Intelligent distribution unmanned aerial vehicle based on visual positioning

Abstract

The utility model relates to the technical field of unmanned aerial vehicle distribution, in particular to an intelligent distribution unmanned aerial vehicle based on visual positioning. And the supporting leg mounting part is mounted in a preformed hole in the bottom of the machine body and used for supporting the whole machine body. The arrangement of the vertical mechanism and the shape of the 7-shaped mounting frame can provide a larger avoiding space, so that a bearing part is located under the unmanned aerial vehicle body, the flying attitude of the unmanned aerial vehicle is improved, the stability of the unmanned aerial vehicle is guaranteed, in addition, when the visual system rotates by 360 degrees in the horizontal direction, the rotating radius is smaller, and during specific rotation, the rotating speed is increased. The first forward and reverse rotation motor rotates, the 7-shaped installation frame can rotate, then the fixed frame part installed on the 7-shaped installation frame can rotate, and therefore 360-degree any-angle adjustment of the lower portion of the unmanned aerial vehicle is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane distribution technical field, concretely relates to an intelligent distribution unmanned plane based on visual positioning. BACKGROUND

[0002] The intelligent distribution unmanned plane based on visual positioning realizes the innovative application of efficient and intelligent logistics distribution by using computer vision technology and unmanned plane autonomous flight function.

[0003] The existing distribution unmanned plane distribution box adopts the mode of suspension, the visual system is located between the distribution box and the body, the reserved space is narrow, the operation flexibility is poor, especially when the unmanned plane turns too large, or dives and climbs, there is a visual blind area. UTILITARIAN CONTENT

[0004] In order to solve the above technical problems, the utility model provides an intelligent distribution unmanned plane based on visual positioning.

[0005] The technical scheme of the utility model is realized as follows:

[0006] The intelligent distribution unmanned plane based on visual positioning comprises:

[0007] A body;

[0008] A supporting leg mounting portion is mounted in a reserved hole at the bottom of the body and is used for supporting the whole body;

[0009] An installation mechanism is fixed at the bottom of the body, is used for fixing the whole visual system, and is provided with a positioning module and a feedback module at the left and right sides of the bottom of the installation mechanism.

[0010] A vertical mechanism is arranged at the center position of the bottom of the installation mechanism, can rotate by 360 degrees on the installation mechanism, and is provided with a control module and a swing motor in the vertical mechanism.

[0011] A fixed frame portion is fixedly connected to the movable end of the swing motor, is used for fixing the visual system, comprises a rear frame portion, is provided with a fixing assembly movably connected in the rear frame portion, and the visual system is fixed in the fixing assembly.

[0012] Specifically, the body comprises a rack, the bottom of the rack is provided with a mounting hole, the four supports of the rack are provided with servo motors, and the servo motors are provided with spiral blades.

[0013] Specifically, the top of the rack is provided with a placing space, which is shielded by the hatch.

[0014] The express placing cabin is located at the top of the machine body, which is more convenient for taking and placing, and the position of the visual installation position is isolated from the position of the delivery cabin, and they do not interfere with each other, which ensures the installation of the equipment and also ensures the flexibility of the use of the unmanned aerial vehicle, providing a wider space for the visual device.

[0015] Specifically, the mounting mechanism includes a fixed plate, which is wing-shaped, and the two wing parts of the fixed plate are provided with sliding grooves, which are fixed with the mounting holes through bolts.

[0016] The fixed plate is wing-shaped, which can provide more installation space, and in the later stage of upgrading, the fixed plate can also install or carry more expansion components. The bottom of the fixed plate is provided with an installation area fixed with the motor seat one, which is located at the center of the fixed plate.

[0017] Specifically, the vertical mechanism includes a 7-shaped mounting bracket, the inner wall top of the 7-shaped mounting bracket is provided with a motor seat one, the motor seat one is fixedly connected with the fixed plate, and the 7-shaped mounting bracket is fixedly connected with a forward and reverse motor one through a baffle.

[0018] The setting of the vertical mechanism and the shape of the 7-shaped mounting bracket can provide more avoiding space, so that the bearing part is located directly below the machine body, which helps to improve the flight attitude of the unmanned aerial vehicle and ensure the stability of the unmanned aerial vehicle. In addition, when the visual system rotates 360 degrees in the horizontal direction, the radius of rotation is smaller. Specifically, when rotating, the forward and reverse motor one rotates, which can make the 7-shaped mounting bracket rotate, and then the fixed frame part installed on the 7-shaped mounting bracket can rotate, so as to realize the adjustment of the unmanned aerial vehicle below 360 degrees in any angle.

[0019] Specifically, the fixed frame part includes a rear frame part, which is U-shaped, the rear side of the rear frame part is fixedly connected with the output end of the swing motor, and two fixed holes are arranged on the rear frame part.

[0020] Specifically, a rotating shaft is arranged on one of the fixed holes of the rear frame part, a rotating drive device is arranged in the other hole of the rear frame part, one end of the rotating shaft is fixedly connected with a second vertical plate, and one end of the rotating drive device is fixedly connected with a first vertical plate.

[0021] Specifically, the first vertical plate and the second vertical plate are fixedly connected with a top mounting plate and a bottom supporting plate on the upper side and the lower side of the opposite side respectively, and the bottom of the bottom supporting plate is fixedly connected with a locking block.

[0022] Specifically, the rotating shaft comprises a rotating shaft and a mounting shaft, the rotating shaft is arranged at one end of the rear frame part, and the mounting shaft is fixedly connected to one side of the second vertical plate.

[0023] Specifically, the rotating drive device comprises a housing, the housing is fixedly formed with a space capable of accommodating the second reversible motor, an output end of the second reversible motor is fixedly connected with a motor seat two, and the motor seat two is fixedly connected to the outer side of the first vertical plate.

[0024] The rear frame part can rotate on the output end of the swing motor, the rotation angle is controlled between positive and negative 90 degrees, the swing motor can adjust the angle of the camera under the control of the baffle so that the camera remains in a horizontal state to provide a good visual scene when the visual angle is tilted during the turning process of the unmanned aerial vehicle, of course, in the case of diving or climbing of the unmanned aerial vehicle, the rear frame part can be controlled to swing up and down by controlling the second reversible motor, and the visual system can better perform multi-angle and multi-dimensional visual adjustment, and the rotating shaft can improve the bearing effect, and the visual system can rotate more smoothly.

[0025] The utility model has the advantages of the following beneficial effects:

[0026] 1、The express placing cabin is located at the top of the machine body, so that it is more convenient to take and place, and the position of the delivery cabin of the common delivery unmanned aerial vehicle is adjusted, the visual installation position is isolated from the delivery cabin position, and they do not interfere with each other, so that the installation of the equipment is guaranteed, and the flexibility of the unmanned aerial vehicle in use is also guaranteed, and a wider activity space is provided for the visual device.

[0027] 2、The vertical mechanism is provided, the shape of the 7-shaped mounting bracket can provide a larger avoiding space, the bearing part is located directly below the machine body, which helps to improve the flight attitude of the unmanned aerial vehicle and ensure the stability of the unmanned aerial vehicle, in addition, when the visual system rotates in the horizontal direction, the radius of rotation is smaller, and when rotating, the forward and reverse motor one rotates, so that the 7-shaped mounting bracket rotates, and then the fixed frame part mounted on the 7-shaped mounting bracket can rotate, so that the unmanned aerial vehicle below can be adjusted at any angle within 360 degrees.

[0028] 3, the rear frame part can rotate on the output end of the swing motor, the rotation angle is controlled between plus or minus 90 degrees, the swing motor can adjust the angle of the camera under the control of the baffle so that the camera remains in a horizontal state to provide a good visual scene when the visual angle is tilted during the turning process of the unmanned aerial vehicle, of course, in the case of diving or climbing of the unmanned aerial vehicle, the positive and negative motor two can be controlled to control the angle of the rear frame part swinging up and down, and the visual system can better adjust the multi-angle and multi-dimensional vision, wherein the rotating shaft can improve the bearing effect, and the visual system can rotate more smoothly. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is the front view of the utility model;

[0030] Figure 2 is the schematic view of the machine body of the utility model;

[0031] Figure 3 is the schematic view of the mounting mechanism of the utility model;

[0032] Figure 4 is the schematic view of the fixed frame part of the utility model;

[0033] Figure 5 is the schematic view of the vertical mechanism of the utility model;

[0034] Figure 6 is the schematic view of the rotating shaft of the utility model.

[0035] In the drawing:

[0036] 1, machine body; 11, rack; 12, servo motor; 13, spiral blade; 14, mounting hole; 15, hatch; 2, foot mounting part; 3, mounting mechanism; 31, fixed plate; 32, sliding groove; 33, positioning module; 34, feedback module; 4, vertical mechanism; 41, 7-shaped mounting frame; 42, motor base one; 43, positive and negative motor one; 44, baffle; 45, swing motor; 46, control module; 5, fixed frame part; 51, first vertical plate; 52, second vertical plate; 53, top mounting plate; 54, bottom supporting plate; 541, locking block; 55, rear frame part; 56, outer cover; 57, positive and negative motor two; 58, motor base two; 59, rotating shaft; 510, mounting shaft. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the utility model will be clearly and completely described below, 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 the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0038] The technical scheme of the utility model is implemented as follows:

[0039] The intelligent distribution unmanned plane based on visual positioning comprises:

[0040] The body 1, the supporting leg mounting portion 2 is installed in the reserved hole in the bottom of the body 1, and is used for supporting the whole body 1; the body 1 comprises a rack 11, the bottom of the rack 11 is provided with a mounting hole 14, the four supports of the rack 11 are all provided with a servo motor 12, and the upper portion of the servo motor 12 is provided with a spiral blade 13.

[0041] The top of the rack 11 is provided with a placing space, and the placing space is shielded by a hatch 15.

[0042] The express placing cabin is located at the top of the body 1, so that it is more convenient to take and place, and the position of the distribution cabin of the common distribution unmanned plane is adjusted, so that the visual installation position and the distribution cabin position are isolated and do not interfere with each other, the installation of the equipment is guaranteed, and the flexibility of the unmanned plane in use can also be guaranteed, so as to provide a wider activity space for the visual device.

[0043] The mounting mechanism 3 is fixed at the bottom of the body 1, and the mounting mechanism 3 is used for fixing the whole visual system; the left and right sides of the bottom of the mounting mechanism 3 are respectively fixedly connected with a positioning module 33 used for positioning and a feedback module 34 used for feeding back information, which are prior art and will not be described in detail.

[0044] The mounting mechanism 3 comprises a fixed plate 31, the fixed plate 31 is in the shape of wings, both wing portions of the fixed plate 31 are provided with a sliding groove 32, and the sliding groove 32 is fixed through bolts and mounting holes 14.

[0045] The fixed plate 31 is in the shape of wings, can provide more mounting space, and can also install or carry more expansion pieces in the later upgrading, the bottom of the fixed plate 31 is provided with a mounting area fixed with the motor base 42, and the mounting area is located at the central position of the fixed plate 31.

[0046] The vertical mechanism 4 is arranged at the center of the bottom of the mounting mechanism 3, and can rotate 360 degrees on the mounting mechanism 3. The vertical mechanism 4 is provided with a control module 46 and a swing motor 45. The vertical mechanism 4 comprises a 7-shaped mounting frame 41. The inner wall of the 7-shaped mounting frame 41 is provided with a motor seat 42 at the top. The motor seat 42 is fixedly connected with the fixed plate 31. The 7-shaped mounting frame 41 is fixedly connected with a forward-reverse motor 43 through a baffle 44. The output end of the forward-reverse motor 43 is fixedly connected with the motor seat 42.

[0047] The vertical mechanism 4 is arranged, and the shape of the 7-shaped mounting frame 41 can provide more avoiding space, so that the bearing part is located directly below the body 1, which helps to improve the flight attitude of the unmanned aerial vehicle and ensure the stability of the unmanned aerial vehicle. In addition, when the visual system rotates 360 degrees in the horizontal direction, the radius of rotation is smaller. Specifically, when rotating, the forward-reverse motor 43 rotates, so that the 7-shaped mounting frame 41 rotates, and then the fixed frame part 5 mounted on the 7-shaped mounting frame 41 can rotate, so as to realize the adjustment of the unmanned aerial vehicle below 360 degrees in any angle.

[0048] It should be noted that the vertical mechanism 4 and the fixed frame part 5 constitute a three-axis mechanical table, which is compensated by a servo motor to keep the camera horizontal.

[0049] The control module 46 is provided with a control logic: the three-axis mechanical table is provided with a controller which receives the data of the unmanned aerial vehicle attitude sensor (such as an inertial measurement unit IMU) in real time, adjusts the motor angle through a PID algorithm, and keeps the camera stable. This technology is the existing technology, and will not be described in detail.

[0050] The fixed frame part 5 is fixedly connected with the movable end of the swing motor 45. The fixed frame part 5 is used for fixing the visual system. The fixed frame part 5 comprises a rear frame part 55. The rear frame part 55 is movably connected with a fixing assembly. The visual system is fixed in the fixing assembly. The fixed frame part 5 comprises a rear frame part 55. The rear frame part 55 is U-shaped. The rear side of the rear frame part 55 is fixedly connected with the output end of the swing motor 45. The rear frame part 55 is provided with two fixing holes.

[0051] One of the fixing holes of the rear frame part 55 is provided with a rotating shaft. The other hole of the rear frame part 55 is provided with a rotating driving device. One end of the rotating shaft is fixedly connected with a second vertical plate 52. One end of the rotating driving device is fixedly connected with a first vertical plate 51.

[0052] The fixing assembly is internally provided with a first vertical plate 51, a second vertical plate 52, a top mounting plate 53 and a bottom supporting plate 54, the first vertical plate 51 and the second vertical plate 52 are respectively fixedly connected with the top mounting plate 53 and the bottom supporting plate 54 at the upper and lower sides of the opposite side, the bottom of the bottom supporting plate 54 is fixedly connected with a locking block 541 for fixing the vision system.

[0053] The rotating shaft comprises a rotating shaft 59 and a mounting shaft 510, the rotating shaft 59 is arranged at one end of the rear frame part 55, and the mounting shaft 510 is fixedly connected to one side of the second vertical plate 52.

[0054] The rotating driving device comprises an outer cover 56, the outer cover 56 is fixedly formed with the rear frame part 55 to form a space for accommodating the installation of the reversible motor two 57, the output end of the reversible motor two 57 is fixedly connected with a motor seat two 58, and the motor seat two 58 is fixedly connected to the outer side of the first vertical plate 51.

[0055] The rear frame part 55 can rotate on the output end of the swinging motor 45, the rotating angle is controlled between positive and negative 90 degrees, the swinging motor 45 can adjust the angle of the camera under the control of the baffle 44 so that the camera remains in a horizontal state, and a good visual scene is provided, of course, in the case that the unmanned aerial vehicle performs a dive or a climb, the angle of the rear frame part 55 can be controlled to swing up and down by controlling the reversible motor two 57, and the vision system can better perform multi-angle and multi-dimensional vision adjustment, wherein the rotating shaft 59 can improve the bearing effect, and the vision system can still rotate more smoothly.

[0056] The above only describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent delivery drone based on visual positioning, characterized in that, Include: Machine body (1); The foot mounting portion (2) is mounted in the reserved hole at the bottom of the machine body (1), used to support the whole machine body (1); The mounting mechanism (3) is fixed at the bottom of the machine body (1), which is used to fix the whole visual system, and the left and right sides of the bottom of the mounting mechanism (3) are respectively fixedly connected with the positioning module (33) for positioning and the feedback module (34) for feeding back information; The vertical mechanism (4) is arranged at the center of the bottom of the mounting mechanism (3), which can rotate on the mounting mechanism (3) by 360 degrees, and the vertical mechanism (4) is provided with a control module (46) and a swing motor (45); The fixed frame portion (5) is fixedly connected to the movable end of the swing motor (45), which is used to fix the visual system, and the fixed frame portion (5) includes a rear frame portion (55), and the rear frame portion (55) is movably connected with a fixing assembly, and the visual system is fixed in the fixing assembly. 2.The vision positioning based intelligent delivery drone of claim 1, wherein, The machine body (1) comprises a rack (11), the bottom of the rack (11) is provided with a mounting hole (14), and the four supports of the rack (11) are provided with servo motors (12), and the upper portion of the servo motor (12) is provided with a spiral blade (13). 3.The vision positioning based intelligent delivery drone of claim 2, wherein, The top of the rack (11) is provided with a placing space, which is covered by a hatch (15). 4.The vision positioning based intelligent delivery drone of claim 3, wherein, The mounting mechanism (3) includes a fixed plate (31), the fixed plate (31) is wing-shaped, the two wing portions of the fixed plate (31) are provided with sliding grooves (32), and the sliding grooves (32) are fixed with the mounting hole (14) through bolts. 5.The vision positioning based intelligent delivery drone of claim 4, wherein, The vertical mechanism (4) includes a 7-shaped mounting rack (41), the inner wall top of the 7-shaped mounting rack (41) is provided with a motor seat one (42), the motor seat one (42) is fixedly connected with the fixed plate (31), the 7-shaped mounting rack (41) is fixedly connected with a forward and reverse motor one (43) through a baffle (44), and the output end of the forward and reverse motor one (43) is fixedly connected with the motor seat one (42). 6.The vision positioning based intelligent delivery drone of claim 5, wherein, The fixed frame portion (5) includes a rear frame portion (55), the rear frame portion (55) is U-shaped, the rear side of the rear frame portion (55) is fixedly connected with the output end of the swing motor (45), and the rear frame portion (55) is provided with two fixing holes. 7.The vision positioning based intelligent delivery drone of claim 6, wherein, One of the fixing holes on the rear frame portion (55) is provided with a rotating shaft, the other hole in the rear frame portion (55) is provided with a rotating driving device, one end of the rotating shaft is fixedly connected with a second vertical plate (52), and one end of the rotating driving device is fixedly connected with a first vertical plate (51). 8.The vision positioning based intelligent delivery drone of claim 7, wherein, The first vertical plate (51) and the second vertical plate (52) are respectively fixedly connected with the top mounting plate (53) and the bottom supporting plate (54) on the upper and lower sides of the opposite side, and the bottom of the bottom supporting plate (54) is fixedly connected with the locking block (541). 9.The vision positioning based intelligent delivery drone of claim 8, wherein, The rotating shaft includes a rotating shaft (59) and a mounting shaft (510), the rotating shaft (59) is arranged at one end of the rear frame part (55), and the mounting shaft (510) is fixedly connected to one side of the second vertical plate (52). 10.The vision positioning based intelligent delivery drone of claim 9, wherein, The rotating drive device includes an outer cover (56), the outer cover (56) and the rear frame part (55) are fixed to form a space capable of accommodating the installation of the positive and negative motor two (57), the output end of the positive and negative motor two (57) is fixedly connected with the motor seat two (58), and the motor seat two (58) is fixedly connected to the outer side of the first vertical plate (51).

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