial navigation system (INS) and combine other components expansion application, replace human to complete aerial operation, can realize high-precision positioning navigation.And with the gradual maturity of unmanned plane research and development technology, manufacturing cost is greatly reduced, unmanned plane has been widely applied in various fields, in addition to military purposes, including agricultural plant protection, power inspection, police law enforcement, geological exploration, environmental monitoring, forest fire prevention and video aerial photography and other civil fields, and its applicable field is also rapidly expanding.
[0004] Particularly, in the practical application occasion of unmanned plane, camera or other equipment is carried on the unmanned plane body in most cases, and the traditional unmanned plane cannot meet this requirement, therefore, it is necessary to design a kind of can satisfy the above requirement. Utility model content
[0005] The utility model is directed to the deficiency of prior art, provide a kind of INS unmanned plane positioning device, the INS unmanned plane positioning device can well solve the above problems.
[0006] To achieve the above requirements, the technical scheme adopted by the utility model to solve its technical problems is:
[0007] The utility model provides an INS unmanned plane positioning device, including unmanned plane body, and the frame and the suspension platform of being located unmanned plane body lower extreme, the frame is equipped with two and left and right side by side, the suspension platform is located between two frame, the suspension platform includes the first rotary drive unit of horizontal rotation setting in the bottom of unmanned plane body, the cantilever of being located the movable terminal of first rotary drive unit, the second rotary drive unit of longitudinal rotation setting in the lower extreme of cantile ring, and the mounting seat of being located the movable terminal of second rotary drive unit, and the third rotary drive unit of longitudinal rotation setting in the mounting seat, the movable terminal of third rotary drive unit is equipped with lifting slide platform, the mounting seat includes the mounting body of fixed connection with the movable terminal of second rotary drive unit, and the mounting support arm of fixing third rotary drive unit on the mounting body, and the positioning assembly of positioning lifting slide platform.
[0008] The utility model discloses an INS unmanned plane positioning device, wherein the first rotary drive unit and the second rotary drive unit and third rotary drive unit are all motors.
[0009] The utility model discloses an INS unmanned plane positioning device, wherein the cantilever is Z-shaped and its two transverse ends are in vertical state, the upper end and the lower end of the cantilever are coaxially fixedly connected with the rotation shafts of the first rotary drive unit and the second rotary drive unit respectively, and the rotation shaft of the third rotary drive unit is perpendicular to the rotation shaft of the second rotary drive unit.
[0010] The utility model discloses an INS unmanned plane positioning device, wherein the lifting slide platform includes vertically arranged slide rails and a slide platform arranged on the slide rails, and the slide platform is fixed on the slide rails by fastening bolts.
[0011] The utility model discloses an INS unmanned plane positioning device, wherein the mounting support arm is arranged along the horizontal front-back direction, the mounting support arm is provided with two left and right opposite mounting support arms, the front ends of the two mounting support arms are provided with bending parts bent away from each other, the space between the two bending parts forms a mounting position, and the third rotary drive unit and the positioning assembly are arranged on the mounting position.
[0012] The utility model discloses a INS unmanned plane positioning device, wherein, the positioning subassembly includes the U -shaped frame, and the auxiliary rotating shaft is fixed on the left side support arm of the U -shaped frame along the left and right direction, and the positioning frame is located between the two arms of the U -shaped frame along the front and back direction, the lifting slide is located on the outer side wall of the two arms junction of the U -shaped frame, the end of the auxiliary rotating shaft is away from the U -shaped frame and with its adjacent the longitudinal rotation connection of the bending part, the right side support arm of the U -shaped frame is fixed with the rotating shaft of the third rotary drive unit, the positioning frame is fixed with the mounting body, the auxiliary rotating shaft is through the left side support arm of the U -shaped frame, the positioning subassembly still includes the abutting drive unit that the positioning frame is to the end of the auxiliary rotating shaft left abutting.
[0013] The utility model discloses a INS unmanned plane positioning device, wherein, the abutting drive unit includes the positioning motor that is located fixed on the positioning frame along the front and back direction, and the cam is located between the positioning frame and the right side arm of the U -shaped frame, the side wall of the cam is radially opposite and is provided with two protruding portions, and when abutting in place, one protruding portion abuts on the right side arm of the U -shaped frame, and another protruding portion abuts the positioning frame on the auxiliary rotating shaft.
[0014] The utility model discloses a beneficial effect lies in: through the cooperation of the first rotary drive unit and the second rotary drive unit and the third rotary drive unit and the lifting slide, realize the purpose that can install the camera or other equipment on the unmanned plane body, still can realize the equipment on the lifting slide of the cantilever lower end to carry out multi -angle adjustment, increase the angle demand selection of user in the process of shooting and operation, greatly promote the adaptability. BRIEF DESCRIPTION OF DRAWINGS
[0015] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, below will combine with the drawings and the embodiment to this utility model make further explanation, the drawing in the following description is only part of the embodiment of the utility model, for the ordinary skilled person in the art comes, under the premise of not paying the creative labor, can also obtain other drawings according to these drawings:
[0016] Figure 1 It is the overall side view of the utility model.
[0017] Figure 2 It is Figure 1 Another view of.
[0018] Figure 3 It is the cantilever loading platform side view of the utility model.
[0019] Figure 4 It is Figure 3 The partial structure plan view in. DETAILED DESCRIPTION
[0020] The terms "first", "second", "third", and "fourth" and the like in the description and in the claims of the present application and the accompanying drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. The terms "comprises", "comprising", "includes", "including" and the like are to be construed open-ended, allowing for instances where there are equivalents to processes, methods, systems, products, or devices that do not literally include the recited steps or elements, but are otherwise equivalent in function, result, or operation. The terms "about" and "substantially" are used to describe a situation that is not perfect, but is close to being perfect.
[0021] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all directed to the same embodiment, or to a single alternative embodiment. It is explicitly contemplated that embodiments described herein can be combined with each other.
[0022] "Multiple" means two or more. "And / or", describing the relationship between the associated objects, means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after are a "or" relationship.
[0023] Furthermore, the terms "upper", "lower", "left", "right", "top", "bottom", "vertical", and the like, which indicate the orientation of the device or equipment described in the present application, are based on the attitude position of the device or equipment in normal use.
[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.
[0025] The INS unmanned aerial vehicle positioning device of the preferred embodiment of the present application, such as Figures 1-4As shown, the device comprises a UAV body 10, which is specifically composed of a body shell 101, a control mainboard arranged inside the body shell 101, a body arm 102 arranged on the side wall of the body shell 101, and a propeller 103 arranged at the end of the body arm 102; wherein, the control mainboard is generally integrated by a Beidou / GPS module and an INS module to ensure the accuracy requirement of positioning and navigation. The communication and installation between these modules belong to the conventional technology in the industry, and will not be described herein.
[0026] Further, the device further comprises a rack 20 and a suspension platform 30 arranged at the lower end of the UAV body 10. Specifically, the rack 20 and the suspension platform 30 are arranged at the bottom of the body shell 101; the rack 20 is provided with two racks arranged side by side, and the suspension platform 30 is located between the two racks 20; the suspension platform 30 comprises a first rotary drive unit 31 horizontally arranged at the bottom of the UAV body 10, a cantilever 32 arranged on the movable terminal of the first rotary drive unit 31, a second rotary drive unit 33 longitudinally arranged at the lower end of the cantilever 32, a mounting seat 34 arranged on the movable terminal of the second rotary drive unit 33, and a third rotary drive unit 35 longitudinally arranged on the mounting seat 34; the movable terminal of the third rotary drive unit 35 is provided with a lifting sliding table 40, and the movable terminal of the lifting sliding table 40 is provided with a mounting plate 50 for facilitating the installation of external equipment 200; wherein, the mounting seat 34 comprises a mounting body 341 fixedly connected with the movable terminal of the second rotary drive unit 33, a mounting arm 342 for fixing the third rotary drive unit 35 on the mounting seat 34, and a positioning assembly 343 for positioning the lifting sliding table 40, so as to position the lifting sliding table 40 after angle adjustment, to share the load torque received by the rotating shaft of the third rotary drive unit 35, to ensure the overall stability of the device, and to realize the purpose of adding a camera or other equipment on the UAV body 10, while realizing the multi-angle adjustment of the equipment on the lifting sliding table 40 at the lower end of the cantilever 32, increasing the angle requirement selection of the user in the process of shooting and operation, and greatly improving the adaptability.
[0027] In the embodiment, the first rotating driving unit 31, the second rotating driving unit 33 and the third rotating driving unit 35 are all motors, wherein the rotating shaft of the first rotating driving unit 31 is upward and the upper end of the rotating shaft is provided with a vertical fixing disc 60 which is fixed on the bottom of the machine body shell 101 by bolts, and the shell of the first rotating driving unit 31 is coaxially fixed and installed with the upper end of the cantilever 32; wherein the rotating shaft of the second rotating driving unit 33 is vertically connected with the lower end of the cantilever 32 and is arranged along the front and back directions, and the shell is fixedly connected with the mounting seat 34; further, the cantilever is Z-shaped and the two transverse ends are both in vertical state, and when assembled in place, the lifting slide 40 is located directly below the unmanned aerial vehicle body; wherein the upper end and the lower end of the cantilever are coaxially fixedly connected with the rotating shafts of the first rotating driving unit 31 and the second rotating driving unit 33 respectively, and the rotating shaft of the third rotating driving unit 35 is perpendicular to the rotating shaft of the second rotating driving unit 33, so as to realize multi-angle adjustment in horizontal direction 360 degrees, left and right longitudinal direction and front and back longitudinal direction, and provide more shooting and operation directions for users.
[0028] In the embodiment, the lifting slide 40 includes a slide rail 41 arranged vertically, and a carrier 42 slidably arranged on the slide rail 41; the carrier 42 is fixed on the slide rail 41 by fastening bolts, and the mounting plate 50 is fixed on the carrier to facilitate the adjustment of the up and down positions of the mounting plate 50.
[0029] In the embodiment, the mounting arms 342 are arranged along the horizontal front and back directions, and two mounting arms 342 are arranged opposite to each other, the front ends of the two mounting arms 342 are provided with bending parts 4a which are bent away from each other, the space between the two bending parts 4a forms a mounting position 4b, and the third rotating driving unit 35 and the positioning assembly 343 are arranged on the mounting position 4b; wherein the positioning assembly 343 includes a U-shaped frame 34a, the opening of the U-shaped frame 34a faces the mounting body 341, and the two arms of the U-shaped frame 34a are opposite to each other; the positioning assembly 343 further includes an auxiliary rotating shaft 34b fixed on the left side arm of the U-shaped frame 34a along the left and right directions, and a positioning frame 34c arranged between the two arms of the U-shaped frame 34a along the front and back directions, wherein the slide rail of the lifting slide 40 is fixedly arranged on the outer side wall at the connection position of the two arms of the U-shaped frame 34a; the positioning frame 34c is a metal plate structure with a certain deformation amount and is arranged vertically; wherein one end of the auxiliary rotating shaft 34b away from the U-shaped frame 34a is longitudinally rotationally connected with the bending part 4a adjacent thereto, and the right side arm of the U-shaped frame 34a is fixedly connected with the rotating shaft of the third rotating driving unit 35, and the shell of the third rotating driving unit 35 is fixed with the right mounting arm 342; the positioning frame 34c is fixedly connected with the mounting body 341, and the auxiliary rotating shaft 34b penetrates through the left side arm of the U-shaped frame 34a.
[0030] Further, the positioning assembly 343 further comprises a clamping driving unit 34d clamping the positioning frame 34c to the end of the auxiliary rotating shaft 34b, when clamped, the positioning frame 34c clamps the auxiliary rotating shaft 34b, and then the U-shaped frame 34a is positioned and fixed relative to the positioning frame 34c, so as to avoid the accidental rotation of the U-shaped lifting slide 40, and in order to further ensure the stability of the clamping, the anti-skid rubber pads 70 are arranged on the end of the auxiliary rotating shaft 34b and the left and right side walls of the positioning frame 34c, so as to increase the friction when clamped.
[0031] In the embodiment, the clamping driving unit 34d comprises a positioning motor d1 fixed on the positioning frame 34c in the front-rear direction, and a cam d2 between the positioning frame 34c and the right side arm of the U-shaped frame 34a; the side wall of the cam d2 is provided with two protruding portions d21 radially opposite to each other, when clamped in place, one protruding portion d21 clamps the right side arm of the U-shaped frame 34a, and the other protruding portion d21 clamps the positioning frame 34c to the auxiliary rotating shaft 34b, and then the positioning of the U-shaped frame 34a is realized by the supporting force provided by the positioning frame 34c, and then the lifting slide 40 and the mounting plate 50 after the angle adjustment are positionally maintained, so as to avoid the damage of the third rotating driving unit 35 caused by the accidental downward swing due to vibration, and when the angle needs to be adjusted again, the cam d2 can be reset so that the two protruding portions d21 are in a vertical state, and then separated from the right side arm of the U-shaped frame 34a and the positioning frame 34c, at this time, the third rotating driving unit 35 can realize the angle adjustment of the lifting slide 40.
[0032] It should be understood that those skilled in the art can make improvements or changes according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the utility model.
Claims
1. An INS drone positioning device, characterized by, The unmanned aerial vehicle body, the frame and the suspension platform are arranged at the lower end of the unmanned aerial vehicle body; the frame is provided with two frames arranged side by side, and the suspension platform is arranged between the two frames; the suspension platform comprises a first rotary drive unit arranged horizontally at the bottom of the unmanned aerial vehicle body, a cantilever arranged on the movable end of the first rotary drive unit, a second rotary drive unit arranged longitudinally at the lower end of the cantilever, a mounting seat arranged on the movable end of the second rotary drive unit, and a third rotary drive unit arranged longitudinally on the mounting seat; a lifting slide is arranged on the movable end of the third rotary drive unit; the mounting seat comprises a mounting body fixedly connected with the movable end of the second rotary drive unit, a mounting arm for fixing the third rotary drive unit on the mounting body, and a positioning assembly for positioning the lifting slide.
2. The INS drone positioning apparatus of claim 1, wherein, The first rotary drive unit, the second rotary drive unit and the third rotary drive unit are all motors.
3. The INS drone positioning apparatus of claim 2, wherein, The cantilever is in a Z shape, and the two transverse ends of the cantilever are in a vertical state; the upper end and the lower end of the cantilever are coaxially fixedly connected with the rotation shafts of the first rotary drive unit and the second rotary drive unit, respectively; and the rotation shaft of the third rotary drive unit is perpendicular to the rotation shaft of the second rotary drive unit.
4. The INS drone positioning apparatus of claim 2, wherein, The lifting slide comprises a slide rail arranged vertically, and a loading platform arranged slidingly on the slide rail; the loading platform is fixed on the slide rail by fastening bolts.
5. The INS drone positioning apparatus of claim 4, wherein, The mounting arm is arranged in a horizontal front-rear direction; the mounting arm is provided with two arms arranged opposite to each other; the front ends of the two arms are provided with bending portions bent away from each other; a mounting position is formed between the two bending portions; the third rotary drive unit and the positioning assembly are arranged on the mounting position.
6. The INS drone positioning apparatus of claim 5, wherein, The positioning assembly comprises a U-shaped frame, an auxiliary rotation shaft fixedly arranged on the left arm of the U-shaped frame in a left-right direction, and a positioning frame arranged between the two arms of the U-shaped frame in a front-rear direction; the lifting slide is arranged on the outer side wall at the connection between the two arms of the U-shaped frame; the end of the auxiliary rotation shaft away from the U-shaped frame is longitudinally rotatably connected with the bending portion adjacent to the end; the right arm of the U-shaped frame is fixedly connected with the rotation shaft of the third rotary drive unit; the positioning frame is fixedly connected with the mounting body; the auxiliary rotation shaft penetrates through the left arm of the U-shaped frame; the positioning assembly further comprises a pressing drive unit for pressing the positioning frame against the end of the auxiliary rotation shaft.
7. The INS drone positioning apparatus of claim 6, wherein, The pressing drive unit comprises a positioning motor fixedly arranged on the positioning frame in a front-rear direction, and a cam arranged between the positioning frame and the right arm of the U-shaped frame; two protruding portions are arranged radially opposite on the side wall of the cam; when the pressing is in place, one of the protruding portions is pressed against the right arm of the U-shaped frame, and the other protruding portion presses the positioning frame against the auxiliary rotation shaft.