CN-121973971-A - Unmanned vehicles that can suspend and load

CN121973971ACN 121973971 ACN121973971 ACN 121973971ACN-121973971-A

Abstract

The application discloses an unmanned aerial vehicle capable of being suspended and loaded, which comprises a body main body, a force measuring unit and a load bearing plate, wherein the body main body comprises an upper cover plate, a lower cover plate, a middle connecting piece and a plurality of machine arms which are arranged around the middle connecting piece along the circumferential direction, the upper cover plate and the lower cover plate are respectively positioned on the upper side and the lower side of the middle connecting piece and the upper side and the lower side of the plurality of machine arms, the upper cover plate, the lower cover plate, the middle connecting piece and the plurality of machine arms are fixedly connected into a whole, the force measuring unit comprises a plurality of pressure sensors arranged on the body main body, the load bearing plate is used for loading a load, the load bearing plate is arranged above the upper cover plate and is supported on the force measuring unit, and the force measuring unit is used for measuring the weight and the load distribution of the load. By arranging the main body of the machine body with higher overall stability and the force measuring unit capable of monitoring load weight and load distribution in real time, loading in a hovering state can be realized by applying the application, so that the time consumption of repeated take-off and landing operation can be reduced, and more application scenes can be adapted.

Inventors

ZHENG CANLUN
FU ZHENG
Ding Sibei
WANG ZHIKUN
XU JINMING
ZHAO SHIYU

Assignees

浙江大学
西湖大学

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (12)

1. A floatable loaded unmanned aerial vehicle, the unmanned aerial vehicle comprising: The machine body comprises an upper cover plate, a lower cover plate, a middle connecting piece and a plurality of machine arms which are arranged around the middle connecting piece along the circumferential direction, wherein the upper cover plate and the lower cover plate are respectively positioned at the upper side and the lower side of the middle connecting piece and the upper side and the lower side of the plurality of machine arms, and the upper cover plate, the lower cover plate, the middle connecting piece and the plurality of machine arms are fixedly connected into a whole; a force measuring unit including a plurality of pressure sensors mounted to the body main body; The bearing plate is used for loading a load, is arranged above the upper cover plate and is supported on the force measuring unit; wherein the force measuring unit is used for measuring the weight of the load and the load distribution.
2. The unmanned aerial vehicle capable of being suspended and loaded as recited in claim 1, wherein the middle connecting piece is formed with a butt joint surface in the circumferential direction, each horn is formed with a matching surface, and the matching surfaces on a plurality of the horns are circumferentially attached to the butt joint surfaces; the middle connecting piece is provided with first connecting hole along thickness direction, the horn is provided with the second connecting hole along thickness direction, upper cover plate and lower apron all be provided with along thickness direction with the third connecting hole that first connecting hole corresponds and with the fourth connecting hole that the second connecting hole corresponds, the middle connecting piece is through running through screw and upper cover plate and the lower cover plate connection of first connecting hole and third connecting hole, the horn is through running through screw and upper cover plate and the lower cover plate connection of second connecting hole and fourth connecting hole.
3. The floatable unmanned aircraft according to claim 2, wherein the intermediate connection member is rectangular and provided with arcuate sections at four corners, the abutment surface comprising a rectangular abutment surface formed in a side wall of the intermediate connection member and an arcuate abutment surface formed at the arcuate sections; The horn is provided with four, four the horn all is formed with along the first mating portion of first direction extension and along the second mating portion of second direction extension towards the one end of intermediate junction spare, first direction is perpendicular with the second direction, the mating surface including form in first mating surface of first mating portion, form in the second mating surface of second mating portion and form in arc mating surface between first mating portion and the second mating portion.
4. The floatable unmanned aerial vehicle of claim 1, wherein the horn comprises two sets of first support arms and two sets of second support arms, the first support arms having a length dimension greater than the length dimension of the second support arms, and wherein the two sets of first support arms are symmetrically distributed about their interface surfaces and the two sets of second support arms are symmetrically distributed about their interface surfaces.
5. The unmanned aerial vehicle capable of being suspended and loaded as recited in claim 4, wherein the first supporting arm is further provided with a reinforcing arm at a distal end thereof, the reinforcing arms on the two groups of the first supporting arms extend toward each other and are abutted at end portions, the reinforcing arms are provided with fifth connecting holes, the upper cover plate and the lower cover plate are each provided with a sixth connecting hole corresponding to the fifth connecting holes in a thickness direction, and the reinforcing arms are connected with the upper cover plate and the lower cover plate by screws penetrating the fifth connecting holes and the sixth connecting holes.
6. The unmanned aerial vehicle of claim 1, wherein the horn is provided with first and second mounting holes at a central position and a distal position, respectively, the number of the pressure sensors is the same as the number of the horn, and the pressure sensors are positioned outside the upper cover plate in a horizontal direction, and the pressure sensors are selectively mounted to the first mounting holes or the second mounting holes.
7. The floatable unmanned aerial vehicle of claim 6, wherein the load bearing plate is provided with a first mounting bracket corresponding to the first mounting hole and a second mounting bracket corresponding to the second mounting hole, and the pressure sensor is selectively secured to either the first mounting bracket or the second mounting bracket by glue or screws.
8. The unmanned aerial vehicle of any of claims 1 to 7, further comprising a power unit disposed at an outer end of the horn, the power unit comprising a motor and a blade driven to rotate by the motor, the edge of the load bearing plate extending downwardly at a position corresponding to the blade to form a shield plate.
9. The unmanned aerial vehicle capable of being suspended and loaded according to claim 8, wherein the bearing plate is of a grid-shaped hollow structure, and the bearing plate is made of carbon fiber.
10. The floatable unmanned aerial vehicle of any of claims 1 to 7, wherein the upper and lower cover plates are each provided with a heat dissipation gap, and wherein the upper and lower cover plates are each provided with seventh and eighth connection holes at locations surrounding the heat dissipation gap; the unmanned aerial vehicle further comprises a flight control unit, an electric tuning unit and a main control unit, wherein a seventh connecting hole on the upper cover plate is used for installing the flight control unit through a screw, a seventh connecting hole on the lower cover plate is used for installing the electric tuning unit through a screw, the main control unit is fixedly installed between the upper cover plate and the lower cover plate through a screw penetrating through the edge of the main control unit and the eighth connecting hole, and the main control unit is located at the radiating notch.
11. The floatable unmanned aerial vehicle of any of claims 1 to 7, further comprising a battery unit and a battery compartment for mounting the battery unit, the battery compartment being secured to the lower cover plate by a stud lock.
12. The floatable unmanned aerial vehicle of claim 11, further comprising an image acquisition unit comprising a head-up camera mounted to a side wall of the battery compartment, a down-view camera mounted to a bottom wall of the battery compartment, and an optical flow sensor mounted to a bottom wall of the battery.

Description

Unmanned vehicles that can suspend and load Technical Field The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle capable of being loaded in a suspending manner. Background An Unmanned AERIAL VEHICLE (UAV for short) is an aircraft that performs flight and mission execution by remote control or autonomous program control without requiring a pilot boarding operation. In recent years, unmanned aerial vehicles realize rapid development and application in the fields of logistics distribution, emergency rescue, industrial inspection and the like, and the load demand on the unmanned aerial vehicles in the application scene is larger and larger. At present, for a load-carrying unmanned aerial vehicle, when the load is placed, the unmanned aerial vehicle needs to be controlled to stop flying after landing, however, under the condition that the operation environment is complex (no surface of rough mountain or lake sea with flat ground) and the operation frequency is more, the operation of stopping flying and recharging on landing has the problems of inconvenient operation, long time consumption and the like. Disclosure of Invention The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the application provides a floatable unmanned aerial vehicle. In order to achieve the purpose, the application adopts the following technical scheme that the unmanned aerial vehicle capable of being carried in a suspending way comprises: The machine body comprises an upper cover plate, a lower cover plate, a middle connecting piece and a plurality of machine arms which are arranged around the middle connecting piece along the circumferential direction, wherein the upper cover plate and the lower cover plate are respectively positioned at the upper side and the lower side of the middle connecting piece and the upper side and the lower side of the plurality of machine arms, and the upper cover plate, the lower cover plate, the middle connecting piece and the plurality of machine arms are fixedly connected into a whole; a force measuring unit including a plurality of pressure sensors mounted to the body main body; The bearing plate is used for loading a load, is arranged above the upper cover plate and is supported on the force measuring unit; wherein the force measuring unit is used for measuring the weight of the load and the load distribution. The unmanned aerial vehicle has the advantages that through the arrangement of the main body with high overall stability and the force measuring unit capable of monitoring the load weight and the load distribution in real time, the unmanned aerial vehicle can be loaded in a hovering state, so that the time consumption of repeated take-off and landing operations can be reduced, and more application scenes can be adapted. Specifically, connect many horn as an organic wholes through upper cover plate, lower apron and intermediate junction spare cooperation, fuselage main part overall stability is higher, itself just is difficult for taking place the slope problem in the loading process. In addition, through setting up the dynamometry unit, the weight and the load distribution of direct detection load, from this flight control can directly be according to the load condition adjustment motor power, reduces feedback link's consuming time for unmanned vehicles can make the adjustment according to the load condition more fast, can avoid unmanned vehicles to easily appear obviously inclining in the load placement moment from this. Optionally, the middle connecting piece is formed with a butt joint surface in the circumferential direction, each horn is formed with a matching surface, the matching surfaces on the multiple horns are attached to the butt joint surface in a surrounding mode, the middle connecting piece is provided with a first connecting hole in the thickness direction, the horns are provided with a second connecting hole in the thickness direction, the upper cover plate and the lower cover plate are provided with a third connecting hole corresponding to the first connecting hole and a fourth connecting hole corresponding to the second connecting hole in the thickness direction, the middle connecting piece is connected with the upper cover plate and the lower cover plate through screws penetrating through the first connecting hole and the third connecting hole, and the horns are connected with the upper cover plate and the lower cover plate through screws penetrating through the second connecting hole and the fourth connecting hole. The middle connecting piece is rectangular, arc sections are arranged at four corners, the butt joint surface comprises a rectangular butt joint surface formed on the side wall of the middle connecting piece and an arc butt joint surface formed on the arc section, four machine arms are arranged, a first matching part extending along a