CN107472501A - Ultrasonic wave anti-interference structure and small-sized pilotless aircraft - Google Patents

Abstract

The invention discloses a kind of ultrasonic wave anti-interference structure and small-sized pilotless aircraft, it is arranged on the casing of SUAV, casing includes the upper shell with upper surface and the lower house with lower surface, upper shell connection relative with lower house and enclose jointly and set the installation cavity to be formed positioned between the two, ultrasonic wave anti-interference structure includes the plug being arranged in installation cavity, chamber plug sleeve is loaded on outside ultrasonic sensor, and is connected between upper shell and lower house.In above-mentioned ultrasonic wave anti-interference structure and small-sized pilotless aircraft, ultrasonic sensor is indirect to be installed on lower house, and it is set in plug, vacantly it is arranged at by plug between upper shell and lower house, so that ultrasonic sensor is isolated with upper shell and lower house, avoid being influenceed by upper shell and lower house vibrations in flight course, while also help the influence of vibrations of the filtering in SUAV flight course, lift ultrasonic wave data stability in SUAV.

Description

Ultrasonic anti-interference structure and small unmanned aircraft

technical field

The invention relates to the technical field of aircraft, in particular to an ultrasonic anti-interference structure and a small unmanned aircraft.

Background technique

In recent years, small unmanned aerial vehicles (UAVs) have attracted more and more attention due to their simple structure, convenient operation and high safety performance. Especially pocket UAVs mainly used for aerial photography or selfies have attracted a large number of aircraft model enthusiasts and enthusiasts. .

Among them, the ultrasonic sensor in the small UAV is a sensor developed by utilizing the characteristics of ultrasonic waves. Ultrasound is a mechanical wave with a vibration frequency higher than that of sound waves, which is generated by the vibration of the transducer chip under the excitation of voltage. Ultrasonic waves will produce significant reflections when they encounter impurities or interfaces to form echoes, and when they encounter moving objects, they will produce Doppler effects. The application of ultrasonic sensors plays an important role in determining the height in the entire flight control process in the field of drones, and is an important member of the sensor system of the whole drone.

However, due to the constraints of the spatial layout of small UAVs, ultrasonic sensors are vulnerable to the noise and vibration generated by the UAV itself during flight.

Contents of the invention

Based on this, it is necessary to address the problem that ultrasonic sensors in traditional small unmanned aircraft are easily affected by external noise and vibration, and provide an ultrasonic sensor that reduces external interference to ultrasonic sensors as a whole and improves the data stability of ultrasonic waves in small unmanned aircraft. Anti-interference structure.

It is also necessary to provide a small unmanned aerial vehicle with the ultrasonic anti-jamming structure.

An ultrasonic anti-interference structure, which is arranged on the casing of a small unmanned aerial vehicle, is used to reduce the interference of the outside world on the ultrasonic sensor, and the casing includes an upper casing with an upper surface and a lower casing with a lower surface. The upper shell and the lower shell are relatively connected and jointly surround and form an installation cavity between the two, wherein the ultrasonic anti-interference structure includes a rubber plug arranged in the installation cavity, and the cavity plug It is sleeved on the outside of the ultrasonic sensor and abutted between the upper casing and the lower casing.

In one of the embodiments, the rubber plug includes a plug body with an opening formed at one end and a support foot arranged on the periphery of the plug body, and a through hole is opened in the corresponding position of the lower shell and the rubber plug; the plug One end of the plug body provided with the opening is accommodated in the through hole, the other end of the plug body opposite to the opening abuts against the surface of the upper casing facing the lower casing, and the supporting legs are arranged on The plug body is provided with one end of the opening and is fixedly supported on the surface of the lower case facing the upper case.

In one of the embodiments, the ultrasonic interference prevention structure includes a sound-absorbing member accommodated in the installation cavity, and the sound-absorbing member is arranged on a surface of the lower shell facing the upper shell.

A small unmanned aircraft includes a casing, an ultrasonic sensor arranged on the casing, and the above-mentioned ultrasonic anti-interference structure.

In one of the embodiments, the small unmanned aircraft includes multiple sets of ducted propellers assembled on the casing, and each set of ducted propellers includes a ducted shell through which both ends pass through, a fixing seat, Power parts and propellers; each of the duct shells is assembled on the casing and forms a duct cavity passing through the upper surface and the lower surface, and the fixing seat is arranged in the duct cavity, The power element is assembled on the fixed seat and accommodated in the duct cavity, and the propeller is accommodated in the duct cavity and connected with the power element in transmission.

In one embodiment, the ultrasonic anti-interference structure includes a shock-absorbing rubber pad, and the shock-absorbing rubber pad is arranged on the surface of the fixing seat on which the power component is installed.

In one of the embodiments, each of the propellers in each group of ducted propellers includes a propeller disk and six blades integrally formed on the outer periphery of the propeller disk, each of the power components is a motor, and each The stators of each of the motors are fixedly connected to the fixing base, and each of the paddle discs is fixed on the rotor of each of the motors.

In one embodiment, the small unmanned aircraft includes an energy supply unit, a circuit board, a first heat conduction pad and a second heat conduction pad arranged in the installation cavity, and the circuit board is arranged in the lower casing Facing the surface of the upper case, the energy supply unit is disposed on the circuit board, the first heat conduction pad is disposed between the lower case and the circuit board, and the second heat conduction pad is disposed on the circuit board. between the energy supply unit and the upper casing.

In one of the embodiments, the upper case and/or the lower case are provided with heat dissipation holes communicating with the installation cavity.

In one of the embodiments, both the upper casing and the lower casing are aluminum alloy casings.

In the above-mentioned ultrasonic anti-interference structure and small unmanned aircraft, the ultrasonic sensor is not directly installed on the lower shell, but is set in the rubber plug, and is suspended between the upper shell and the lower shell through the rubber plug, so that the ultrasonic sensor It is isolated from the upper shell and the lower shell to avoid the impact of the vibration of the upper shell and the lower shell during the flight, and it is also beneficial to filter the impact of the vibration from the flight process of the small UAV, and to improve the ultrasonic wave in the small wireless Data stability in man-machine.

Description of drawings

Fig. 1 is the partial structural representation of the small unmanned aircraft in this preferred embodiment;

Fig. 2 is a structural schematic diagram of another angle of the small unmanned aircraft shown in Fig. 1;

Fig. 3 is a structural schematic diagram of the ducted propeller in the small unmanned aircraft shown in Fig. 1;

Fig. 4 is a structural schematic diagram of another angle of the ducted propeller shown in Fig. 3;

Fig. 5 is a schematic structural view of the propeller in the ducted propeller shown in Fig. 3;

Fig. 6 is the perspective view of small unmanned aircraft shown in Fig. 1;

Fig. 7 is a schematic structural view of the shock-absorbing rubber pad in the small unmanned aircraft shown in Fig. 6;

Fig. 8 is a schematic structural view of the rubber plug in the small unmanned aircraft shown in Fig. 6;

Fig. 9 is a structural schematic diagram of another angle of the rubber plug in the small unmanned aircraft shown in Fig. 6;

Fig. 10 is a structural schematic diagram of the sound-absorbing part in the small unmanned aircraft shown in Fig. 6 .

detailed description

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes of illustration only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in FIGS. 1 and 2 , a small unmanned aircraft 100 in this preferred embodiment includes a casing 10 , multiple sets of ducted propellers 20 (as shown in FIG. 3 ) and ultrasonic sensors 30 . Multiple groups of ducted propellers 20 are assembled on the casing 10 for powering the small unmanned aircraft 100 , and the ultrasonic sensors 30 are arranged on the casing 10 to determine the height of the small unmanned aerial vehicle 100 . In this specific embodiment, the small unmanned aircraft 100 is a pocket unmanned aircraft that can be stored in a pocket, and it is mainly used for Selfie, aerial photography and other entertainment delivery tools. It can be understood that in other embodiments, the small unmanned aircraft 100 can also be used for other functions, such as delivering gifts and so on.

The casing 10 includes an upper surface 110 and a lower surface 130 opposite to the upper surface 110 . Wherein, the upper surface 110 is the upper surface (facing the sky) of the small unmanned aircraft 100 in normal use, and the lower surface 130 is the lower surface (facing the ground) in normal use.

Specifically, the casing 10 includes an upper casing 11 and a lower casing 13 opposite to the upper casing 11, the upper surface 110 is arranged on the surface of the upper casing 11 facing away from the lower casing 13, and the lower surface 130 is arranged on the lower casing. Body 13 faces away from the surface of upper housing 11 . At the same time, the upper housing 11 and the lower housing 13 are relatively connected and jointly surround and form an installation cavity (not shown) between the two for accommodating and installing other components of the small UAV 100 .

In this specific embodiment, the casing 10 is generally in the shape of a square plate, and it is generally designed to have a certain streamlined shape in order to reduce the resistance during flight. For example, the four corners of the square plate structure are designed with rounded corners, etc. Here Make a limit. At the same time, the upper casing 11 and the lower casing 13 in the casing 10 are made of aluminum alloy material, which increases the strength of the whole machine while reducing the weight of the whole machine.

Please refer to FIG. 3 , each group of ducted thrusters 20 includes a ducted housing 21 , a fixing seat 23 , a power member 25 and a propeller 27 . Each duct casing 21 is assembled on the casing 10 and forms a duct cavity 210 passing through the upper surface 110 and the lower surface 130 . The fixing base 23 is disposed in the duct cavity 210 , and the power element 25 is assembled on the fixing base 23 and accommodated in the duct cavity 210 . The propeller 27 is accommodated in the duct cavity 210 and is connected to the power part 25 in a transmission manner. By accommodating both the power part 25 and the propeller 27 in the duct cavity 210, compared with the traditional design exposed outside the casing 10, the flight process is avoided. The propeller itself will be damaged if it touches the peripheral objects, which effectively improves the safety and reliability of the whole machine.

Please refer to FIG. 4 , specifically, each duct casing 21 is in the shape of a hollow cylinder with two ends passing through, and the fixing base 23 includes a base body 230 and a plurality of fixing arms 232 radiating from the outer periphery of the base body 230 . The base body 230 is generally disc-shaped, and a plurality of fixing arms 232 are uniformly disposed on the outer periphery of the base body 230 , and each fixing arm 232 is connected between the base body 230 and the inner cavity wall of the duct cavity 210 .

In this specific embodiment, there are three fixed arms 232, and the three fixed arms 232 are evenly arranged on the outer periphery of the seat body 230 in the form of an angle of 120 degrees between them, so as to ensure the force balance of the fixed seat 23, so as to be installed on the The power member 25 on it provides balanced supporting force. In addition, in order to improve the overall strength of the fixing seat 23 , each fixing seat 23 is integrally formed with its respective duct casing 21 . It can be understood that in other embodiments, the number and structure of the fixed arms 232 can be determined according to needs, and the fixed arms 232 can also be separately fixedly connected with the duct casing 21 by using other methods such as screws, welding, etc. All are not limited here.

Please refer to FIG. 5 , the propeller 27 includes a paddle disk 270 and six blades 272 integrally formed on the periphery of the paddle disk 270 . The paddle plate 270 is generally a hollow cylinder with both ends penetrating. Six paddles 272 are disposed on the outer peripheral surface of the paddle plate 270 along the rotation axis of the paddle plate 270 . Each blade 272 includes a blade root 2721 and a blade tip 2723 located at opposite ends. The blade root 2721 is connected to the paddle disk 270 and is inclined at a certain angle relative to the central axis of the paddle disk 270 . Each blade 272 is gradually twisted from one end of the blade root 2721 to one end close to the blade tip 2723 , and the blade tip 2723 is twisted from the lower casing 13 to the upper casing 11 . Wherein, the torsion directions of the six paddles 272 are all the same.

Understandably, in some other embodiments, the number of blades 272 and the twisting angle of the blade tip 2723 relative to the blade root 2721 may be determined according to requirements, which are not limited herein.

Please refer to Fig. 3 again, each power part 25 is a motor in this specific embodiment, the stator of each motor is fixedly connected with the fixed seat 23, and each paddle disk 270 is fixedly sleeved on the rotor of each motor, so that The paddles 272 are driven to rotate synchronously and coaxially.

In this specific embodiment, the ducted propellers 20 include four groups, and the four groups of ducted propellers 20 are arranged symmetrically around the casing 10 with respect to the geometric center of the casing 10, so as to maintain the balance of the whole machine during flight. Understandably, in some other embodiments, the number of duct propellers 20 can be determined according to needs, which is not limited here.

Please refer to FIG. 2 again, the ultrasonic sensor 30 is disposed in the installation cavity, and the probe end is exposed outside the lower casing 13 for detection. Among them, the ultrasonic wave is a mechanical wave with a vibration frequency higher than that of the sound wave produced by the vibration of the transducer chip under the excitation of voltage. It can produce significant reflection when it encounters impurities or interfaces to form echoes and encounter activities. Objects can produce the Doppler effect. Therefore, it is an important member of the whole small UAV 100 sensor system.

Please refer to FIG. 1 and FIG. 6, in one of the embodiments, the small unmanned aircraft 100 includes an ultrasonic anti-jamming structure 40, which is used to reduce the interference of the ultrasonic sensor from the outside during the flight as a whole, and improve the ultrasonic wave in the small unmanned aerial vehicle. 100% data stability, thereby improving the flight height and attitude stability of the whole aircraft.

Please refer to Fig. 7, specifically, the ultrasonic anti-interference structure 40 includes a shock-absorbing rubber pad 41, and the shock-absorbing rubber pad 41 is arranged on the surface of the fixed seat 23 where the power part 25 is installed, so as to avoid direct hard contact between the power part 25 and the fixed seat 23 . The noise (including wind noise and mechanical noise of the power part 25 itself) and vibration generated by the power part 25 during high-speed rotation have a greater impact on the validity of the ultrasonic sensor 30 value. The shock-absorbing rubber pad 41 can buffer and filter part of the vibration from between the fixing seat 23 and the power part 25 , change the propagation medium of the noise, and reduce the influence of the noise on the ultrasonic sensor 30 .

Please refer to Fig. 8 and Fig. 9, in one of the embodiments, the ultrasonic anti-interference structure 40 includes a rubber plug 43 arranged in the installation cavity, the rubber plug 43 abuts between the upper casing 11 and the lower casing 13, and the ultrasonic The sensor 30 is set in the rubber plug 43 , and the probe end of the ultrasonic sensor 30 is exposed to the lower casing 13 .

Specifically, the rubber plug 43 includes a plug body 430 with an opening 4301 formed at one end and a plurality of supporting legs 432 . The lower housing 13 and the rubber plug 43 are provided with a through hole 132 (as shown in FIG. 2 ), one end of the plug body 430 provided with the opening 4301 is accommodated in the through hole 132, and the other end of the plug body 430 opposite to the opening 4301 abuts. The surface of the upper case 11 facing the lower case 13 . A plurality of supporting legs 432 are disposed on the outer peripheral surface of the end of the plug body 430 provided with the opening 4301 , and are fixedly supported on the surface of the lower housing 13 facing the upper housing 11 . The ultrasonic sensor 30 is accommodated in the plug body 430 , and the probe end is exposed to the lower casing 13 through the opening 4301 and the through hole 132 . In this specific embodiment, the supporting legs 432 include three, and the three supporting legs 432 are uniformly arranged on the outer periphery of the plug body 430 . Understandably, in some other embodiments, the number of supporting feet 432 can be determined according to needs, and the position of the supporting feet 432 can also be set according to needs, as long as the rubber plug 43 is stably fixed on the upper casing 11 and the lower casing 11. Between the casings 13 is sufficient, and is not limited here.

That is to say, the ultrasonic sensor 30 is not directly installed on the lower housing 13, but is set in the plug body 430, and is suspended between the upper housing 11 and the lower housing 13 through the plug body 430, so that the ultrasonic sensor 30 and the lower housing 13 The upper shell 11 and the lower shell 13 are isolated to avoid the impact of the vibration of the upper shell 11 and the lower shell 13 during the flight, and at the same time, it is also beneficial to filter the vibration and the power part 25 from the small UAV 100 during the flight. The effect of wind noise. At the same time, the ultrasonic sensor 30 is set in the plug body 430 to prevent the small unmanned aerial vehicle 100 from being damaged by external violent impact.

Please refer to Fig. 10, in one of the embodiments, the ultrasonic anti-interference structure 40 includes a sound-absorbing member 45 housed in the installation cavity, and the sound-absorbing member 45 is arranged on the surface of the lower shell 13 facing the upper shell 11, and is used to change the size of the The transmission path of the noise during the flight of the man-machine 100 reduces the impact of the noise on the effective value of the ultrasonic sensor 30 . In this specific embodiment, the sound-absorbing member 45 is sound-absorbing cotton adhered to the surface of the lower case 13 of the small drone 100 facing the upper case 11 through adhesive backing. It can be understood that, in some other embodiments, the sound-absorbing member 45 can also be made of other sound-absorbing materials, and the location of the sound-absorbing member 45 can also be determined according to needs, for example, it is arranged on the upper shell in addition to the lower shell 13 The body 11 is not limited here.

Please refer to FIG. 1 again. In one embodiment, the small unmanned aircraft 100 includes an energy supply unit 50 , a circuit board 60 and a heat dissipation structure 70 . The circuit board 60 is accommodated in the installation cavity and arranged on the surface of the lower casing 13 facing the upper casing 11, and the energy supply unit 50 is accommodated in the installation cavity and arranged on the circuit board 60 for providing electric energy for the small unmanned aircraft 100 , specifically, the energy supply unit 50 is two lithium batteries arranged in the installation cavity. The heat dissipation structure 70 includes a first heat conduction pad 71, the first heat conduction pad 71 is arranged between the lower case 13 and the circuit board 60, and is used for conducting the heat generated by the energy supply unit 50 and the circuit board 60 to the lower case 13, through The lower case 13 dissipates heat. Wherein, in this specific embodiment, the lower casing 13 is made of aluminum alloy material, thereby further enhancing the heat dissipation efficiency of the energy supply unit 50 and the circuit board 60 .

Further, the heat dissipation structure 70 includes a second heat conduction pad 73, the second heat conduction pad 73 is arranged between the upper case 11 and the energy supply unit 50, and is used to conduct the heat generated by the energy supply unit 50 and the circuit board 60 to the upper case 11. Dissipate heat through the upper case 11. Wherein, in this specific embodiment, the lower casing 13 is made of aluminum alloy material, thereby further enhancing the heat dissipation efficiency of the energy supply unit 50 and the circuit board 60 .

Wherein, the first heat conduction pad 71 and the second heat conduction pad 73 are silicone heat conduction pads. It can be understood that, in some other embodiments, the first heat conduction pad 71 and the second heat conduction pad 73 may also be other heat conduction structures that facilitate heat conduction, which is not limited herein.

Still further, the heat dissipation structure 70 includes heat dissipation holes 75 opened on the upper casing 11 and/or the lower casing 13 , and the heat dissipation holes 75 communicate with the installation cavity for releasing heat inside the whole machine.

In the above-mentioned small unmanned aircraft 100, multiple sets of ducted propellers 20 are set as the power source of the whole machine, and the propellers 27 arranged on each set of ducted propellers 20 are accommodated in the ducted cavity 210, that is, invisible settings Instead of being exposed to the outside of the casing 10, the small unmanned aircraft 100 can avoid collisions with external objects due to the propeller during flight, thereby effectively improving the safety and reliability of the whole aircraft.

The above embodiment only expresses several implementation modes of the present invention, and the description thereof is more specific and detailed, but it should not be understood as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. a kind of ultrasonic wave anti-interference structure, is arranged on the casing of SUAV, for reducing outer bound pair supersonic sensing The interference of device, the casing include the upper shell with upper surface and the lower house with lower surface, the upper shell with it is described Lower house is connected and enclosed jointly relatively sets the installation cavity to be formed positioned between the two, it is characterised in that the ultrasonic wave is anti-tampering Structure includes the plug being arranged in the installation cavity, and the chamber plug sleeve is loaded on outside the ultrasonic sensor, and is connected to institute State between upper shell and the lower house.

2. ultrasonic wave anti-interference structure according to claim 1, it is characterised in that the plug includes one end and forms opening Cock body and be arranged at the support feet of the cock body periphery, the lower house offers through hole with the plug correspondence position；Institute State cock body and be provided with one end of the opening and be contained in the through hole, the other end of the relatively described opening of the cock body is connected to The upper shell towards the surface of the lower house, the support feet be arranged at the cock body be provided with the opening one end and The lower house is fixedly supported to towards the surface of the upper shell.

3. ultrasonic wave anti-interference structure according to claim 1, it is characterised in that the ultrasonic wave anti-interference structure includes The sound-absorbing part being contained in the installation cavity, the sound-absorbing part are arranged at the lower house towards the surface of the upper shell.

A kind of 4. small-sized pilotless aircraft, it is characterised in that including casing, the ultrasonic sensor being arranged on the casing and Ultrasonic wave anti-interference structure described in the claims 1-3 any one.

5. small-sized pilotless aircraft according to claim 4, it is characterised in that the small-sized pilotless aircraft includes being assemblied in institute Multigroup Ducted propeller on casing is stated, Ducted propeller described in every group includes duct housing, fixed seat, the power of both ends insertion Part and propeller；Each duct housing, which is assemblied on the casing and formed, penetrates the upper surface and the lower surface Duct chamber, the fixed seat is arranged at the duct intracavitary, and the force piece is assemblied in the fixed seat and is contained in institute Duct intracavitary is stated, the propeller is contained in the duct intracavitary and is connected with the force piece.

6. small-sized pilotless aircraft according to claim 5, it is characterised in that the ultrasonic wave anti-interference structure includes damping Rubber cushion, the damping rubber pad are arranged at the surface that the fixed seat installs the force piece.

7. small-sized pilotless aircraft according to claim 5, it is characterised in that each described in Ducted propeller described in every group Propeller includes oar disk and is integrally formed six blades for being arranged at the oar disk periphery, and each force piece is motor, often The stator of the individual motor is fixedly connected with the fixed seat, and each oar disk is fixed on the rotor of each motor.

8. small-sized pilotless aircraft according to claim 4, it is characterised in that the small-sized pilotless aircraft includes being arranged at institute State the energy in installation cavity and unit, circuit board, the first heat conductive pad and the second heat conductive pad are provided, the circuit board is arranged at described Lower house provides unit and is arranged on the circuit board towards the surface of the upper shell, the energy, and the first heat conductive pad is set Between the lower house and the circuit board, second heat conductive pad is arranged at the energy and provides unit and the upper shell Between.

9. small-sized pilotless aircraft according to claim 4, it is characterised in that the upper shell and/or the lower house are opened Provided with the heat emission hole connected with the installation cavity.

10. small-sized pilotless aircraft according to claim 4, it is characterised in that the upper shell and the lower house are Al-alloy casing.