CN208855341U - A kind of amphibious unmanned plane - Google Patents
A kind of amphibious unmanned plane Download PDFInfo
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- CN208855341U CN208855341U CN201821419808.3U CN201821419808U CN208855341U CN 208855341 U CN208855341 U CN 208855341U CN 201821419808 U CN201821419808 U CN 201821419808U CN 208855341 U CN208855341 U CN 208855341U
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- steering engine
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- propeller
- radar
- fuselage
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Abstract
The utility model discloses a kind of small-sized amphibious unmanned planes comprising: fuselage, propeller, undercarriage, information collecting device；Propeller is installed on fuselage side；Undercarriage is installed below fuselage；Information collecting device is installed on body upper；Fuselage interior is equipped with power supply system, attitude transducer, on-board controller, steering engine control panel；Information collecting device includes: camera, radar；Camera is installed on three axis holders；Three axis holders are installed on holder pedestal；Radar is installed on the front end of holder pedestal；Pass through information collecting device, the collected 3D rendering data of camera and radar are detected into data, ground based terminal is passed in real time, the environment in flight range is detected, generation is made of multiple 3D renderings, and with the regional aggregate map of geological radar exploration result data.
Description
Technical field
The utility model relates to unmanned plane fields, and in particular to it is a kind of can land walking and with flight performance small-sized two
It dwells unmanned plane.
Background technique
With being constantly progressive for Chinese science technology, intelligentized unmanned machine is also constantly progressive, in terms of being production and living
Improve convenient degree, however in natural calamity, intelligent unmanned machine is allowed to be applied, and Chinese scientific research institution and height
The general orientation that school is constantly studied, the utility model are the products for natural calamity and unmanned plane Military Application direction；
The variation that natural calamity loses national economy be it is directly proportional, be only naturally within -2009 years 2004 Jilin Province from
For total losses caused by right disaster just up to 689.7 hundred million yuans, conventional unmanned plane is usually used in aviation viewing angles, traditional unmanned plane
Fuselage carries the camera of Image Acquisition, cannot cope with the natural calamities such as cross-domain complex environment, geology, flood well, thus
Design, which is invented, a kind of facilitates geologic prospect and applicable small-sized amphibious unmanned plane.
Summary of the invention
The utility model aim be it is easily affected by environment in order to solve pneumatic equipment bladess formula unmanned plane, reduce its mobility,
Traditional unmanned plane can not collect the problems such as generating 3D rendering and region 3D map, provide a kind of amphibious unmanned plane.
A kind of amphibious unmanned plane, comprising: fuselage 1, propeller, undercarriage 31, information collecting device；It is characterized by: institute
The propeller stated is installed on 1 side of fuselage；Undercarriage 31 is installed on 1 lower section of fuselage；Information collecting device is installed on fuselage 1
Side；
Power supply system, attitude transducer, on-board controller, steering engine control panel are equipped with inside the fuselage 1；
The steering engine control panel connects each duct and verts steering engine, carries out the pose adjustment of propeller；
The propeller secondary Ducted propeller 21, rear secondary Ducted propeller 22, left secondary Ducted propeller 23, the right side before being divided into
Secondary Ducted propeller 24；Each propeller can independent work；The rotation of preceding pair Ducted propeller 21 and rear secondary Ducted propeller 22
Direction is consistent；Left secondary Ducted propeller 23 is consistent with the right secondary direction of rotation of Ducted propeller 24；Preceding pair 21 He of Ducted propeller
Secondary Ducted propeller 22 is opposite with left secondary Ducted propeller 23 and right secondary 24 vane of Ducted propeller and direction of rotation afterwards.Described
Information collecting device includes: camera, radar；Camera is installed on three axis holders 42；Three axis holders 42 are installed on holder pedestal
On 41；Radar is installed on the front end of holder pedestal 41；
The information collecting device includes: camera, radar；Camera is installed on three axis holders 42；Three axis holders 42
It is installed on holder pedestal 41；Radar is installed on the front end of holder pedestal 41；
The camera is a kind of 3D depth camera sensor；
The radar is a kind of aerial reconnaissance and terrain-following radar；Comprising: radar antenna 11, radar 12；
A kind of amphibious unmanned plane, it further includes control section, and control section is divided into: airborne portion and above ground portion；It is described
Airborne portion include: power supply system, attitude transducer, on-board controller, steering engine control panel；The power supply system connects machine
Set controller；Attitude transducer, radar connect on-board controller with Image Acquisition；On-board controller connects steering engine control panel；Rudder
Machine control panel connects electron speed regulator；Electron speed regulator connects duct brshless DC motor；Steering engine control panel is also connected with duct
Vert steering engine；
The duct brshless DC motor is installed in propeller, is divided into: right pair duct brshless DC motor, left secondary
Duct brshless DC motor, preceding secondary duct brshless DC motor, rear secondary duct brshless DC motor；
The duct steering engine that verts is divided into: right pair duct vert steering engine, the preceding secondary duct of steering engine, left secondary duct that vert verts
Steering engine, rear secondary duct vert steering engine；
The above ground portion is wireless remote control device and ground PC control station, passes through wireless remote control device and ground PC control
System station can control outside its flight path, can also camera and radar letter collected in real time inspection airborne portion acquisition device
Breath.
A kind of amphibious unmanned plane of the utility model, by information collecting device, by the collected 3D rendering number of camera
Data are detected according to radar, ground based terminal is passed in real time, the environment in flight range is detected, are generated by multiple 3D renderings
Composition, and with the regional aggregate map of geological radar exploration result data.
Detailed description of the invention
Fig. 1 is the control system hardware configuration schematic diagram of the utility model；
Fig. 2 is the stereoscopic schematic diagram of the utility model；
Fig. 3 is the land walking states schematic diagram of the utility model；
Fig. 4 is that the utility model wall surface hangs upside down maneuvering condition schematic diagram；
Fig. 5 is the utility model wall surface up-and-down maneuver status diagram.
Specific embodiment
Embodiment 1
The utility model is described in further detail with reference to the accompanying drawing:
As shown in Figure 1 and Figure 2, a kind of amphibious unmanned plane, comprising: fuselage 1, propeller, duct vert steering engine, undercarriage 31,
Information collecting device；Propeller is connected to fuselage by the duct steering engine that verts；Undercarriage 31 is installed on 1 lower section of fuselage；
1 material of fuselage be carbon fibre material, be internally provided with power supply system, attitude transducer, on-board controller,
Steering engine control panel；
The propeller includes: electron speed regulator, ducted fan；
The propeller secondary Ducted propeller 21, rear secondary Ducted propeller 22, left secondary Ducted propeller 23, the right side before being divided into
Secondary Ducted propeller 24；Each propeller can independent work；The rotation of preceding pair Ducted propeller 21 and rear secondary Ducted propeller 22
Direction is consistent；Left secondary Ducted propeller 23 is consistent with the right secondary direction of rotation of Ducted propeller 24；Preceding pair 21 He of Ducted propeller
Secondary Ducted propeller 22 is opposite with left secondary Ducted propeller 23 and right secondary 24 vane of Ducted propeller and direction of rotation afterwards；
The attitude transducer attitude transducer is the electronic component using IG500N model, is based on MEMS technology
High performance three-dimensional motion attitude measuring system；It includes three-axis gyroscope, three axis accelerometer, the movement such as three axle electronic compass
Sensor obtains the data such as 3 d pose and orientation by temperature-compensating by embedded arm processor；
That the on-board controller is selected is PC104, and mechanical dimension is 96X90mm, meets reduction fuselage and integrally sets
Count the requirement of size and fuselage entirety mobility；
The steering engine control panel connects each duct and verts steering engine, and steering engine control panel is a kind of position or angle servo
Driver is verted steering engine by controlling each duct, carries out the pose adjustment of propeller, strain and adapt to different angle variation
Motor-driven, the control panel that also fuselage 1 can be kept stable；
The electron speed regulator is installed on ducted fan；Ducted fan connects and fixes with the steering engine Relative vertical axis that verts
In on fuselage 1；
The information collecting device is installed on 1 upper end of fuselage comprising: camera, radar；
The camera is installed on three axis holders 42；Three axis holders 42 are installed on holder pedestal 41；
The camera is a kind of 3D depth camera sensor comprising: infrared emittance, RGB sensor, infrared biography
Sensor；Light pulse is continuously transmitted to target by infrared emittance, the light returned from object is then received with infrared sensor, is led to
The two-way time of detecting optical pulses is spent to obtain object distance, generates depth map；Then in conjunction with the collected coloured silk of RGB sensor
Chromatic graph piece has generated gray scale depth map by computer calculations incorporated and has generated the color image with depth, i.e. 3D rendering；
The radar is a kind of aerial reconnaissance and terrain-following radar comprising: radar antenna 11, radar 12；Pass through
The radar antenna matrix and radar 12 that at least four radar antenna 11 forms, for providing fixed ground target and mobile target
Position and topographic(al) data.
The collected 3D rendering data of camera and radar are detected data, passed in real time by the information collecting device
Ground based terminal detects the environment in flight range, generates the regional map being made of multiple 3D renderings.
The undercarriage 31 is gathered around there are three shaft contact, and each shaft contact is equipped with to slow down and damp, when can effectively reduce landing
Impact and vibration to fuselage；31 front end shaft contact of undercarriage is additionally provided with wheel 32；
As shown in Figure 1, a kind of amphibious unmanned aerial vehicle (UAV) control part is divided into: airborne portion and above ground portion；
The airborne portion includes: power supply system, attitude transducer, on-board controller, steering engine control panel；The confession
Electric system connects on-board controller；Attitude transducer, radar connect on-board controller with Image Acquisition；On-board controller connects rudder
Machine control panel；Steering engine control panel connects electron speed regulator；Electron speed regulator connects duct brshless DC motor；Steering engine control panel is also
Duct is connected with to vert steering engine；
The duct brshless DC motor is installed in propeller, is divided into: right pair duct brshless DC motor, left secondary
Duct brshless DC motor, preceding secondary duct brshless DC motor, rear secondary duct brshless DC motor；
The duct steering engine that verts is divided into: right pair duct vert steering engine, the preceding secondary duct of steering engine, left secondary duct that vert verts
Steering engine, rear secondary duct vert steering engine；
The above ground portion is wireless remote control device and ground PC control station；Pass through wireless remote control device and ground PC control
System station can control outside its flight path, can also camera and radar letter collected in real time inspection airborne portion acquisition device
Breath.
Maneuver mode
As shown in figure 3, a kind of amphibious unmanned plane, when executing land walking task, forward propeller 21 and rear propeller 22
It is in standby, steering engine is verted by left secondary duct and the right secondary duct steering engine that verts inclines left propeller 23 and right propeller 24
It goes to and realizes the transformation of travel speed with running face parastate by adjusting propeller revolving speed；Left secondary duct vert steering engine and
The vert direction of verting of steering engine of right pair duct determines its driving direction；At left secondary duct verts steering engine and right secondary duct verts steering engine
, it can be achieved that being rapidly converting to motor-driven when opposite direction；
As shown in Figure 4, Figure 5, a kind of amphibious unmanned plane executes wall surface and hangs upside down motor-driven task or wall surface up-and-down maneuver task
When, preceding pair duct verts steering engine and rear secondary duct verts, and steering engine verts forward propeller and rear propeller to wing air inlet hangs down
Directly in attachment base surface state, basal plane hovering is realized；Left propeller and right propeller verted by the left and right secondary duct steering engine that verts
Extremely the transformation of travel speed is realized by adjusting propeller revolving speed with attachment surface parastate；Left secondary duct verts steering engine and the right side
The vert direction of verting of steering engine of secondary duct determines its driving direction.
Claims (7)
1. a kind of amphibious unmanned plane, it is characterised in that: it includes: that fuselage (1), propeller, duct vert steering engine, undercarriage
(31), information collecting device；The propeller by duct vert steering engine be connected to fuselage (1) four sides；Undercarriage (31)
It is installed below fuselage (1)；Information collecting device is installed on above fuselage (1)；Power supply system is equipped with inside the fuselage (1)
System, attitude transducer, on-board controller, steering engine control panel.
2. a kind of amphibious unmanned plane according to claim 1, it is characterised in that: the steering engine control panel connects each culvert
Vert steering engine in road, carries out the pose adjustment of propeller.
3. a kind of amphibious unmanned plane according to claim 2, it is characterised in that: pair duct pushes away before the propeller is divided into
Into device (21), rear secondary Ducted propeller (22), left secondary Ducted propeller (23), right secondary Ducted propeller (24)；Each propeller
It can independent work；Preceding pair Ducted propeller (21) is consistent with the direction of rotation of rear secondary Ducted propeller (22)；Left secondary duct promotes
Device (23) is consistent with the direction of rotation of right secondary Ducted propeller (24)；Preceding pair Ducted propeller (21) and rear secondary Ducted propeller
(22) opposite with left secondary Ducted propeller (23) and right secondary Ducted propeller (24) vane and direction of rotation.
4. a kind of amphibious unmanned plane according to claim 1,2 or 3, it is characterised in that: the information collecting device includes:
Camera, radar；Camera is installed on three axis holders (42)；Three axis holders (42) are installed on holder pedestal (41)；Radar
It is installed on the front end of holder pedestal (41).
5. a kind of amphibious unmanned plane according to claim 4, it is characterised in that: the camera is that a kind of 3D depth is taken the photograph
As sensor.
6. a kind of amphibious unmanned plane according to claim 5, it is characterised in that: the radar be a kind of aerial reconnaissance with
Terrain-following radar；Comprising: radar antenna 11, radar 12.
7. a kind of amphibious unmanned plane according to claim 6, which is characterized in that it further includes control section, the control
System part is divided into: airborne portion and above ground portion；The airborne portion includes: power supply system, attitude transducer, airborne control
Device, steering engine control panel；The power supply system connects on-board controller；Attitude transducer, radar and Image Acquisition connect airborne
Controller；On-board controller connects steering engine control panel；Steering engine control panel connects electron speed regulator；Electron speed regulator connect duct without
Brushless motor；Steering engine control panel is also connected with duct and verts steering engine；The duct brshless DC motor is installed on propeller
It is interior, it is divided into: right pair duct brshless DC motor, left secondary duct brshless DC motor, preceding secondary duct brshless DC motor, rear pair
Duct brshless DC motor；The duct steering engine that verts is divided into: vert steering engine, left secondary duct of right pair duct verts steering engine, preceding
Vert steering engine, rear secondary duct of secondary duct verts steering engine；The above ground portion is wireless remote control device and ground PC control station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821419808.3U CN208855341U (en) | 2018-08-31 | 2018-08-31 | A kind of amphibious unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821419808.3U CN208855341U (en) | 2018-08-31 | 2018-08-31 | A kind of amphibious unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208855341U true CN208855341U (en) | 2019-05-14 |
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ID=66416423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821419808.3U Active CN208855341U (en) | 2018-08-31 | 2018-08-31 | A kind of amphibious unmanned plane |
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| CN (1) | CN208855341U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159633A (en) * | 2018-08-31 | 2019-01-08 | 长春工程学院 | A kind of amphibious unmanned plane |
| CN110371284A (en) * | 2019-07-15 | 2019-10-25 | 谌薏冰 | A kind of deformable four-axle aircraft |
-
2018
- 2018-08-31 CN CN201821419808.3U patent/CN208855341U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159633A (en) * | 2018-08-31 | 2019-01-08 | 长春工程学院 | A kind of amphibious unmanned plane |
| CN110371284A (en) * | 2019-07-15 | 2019-10-25 | 谌薏冰 | A kind of deformable four-axle aircraft |
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