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Indoor unmanned aerial vehicle, indoor unmanned aerial vehicle system and control method

A technology of unmanned aerial vehicle and multi-rotor unmanned aerial vehicle, which is applied in indoor unmanned aerial vehicle system and control, and in the field of indoor unmanned aerial vehicles. Improved accuracy, reduced part effects

Pending Publication Date: 2020-10-02
无锡空如科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, in such an indoor environment, it is very difficult to realize autonomous flight control and complete tasks of UAVs. It is difficult to determine its own position, speed, attitude and heading only through the flight control inside the fuselage.

Method used

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  • Indoor unmanned aerial vehicle, indoor unmanned aerial vehicle system and control method
  • Indoor unmanned aerial vehicle, indoor unmanned aerial vehicle system and control method
  • Indoor unmanned aerial vehicle, indoor unmanned aerial vehicle system and control method

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] Such as Figure 1 to Figure 26 As shown, the indoor UAV includes a multi-rotor UAV body, and also includes a flight detection device, which is used to detect flight parameters; a path detection device, which is used to detect flight path parameters; a control device, a control device They are respectively electrically connected with the motor 12 of the multi-rotor UAV, the flight detection device and the path detection device, and are used to control the UAV according to the detected flight parameters and flight path parameters.

[0089] The flight detection device is used to control the flight of the UAV, detect the flight attitude, sense the environment, and avoid obstacles and people.

[0090] The path detection device is used to make the UAV fly along the set path without GPS signal, realize autonomous positioning and navigation, and thus automatically complete the flight task.

[0091] In one embodiment, the control device includes a path control device 94, the pa...

Embodiment 2

[0098] On the basis of the first embodiment above, an upper lidar sensor is also included, the upper lidar sensor is installed on the top of the multi-rotor UAV body, and the upper lidar sensor is used to detect the distance from the ground and avoid obstacles.

[0099] Using dual laser radar sensors to detect distance and avoid obstacles can greatly improve safety. The flying height of drones indoors is about 2.5 meters. There are raised forklifts in the indoor warehouse, and the height of raised forklifts is about 1.8 meters. Therefore, the use of two lidar sensors can improve the accuracy of detection, prevent collisions and accidents, and ensure safety.

Embodiment 3

[0101] On the basis of any of the above-mentioned embodiments, such as Figure 1 to Figure 8 Shown, also comprise blade protection device, blade protection device comprises protection machine arm 21, and one end of protection arm 21 is fixed on the multi-rotor UAV body; The two ends of arm 21; protective net cover 25, protective net cover 25 is fixed on the net cover connector 25, and is positioned at the below of protective machine arm 21, and blade 11 is positioned at protective net cover 25 and rotates.

[0102] The net cover connector 25 is convenient for fixing the net cover, and makes the disassembly and assembly of the net cover easy and convenient for maintenance.

[0103] The driving motor 42 of the existing multi-rotor UAV is usually installed at the end of the machine arm, so other mechanisms are needed to extend the machine arm to install the net cover, resulting in poor stability and impact resistance, and the net cover connector 25 is fixed At the two ends of th...

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Abstract

The invention relates to an unmanned aerial vehicle, in particular to an indoor unmanned aerial vehicle which comprises a multi-rotor unmanned aerial vehicle body and a flight detection device, wherein the flight detection device is used for detecting flight parameters; a path detection device which is used for detecting flight path parameters; and a control device which is electrically connectedwith the motor of the multi-rotor unmanned aerial vehicle, the flight detection device and the path detection device, and is used for controlling the unmanned aerial vehicle according to the detectedflight parameters and flight path parameters. The indoor unmanned aerial vehicle is suitable for indoor flight so as to realize autonomous positioning, environmental perception and flight path determination of the unmanned aerial vehicle under the condition of no external GPS positioning signal and autonomous flight under the condition of guaranteeing the safety of workers, and the flight is stable and reliable.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle, especially an indoor unmanned aerial vehicle, an indoor unmanned aerial vehicle system and a control method. Background technique [0002] With the emergence of more and more types of drones on the market with advanced technology, people's needs are also increasing, such as environmental monitoring, fire detection and fire fighting, film shooting, racing performances, traffic inspections, etc. Some drones. But existing drones are mainly used outdoors. [0003] Compared with the outdoor environment, the indoor environment is a very complex task site, with many influencing factors such as closed three-dimensional space, electromagnetic uncertainty, and no GPS positioning. Therefore, it is very difficult to realize autonomous flight control and complete tasks of UAVs in this indoor environment. It is difficult to determine its own position, speed, attitude and heading only through the flight control i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64C27/20B64C39/02
CPCB64C27/20B64C39/02B64U10/10B64U2201/10
Inventor 白帆朱天成张智雄滕兵
Owner 无锡空如科技有限公司
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