阅读说明：本技术 一种四旋翼无人机 (Four rotor unmanned aerial vehicle ) 是由 谢信霖 罗伟彬 陈远周 潘岐泽 陈善机 钟尉 罗炜 龚德煌 李浩权 卜成浪 黄嘉 于 2020-05-19 设计创作，主要内容包括：本发明属于无人机技术领域,公开了一种四旋翼无人机,包括：机身主体；左旋翼组件和右旋翼组件,均包括第一悬臂、第一电机、第一桨叶和RTK天线,所述第一电机的固定端连接于所述第一悬臂前端的下侧,所述第一桨叶连接所述第一电机的活动端,所述RTK天线设置在所述第一悬臂前端的上侧。两个RTK天线分别设置在左旋翼组件和右旋翼组件的前端,间隔相比之前设计大大增加,同时防止机身主体的电磁干扰,同时将RTK天线设置在第一悬臂的上侧,使RTK天线处于较为干净的电磁环境,提升定位精度；第一桨叶位于RTK天线的正下方,有利于RTK天线的散热。(The invention belongs to the technical field of unmanned aerial vehicles, and discloses a quad-rotor unmanned aerial vehicle, which comprises: a main body of the body; levogyration wing assembly and dextrorotation wing assembly all include first cantilever, first motor, first paddle and RTK antenna, the stiff end of first motor connect in the downside of first cantilever front end, first paddle is connected the expansion end of first motor, the RTK antenna sets up the upside of first cantilever front end. The two RTK antennas are respectively arranged at the front ends of the left rotary wing assembly and the right rotary wing assembly, the interval is greatly increased compared with that of the previous design, the electromagnetic interference of the machine body main body is prevented, and meanwhile, the RTK antennas are arranged on the upper side of the first cantilever, so that the RTK antennas are in a cleaner electromagnetic environment, and the positioning accuracy is improved; the first paddle is located under the RTK antenna, and heat dissipation of the RTK antenna is facilitated.)

1. A quad-rotor unmanned aerial vehicle, comprising:

a body main body (1);

left rotor wing subassembly and right rotor wing subassembly all include first cantilever (2), first motor (3), first paddle (4) and RTK antenna (5), wherein:

the fixed end of the first motor (3) is connected to the lower side of the front end of the first cantilever (2), the first paddle (4) is connected to the movable end of the first motor (3), and the RTK antenna (5) is arranged on the upper side of the front end of the first cantilever (2).

2. Quad-rotor unmanned aerial vehicle according to claim 1, wherein a first electronic governor (6) is further provided between the first motor (3) and the RTK antenna (5), and the first electronic governor (6) is electrically connected to the first motor (3).

3. Quad-rotor unmanned aerial vehicle according to claim 2, wherein the first electronic governor (6) is arranged on the upper side of the first boom (2) and the RTK antenna (5) is arranged on the upper side of the first electronic governor (6).

4. Quad-rotor unmanned aerial vehicle according to claim 3, wherein a bracket (7) is arranged on the first boom (2), and the first motor (3), the RTK antenna (5) and the first electronic governor (6) are all connected to the bracket (7).

5. The quad-rotor unmanned aerial vehicle of claim 1, wherein the cradle (7) comprises a pipe clamp (70), a first cradle plate (71), a second cradle plate (72) and a third cradle plate (73), the pipe clamp (70) is sleeved on the surface of the first boom (2), the first cradle plate (71) is arranged on the lower side of the pipe clamp (70), the second cradle plate (72) is arranged on the upper side of the pipe clamp (70), the third cradle plate (73) is arranged above the second cradle plate (72) through a plurality of connecting columns, the first motor (3) is connected to the lower surface of the first cradle plate (71), the first electronic governor (6) is connected to the upper surface of the second cradle plate (72), and the RTK antenna (5) is connected to the upper surface of the third cradle plate (73).

6. A quad-rotor drone according to any one of claims 2 to 5, further comprising:

the front rotor assembly and the rear rotor assembly respectively comprise a second cantilever (8), a second motor (9) and a second blade (10), and the second motor (9) and the second blade (10) are arranged on the upper side of the front end of the second cantilever (8);

a second electronic speed regulator (11) is arranged on the lower side of the front end of the second cantilever (2);

and a pan-tilt camera (12) is arranged on the second cantilever (8) in the front rotor wing assembly.

7. Quad-rotor drone according to claim 6, characterized in that in both the left and right wing assemblies, the first boom (2) can rotate around its rear end by a certain angle to lock in the working and locked positions.

8. Quad-rotor unmanned aerial vehicle according to claim 7, wherein the fuselage body (1) is provided with a positioning element (13) for fixing the first boom (2) in the working position or the locking position, respectively, the positioning element (13) being capable of being snapped onto the first boom (2).

9. A quad-rotor drone according to claim 7, wherein the left rotor assembly and the right rotor assembly are each rotatable 90 °.

10. A quad-rotor drone according to claim 9, wherein the left rotor assembly and the right rotor assembly both rotate clockwise or both rotate counterclockwise.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a quad-rotor unmanned aerial vehicle.

Background

An rtk (real Time kinematic) technique, also called carrier phase differential technique, is based on the concept of relative positioning of GPS, and is established on the basis of processing the carrier phases of two measurement stations in real Time, and a reference station sends acquired carrier relative observed quantities and reference station coordinate information to a mobile base station through a data chain in real Time.

At present, the RTK technology is applied to the technical field of unmanned aerial vehicles, and high-precision positioning support can be provided for flight operation of the unmanned aerial vehicles by acquiring navigation satellite signals and RTK differential positioning information in real time. During the use, the RTK receiver of mobile base station sets up on the top of ground RTK measuring apparatu support, and differential positioning module and RTK antenna are fixed on unmanned aerial vehicle.

The traditional scheme is that the RTK antenna is installed on an antenna support above a central plate, the space of the central plate is limited, each electronic device is installed in the central plate in a centralized mode, the electromagnetic environment is very complex, the RTK antenna is prone to being interfered, the positioning accuracy is affected, the distance between the two RTK antennas is short, and the unmanned aerial vehicle is not favorable for obtaining high positioning accuracy.

Disclosure of Invention

The invention aims to provide a quad-rotor unmanned aerial vehicle, which aims to solve the problem that a high positioning accuracy is not easy to obtain when an RTK antenna is short.

In order to achieve the purpose, the invention adopts the following technical scheme:

a quad-rotor drone, comprising:

a main body of the body;

left rotor wing subassembly and right rotor wing subassembly all include first cantilever, first motor, first paddle and RTK antenna, wherein:

the stiff end of first motor connect in the downside of first cantilever front end, first paddle is connected the expansion end of first motor, the RTK antenna sets up the upside of first cantilever front end.

The two RTK antennas are respectively arranged at the front ends of the left rotary wing assembly and the right rotary wing assembly, the interval is greatly increased compared with that of the previous design, the electromagnetic interference of the machine body main body is prevented, and meanwhile, the RTK antennas are arranged on the upper side of the first cantilever, so that the RTK antennas are in a cleaner electromagnetic environment, and the positioning accuracy is improved; the first paddle is located under the RTK antenna, and heat dissipation of the RTK antenna is facilitated.

As an optimal scheme of the quad-rotor unmanned aerial vehicle, a first electronic speed regulator is further arranged between the first motor and the RTK antenna, and the first electronic speed regulator is electrically connected with the first motor. The first electronic speed regulator can control the rotating speed of the first motor, and meanwhile, the distance between the RTK antenna and the first motor is further isolated, so that the RTK antenna is prevented from being subjected to electromagnetic interference of the first motor.

As a preferable mode of the quad-rotor unmanned aerial vehicle, the first electronic governor is disposed on an upper side of the first boom, and the RTK antenna is disposed on an upper side of the first electronic governor. The height of the RTK antenna is further improved, and the antenna transmission effect is improved.

As the preferable scheme of the quad-rotor unmanned aerial vehicle, a bracket is arranged on the first cantilever, and the first motor, the RTK antenna and the first electronic speed regulator are all connected to the bracket.

As the preferred scheme of the above four-rotor unmanned aerial vehicle, the bracket comprises a pipe clamp, a first bracket plate, a second bracket plate and a third bracket plate, the pipe clamp is sleeved on the surface of the first cantilever, the first bracket plate is arranged on the lower side of the pipe clamp, the second bracket plate is arranged on the upper side of the pipe clamp, the third bracket plate is arranged above the second bracket plate through a plurality of connecting columns, the first motor is connected to the lower surface of the first bracket plate, the first electronic speed regulator is connected to the upper surface of the second bracket plate, and the RTK antenna is connected to the upper surface of the third bracket plate.

As above-mentioned four rotor unmanned aerial vehicle's preferred scheme, still include:

the front rotor assembly and the rear rotor assembly respectively comprise a second cantilever, a second motor and a second blade, and the second motor and the second blade are arranged on the upper side of the front end of the second cantilever;

a second electronic speed regulator is further arranged on the lower side of the front end of the second cantilever;

and a pan-tilt camera is arranged on the second cantilever in the front rotor wing assembly.

As above-mentioned four rotor unmanned aerial vehicle's preferred scheme, left rotor wing subassembly with in the right rotor wing subassembly, first cantilever homoenergetic can be around self rear end rotatory certain angle with the locking in the work position with the locking position.

As above-mentioned four rotor unmanned aerial vehicle's preferred scheme, the fuselage main part is equipped with respectively the work position or the locking position is fixed the setting element of first cantilever, the setting element can with first cantilever joint.

As a preferred solution of the above quad-rotor drone, the left rotor assembly and the right rotor assembly are both capable of rotating 90 °.

As above-mentioned four rotor unmanned aerial vehicle's preferred scheme, left rotor subassembly with right rotor subassembly all follows clockwise or all follows anticlockwise rotation.

The invention has the beneficial effects that: two RTK antennas set up respectively in the front end of levogyration wing subassembly and dextrorotation wing subassembly, design greatly increased before the interval is compared, prevent fuselage main part's electromagnetic interference simultaneously, set up the RTK antenna in the upside of first cantilever simultaneously, make the RTK antenna be in comparatively clean electromagnetic environment, promote positioning accuracy, in addition, first paddle is located the RTK antenna under, is favorable to the heat dissipation of RTK antenna.

Drawings

Fig. 1 is a schematic structural view of a quad-rotor drone according to an embodiment of the invention;

figure 2 is an enlarged view of a portion of a quad-rotor drone of an embodiment of the present invention;

figure 3 is an enlarged view of another portion of a quad-rotor drone of an embodiment of the present invention;

fig. 4 is an exploded view of a quad-rotor drone of an embodiment of the present invention.

In the figure:

1-a fuselage body; 2-a first cantilever; 3-a first motor; 4-a first paddle; 5-RTK antenna; 6-a first electronic governor; 7-a scaffold; 70-pipe clamp; 71-a first brace panel; 72-a second mounting plate; 73-a third mounting plate; 8-a second cantilever; 9-a second motor; 10-a second blade; 11-a second electronic governor; 12-pan-tilt camera; 13-positioning element.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The invention provides a quad-rotor unmanned aerial vehicle, which comprises a main body 1, a left rotor component, a right rotor component, a front rotor component and a rear rotor component, wherein the left rotor component, the right rotor component, the front rotor component and the rear rotor component are respectively positioned in four directions of the main body 1, as shown in figure 1.

The GPS navigation module is arranged on the machine body 1, the foot stand folder is arranged at the bottom of the machine body 1, and preferably, the foot stand folder is an electric foot stand folder, and an undercarriage is arranged on the electric foot stand folder.

In this embodiment, the left rotor assembly and the right rotor assembly have the same structure, and the front rotor assembly and the rear rotor assembly have the same structure.

As shown in fig. 2, each of the left-hand wing assembly and the right-hand wing assembly includes a first boom 2, a first motor 3, a first blade 4, and an RTK antenna 5, wherein: the stiff end of first motor 3 is connected in the downside of first cantilever 2 front end, and the loose end of first motor 3 is connected to first paddle 4, and RTK antenna 5 sets up the upside at first cantilever 2 front end.

It should be noted that the first suspension arm 2 is made of a carbon fiber material, the first suspension arm 2 is a cylinder with a diameter of 16mm, and the first motor 3 is a brushless motor.

Two RTK antennas 5 set up respectively at the front end of left-handed wing subassembly and right-handed wing subassembly, design greatly increased before the interval is compared, prevent fuselage main part 1's electromagnetic interference simultaneously, set up RTK antenna 5 at the upside of first cantilever 2 simultaneously, make RTK antenna 5 be in comparatively clean electromagnetic environment, promote positioning accuracy, in addition, first paddle 4 is located RTK antenna 5 under, is favorable to RTK antenna 5's heat dissipation.

In this embodiment, a first electronic speed regulator 6 is further disposed between the first motor 3 and the RTK antenna 5, and the first electronic speed regulator 6 is electrically connected to the first motor 3, so as to adjust the rotation speed of the first motor 3, further isolate the distance between the RTK antenna 5 and the first motor 3, and prevent the RTK antenna 5 from being subjected to electromagnetic interference of the first motor 3.

The first electronic governor 6 is disposed on the upper side of the first boom 2, and the RTK antenna 5 is disposed on the upper side of the first electronic governor 6. The height of the RTK antenna 5 is further improved, and the antenna transmission effect is improved.

The first cantilever 2 is provided with a bracket 7, and the first motor 3, the RTK antenna 5 and the first electronic speed regulator 6 are all connected to the bracket 7.

The bracket 7 comprises a pipe clamp 70, a first bracket plate 71, a second bracket plate 72 and a third bracket plate 73, the pipe clamp 70 is sleeved on the surface of the first cantilever 2, the first bracket plate 71 is arranged on the lower side of the pipe clamp 70, the second bracket plate 72 is arranged on the upper side of the pipe clamp 70, the third bracket plate 73 is arranged above the second bracket plate 72 through four connecting columns, the first motor 3 is connected on the lower surface of the first bracket plate 71, the first electronic speed regulator 6 is connected on the upper surface of the second bracket plate 72, and the RTK antenna 5 is connected on the upper surface of the third bracket plate 73.

In this embodiment, the tube clamp 70 is a 16mm carbon tube folding positioning seat.

It should be noted that, in order to further reduce the electromagnetic interference on the RTK antenna 5, the first bracket plate 71, the second bracket plate 72, and the third bracket plate 73 are all metal plates.

With continued reference to fig. 1 and 3, each of the front rotor assembly and the rear rotor assembly includes a second boom 8, a second motor 9, and a second blade 10, and each of the second motor 9 and the second blade 10 is disposed on an upper side of a front end of the second boom 8; a second electronic governor 11 is also provided on the lower side of the front end of the second boom 2. It should be noted that the first cantilever 2 and the second cantilever 8 are located on the same horizontal plane and have the same structure; the second motor 9 and the first motor 3 are the same in type, and the second blade 10 and the first blade 4 are the same in structure.

Further, a pan-tilt camera 12 is arranged on the second cantilever 8 in the front rotor assembly. The service environment of the quad-rotor unmanned aerial vehicle can be observed in real time through the pan-tilt camera 12.

Further, first cantilever 2 in the left-hand rotary wing subassembly and the right-hand rotary wing subassembly all can rotate certain angle with the locking in the work position and locking position around self rear end. In the present embodiment, the working position refers to a position where the first suspension arm 2 is perpendicular to the second suspension arm 8, that is, a position where the two first suspension arms 2 extend in the left-right direction, respectively. After 2 rotatory certain angles of first cantilever, can draw in this four rotor unmanned aerial vehicle in to reduce four rotor unmanned aerial vehicle's volume, improve and accomodate the nature.

In this embodiment, both the left and right rotor assemblies are capable of rotating 90 °, i.e., are capable of being parallel to the front and rear rotor assemblies.

And, preferably, left rotor assembly and right rotor assembly all rotate 90 along clockwise or anticlockwise, for example, all rotate 90 along clockwise, left rotor assembly is located preceding rotor assembly one side after the rotation, right rotor assembly is located one side of back rotor assembly after the rotation, this four rotor unmanned aerial vehicle is symmetrical along the fore-and-aft direction, and first half and latter half have the same width to the top of cloud platform camera is equipped with first cantilever 2 and second cantilever 8 and keeps off.

As shown in fig. 4, the main body 1 is provided with a positioning member 13 for fixing the first suspension arm 2 at the working position and the locking position, respectively, and the positioning member 13 can be clamped with the first suspension arm 2. Specifically, the fuselage body 1 is provided with one positioning member 13 on each of the left and right sides, and another positioning member 13 on each of the right side of the front rotor assembly and the left side of the rear rotor assembly.

The positioning part 13 is provided with a C-shaped buckle for limiting, and then can be clamped with the first cantilever 2.

In addition, in order to ensure the stability of the first cantilever 2 in the working position, two positioning members 13 are arranged on the working position, and one positioning member 13 is arranged on the locking position.

The working principle of the invention is as follows: two RTK antennas 5 set up respectively at the front end of left-handed wing subassembly and right-handed wing subassembly, design greatly increased before the interval is compared, prevent fuselage main part 1's electromagnetic interference simultaneously, set up RTK antenna 5 at the upside of first cantilever 2 simultaneously, make RTK antenna 5 be in comparatively clean electromagnetic environment, promote positioning accuracy, first paddle 4 is located RTK antenna 5 under simultaneously, is favorable to RTK antenna 5's heat dissipation.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.