Fixed type dual-lens cooperative guidance material delivery device

Abstract

The utility model discloses a fixed type double lens cooperative guidance material delivery equipment relates to the field of unmanned plane, this fixed type double lens cooperative guidance material delivery equipment, through setting up front camera and lower camera on the frame, the operator can obtain unmanned aerial vehicle flight environment image data through front camera when controlling unmanned aerial vehicle flight, and it is convenient for operator control unmanned aerial vehicle to carry out high -speed maneuver under the flight environment image data instruction, still can obtain unmanned aerial vehicle lower ground image data through lower camera, and it is convenient for operator accurate judgment material delivery opportunity, through the cooperation of front camera and lower camera, the contradiction between the high maneuverability of crossing unmanned aerial vehicle and throwing accuracy has been solved.

Description

Technical Field

[0001] This utility model relates to unmanned aerial vehicle (UAV) technology, specifically to a fixed dual-lens collaborative guided material delivery device. Background Technology

[0002] In the field of drone delivery, traditional systems generally rely on single-path imaging units for target localization, requiring frequent switching of observation angles during operation, resulting in significant delays in the aiming process. When the aircraft enters high-speed cruise mode to carry out delivery operations, the operator's ability to perceive the dynamic scene situation is greatly reduced due to decreased stability of the motion platform and insufficient fusion of multi-source environmental information. Of particular concern is the lack of a deep collaborative control mechanism between the high-speed maneuvering platform and the delivery execution mechanism, which severely restricts the accuracy of high-speed drone strikes.

[0003] Chinese utility model patent CN221367472U discloses a drone thrower, including a throw box. Multiple evenly distributed connecting columns are connected to the upper surface of the throw box, and a mounting plate is connected to the top of each connecting column. This drone thrower features feeding turntables installed in fan-shaped boxes on both sides of the throw box. Each feeding turntable has a feeding slot, and a rotating shaft is connected to its upper surface. A gear mechanism is installed in a mechanism box on the upper surface of the throw box, and a small motor connected to the rotating shaft is installed on the upper surface of the mechanism box. A pushing mechanism is also installed on the inner end face of the throw box. The two feeding turntables rotate under the action of the gear mechanism to push and throw the material hanging component. The repeated rotation of the two feeding turntables, in conjunction with the pushing mechanism, allows for multiple and continuous throws.

[0004] While existing drone droppers possess relatively complete software ecosystems and modular functions, they typically rely on a single lens to capture the drone's flight image. Users need to obtain both the drone's flight environment data and the ground delivery area's environmental data through this single lens. During delivery, users must switch the lens's orientation to improve the delivery area's image and accuracy. However, during this process, the lens cannot capture the drone's flight environment data. Consequently, operators cannot simultaneously achieve both high drone maneuverability and precise material delivery, which does not align with the principle of optimizing equipment cost-effectiveness. Therefore, it is necessary to design a drone architecture that is simple in structure and can achieve a performance balance between high maneuverability and material delivery accuracy. Utility Model Content

[0005] The purpose of this invention is to provide a fixed dual-lens cooperative guided material delivery device to solve the problem that existing UAVs cannot simultaneously achieve flight maneuverability and material delivery accuracy.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a fixed dual-lens cooperative guided material delivery device, comprising:

[0007] The unmanned aerial vehicle (UAV) unit includes a frame and multiple arms connected to the frame. Motors are connected to the arms, and wings are connected to the output shafts of the motors. A control assembly, a front camera with its lens facing forward, and a lower camera with its lens facing downward are connected to the frame. A launcher is located below the frame.

[0008] An image receiving unit is used to display images captured by the front camera and the lower camera.

[0009] Preferably, the control assembly includes an ESC, a flight controller, an image transmitter, and a receiver that are electrically connected to each other.

[0010] Preferably, the thrower includes a strap connecting to a servo thrower frame below the frame and a retaining ring that is movably engaged with the lower end of the servo thrower frame, with one end of the strap connected to the retaining ring.

[0011] Preferably, the strap includes an adjusting strap connected to the servo throwing frame and a loosening strap connected to the retaining ring, the adjusting strap and the loosening strap being attached by Velcro.

[0012] Preferably, the frame is connected to an upper strapping strap for bundling the power supply.

[0013] Preferably, the image receiving unit includes VR glasses that are communicatively connected to the control assembly.

[0014] Compared with existing technologies, the fixed dual-lens cooperative guided material delivery device provided by this utility model, by setting a front camera and a lower camera on the frame, allows the operator to obtain image data of the drone's flight environment through the front camera when controlling the drone's flight, which facilitates the operator to control the drone to perform high-speed maneuvers under the guidance of the flight environment image data. The lower camera can also obtain image data of the ground below the drone, which helps the operator to accurately judge the timing of material delivery. Through the cooperative effect of the front and lower cameras, the contradiction between the high maneuverability of the drone and the accuracy of delivery is solved. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0016] Figure 1A schematic diagram of the overall structure provided for an embodiment of this utility model;

[0017] Figure 2 A schematic diagram of the unmanned aerial vehicle (UAV) unit structure provided for an embodiment of this utility model. Figure 1 ;

[0018] Figure 3 A schematic diagram of the unmanned aerial vehicle (UAV) unit structure provided for an embodiment of this utility model. Figure 2 .

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Frame; 2. Arm; 3. Motor; 4. Wing; 5. Control assembly; 6. Front camera; 7. Lower camera; 8. Servo throwing frame; 9. Adjustment strap; 10. Release strap; 11. Snap ring; 12. Upper strap; 13. VR glasses. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0022] As attached Figure 1 To be continued Figure 3 As shown:

[0023] Example 1:

[0024] This utility model provides a fixed dual-lens cooperative guided material delivery device, including:

[0025] The unmanned aerial vehicle (UAV) unit includes a frame 1 and multiple arms 2 connected to the frame 1. Motors 3 are connected to the arms 2, and wings 4 are connected to the output shafts of the motors 3. A control assembly 5, a front camera 6 with its lens facing forward, and a lower camera 7 with its lens facing downward are connected to the frame 1. The front camera 6 is used for flight path planning and obstacle avoidance, and for finding strike positions through high-speed flight. The lower camera 7 is used for quickly switching between the main and secondary lens images to acquire ground image data for precise strikes. A launcher is provided below the frame 1, and an upper strapping strap 12 for binding the power supply is connected to the frame 1.

[0026] The image receiving unit includes VR glasses 13 that are communicatively connected to the control assembly 5, for displaying images captured by the front camera 6 and the lower camera 7.

[0027] As can be seen from the above, by setting a front camera 6 and a lower camera 7 on the frame 1, the operator can obtain image data of the drone's flight environment through the front camera 6 when controlling the drone to fly. This makes it easier for the operator to control the drone to perform high-speed maneuvers under the guidance of the flight environment image data. The operator can also obtain image data of the ground below the drone through the lower camera 7, which makes it easier for the operator to accurately judge the timing of material delivery. Through the synergistic effect of the front camera 6 and the lower camera 7, the contradiction between the high maneuverability of the drone and the accuracy of delivery is resolved.

[0028] The control assembly 5 includes an ESC, flight controller, image transmitter, and receiver that are electrically connected to each other. The ESC can be a 55A four-in-one motherboard, the flight controller can be a U-Chuan flight tower, and other components can be standard parts. The front camera 6 is directly connected to the flight control system of the flight controller, transmitting flight images and target search images in real time to avoid flight obstacles. The lower camera 7 is also directly connected to the flight control system, and can be switched with the main lens image via a shortcut key to display on the image receiving unit. When used with the thrower, it can complete the precise delivery of materials.

[0029] The control assembly 5 can receive data streams from the front camera 6 and the lower camera 7, and simultaneously acquire and calculate the spatial relationship between the aircraft's velocity vector and the target's trajectory in real time. The precision throwing system's actuator is the thrower, which adopts a single servo motor bidirectional control mode and has multiple material loading points. When the thrower releases material, the precision throwing system simultaneously performs load initial velocity adjustment and airframe reverse momentum compensation. Through lens division of labor and motion coupling control, it achieves a circular error of ≤20cm for the thrown object in high-speed flight, making it suitable for security strikes, material delivery, and other scenarios.

[0030] The thrower includes a strap connecting to the servo thrower 8 below the frame 1 and a retaining ring 11 that is movably engaged with the lower end of the servo thrower 8. One end of the strap is connected to the retaining ring 11. The strap includes an adjusting strap 9 connected to the servo thrower 8 and a loosening strap 10 connected to the retaining ring 11. The adjusting strap 9 and the loosening strap 10 are connected by Velcro.

[0031] When the servo-driven throwing frame 8 locks the retaining ring 11, the material is locked between the servo-driven throwing frame 8 and the strap. When the material needs to be released, the servo-driven throwing frame 8 is controlled to release the retaining ring 11, and the material is released from the restraint of the strap and falls freely. In order to fix materials of different sizes, the user can adjust the connection length between the adjusting strap 9 and the loosening strap 10, thereby changing the overall length of the strap, so that the user can hang materials of different sizes on the servo-driven throwing frame 8.

[0032] When assembling frame 1, first, install the rivet nuts on the middle plate of frame 1. Then, arrange the arms 2 on the base plate of frame 1 according to the predetermined pattern, tighten the screws, and form a sandwich structure. Next, install the motors 3 on the arms 2, ensuring the motors 3 are oriented correctly, and use acetate tape to secure the motor wires. Solder the ESCs to the power distribution board, and connect the battery power lines and the power supply lines to the flight controller. Special attention needs to be paid to the soldering quality in this step to ensure reliable connections. Install the flight controller on frame 1, connecting the control lines of the four ESCs in sequence. Carefully check the connection sequence to ensure it is correct. Connect the receiver to the flight controller to ensure normal signal reception. Install the camera and image transmission components on frame 1, connecting the corresponding lines of the two cameras. Secure all modules to frame 1, ensuring they are stable and reliable. Use screws, cable ties, and other tools for securing. After assembly, conduct a comprehensive inspection to ensure all connections are reliable and securely fixed. Then, perform debugging, including flight controller parameter tuning and firmware flashing, to ensure the aircraft can fly normally.

[0033] After assembly, a comprehensive inspection is conducted to ensure that all components are installed correctly and connected reliably. Power tests and flight tests are performed, including connecting the battery and conducting power tests to ensure that all components are functioning properly. Flight tests are then conducted in a safe location to check the aircraft's flight performance and stability.

[0034] During flight testing, the flight control firmware is first flashed, followed by flight control parameter tuning and firmware flashing. Using the domestically produced flight control tower, U-Chuan, as the primary flight control system, a ground station (using the common Betafli ght ground station as an example) is used. First, default settings are restored, then the firmware is flashed. The flashed content is a debug flashing file (.hex). When associating modes, the dual-lens switching channel is associated in the flight mode (e.g., USER1 mode uses AUX1 control).

[0035] The specific steps for setting up servo commands on a cross-country vehicle are as follows (taking the common Betafli ght ground station as an example):

[0036] 1. Confirm flight controller firmware and servo compatibility.

[0037] Check firmware version: Connect the flight controller to the computer, open the Betafli ght ground station, enter the configuration page, and check if there is a "Servo Gimbal" option. If not, you need to add servo support through firmware update (after selecting the flight controller brand / version, flash the new firmware in the "Servos" section).

[0038] Confirm servo type: Ensure the servo is compatible with the flight controller (e.g., analog or digital servo).

[0039] 2. Define servo channels

[0040] Access the CLI command line: In Betafli ght, type the command "resource" to view the flight controller resource allocation. Locate available serial ports (such as LED serial ports or idle motor ports).

[0041] Example settings:

[0042] To change the LED serial port (e.g., B03) to the servo channel: Enter resource SERVO 1B03 and press Enter (1 represents the servo serial number, and B03 is the serial port number).

[0043] If using the motor port (e.g., S8): Enter resource SERVO 2S8 (2 represents the servo number).

[0044] Save settings: Type "save" and press Enter to restart the flight controller for the changes to take effect.

[0045] 3. Connect the servo hardware

[0046] Wiring method:

[0047] Connect the servo signal line to the designated serial port of the flight controller (such as the LED port).

[0048] The servo power supply can be directly connected to the 5V / GND port of the flight controller, or powered through the BEC module (positive terminal connected to BEC output, negative terminal connected to GND).

[0049] 4. Configure remote control channel

[0050] Select control channel: On the Betafli ght receiver page, specify the channel used by the servo (such as AUX2 or A3).

[0051] Set the travel range: Adjust the minimum / maximum value of the servo on the servo page (usually 1000~2000μs) to ensure normal servo response.

[0052] Mode association: Associate servo channels in flight mode (e.g., use AUX2 control in USER2 mode).

[0053] 5. Testing and Debugging

[0054] Manual test: Flip the corresponding channel switch on the remote control and observe whether the servo motor works normally (e.g., the thrower turns on / off).

[0055] Command line verification: Enter the resource command to confirm that the servo channel has been correctly assigned.

[0056] Precautions

[0057] Flight controller model differences: Different flight controllers (such as F3 / F4 / F7) may have different serial port numbers. Please refer to the flight controller manual or use the resource command to check.

[0058] Servo voltage: Ensure the servo power supply voltage is matched (usually 5V) to avoid burning out.

[0059] Anti-interference: Keep servo signal lines away from strong electromagnetic sources such as ESCs / motors, and use shielded cables for better protection.

[0060] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A fixed dual-lens cooperative guided material delivery device, characterized in that, include: The unmanned aerial vehicle (UAV) unit includes a frame (1) and multiple arms (2) connected to the frame (1). A motor (3) is connected to the arm (2), and a wing (4) is connected to the output shaft of the motor (3). A control assembly (5), a front camera (6) with its lens facing forward, and a lower camera (7) with its lens facing downward are connected to the frame (1). A launcher is provided below the frame (1). The image receiving unit is used to display the images captured by the front camera (6) and the lower camera (7).

2. The fixed dual-lens cooperative guided material delivery device according to claim 1, characterized in that, The control assembly (5) includes an ESC, flight controller, image transmitter, and receiver that are electrically connected to each other.

3. The fixed dual-lens cooperative guided material delivery device according to claim 1, characterized in that, The thrower includes a strap connecting to a servo thrower frame (8) below the frame (1) and a retaining ring (11) that is movably engaged with the lower end of the servo thrower frame (8), with one end of the strap connected to the retaining ring (11).

4. The fixed dual-lens cooperative guided material delivery device according to claim 3, characterized in that, The straps include an adjusting strap (9) connected to the servo throwing frame (8) and a loose strap (10) connected to the retaining ring (11), the adjusting strap (9) and the loose strap (10) being attached by Velcro.

5. The fixed dual-lens cooperative guided material delivery device according to claim 1, characterized in that, The frame (1) is connected to an upper strapping strap (12) for bundling power supplies.

6. The fixed dual-lens cooperative guided material delivery device according to claim 1, characterized in that, The image receiving unit includes VR glasses (13) that are communicatively connected to the control assembly (5).

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