阅读说明：本技术 一种高精度避障医用物流无人机 (Medical commodity circulation unmanned aerial vehicle of barrier is kept away to high accuracy ) 是由 谭佳龙 谭杰 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种高精度避障医用物流无人机,包括无人机机身,所述无人机机身前端和后端两侧均固定连接有机臂,四个所述机臂外端均固定连接有螺旋桨保护罩,所述螺旋桨保护罩通过转轴转动连接有螺旋桨,所述无人机机身前端底端固定连接有第一起落架,所述无人机机身后端底端固定连接有第二起落架,所述无人机机身后端开设有电池槽,所述电池槽内部卡合连接有锂电池,所述无人机机身内部设置有电控板。该种高精度避障医用物流无人机,在对高精度避障医用物流无人机方面具有较强的自动避障性能。(The invention discloses a high-precision obstacle-avoiding medical logistics unmanned aerial vehicle which comprises an unmanned aerial vehicle body, wherein the front end and the rear end of the unmanned aerial vehicle body are fixedly connected with arms, the outer ends of the four arms are fixedly connected with propeller protection covers, the propeller protection covers are rotatably connected with propellers through rotating shafts, the bottom end of the front end of the unmanned aerial vehicle body is fixedly connected with a first landing frame, the bottom end of the rear end of the unmanned aerial vehicle body is fixedly connected with a second landing frame, the rear end of the unmanned aerial vehicle body is provided with a battery jar, a lithium battery is clamped and connected in the battery jar, and an electric control board is arranged in the unmanned aerial vehicle body. This kind of medical commodity circulation unmanned aerial vehicle of barrier is kept away to high accuracy has stronger automation in keeping away the medical commodity circulation unmanned aerial vehicle of barrier to the high accuracy and keeps away the barrier performance.)

1. The utility model provides a high accuracy keeps away medical commodity circulation unmanned aerial vehicle of barrier, includes unmanned aerial vehicle fuselage (1), its characterized in that, equal fixedly connected with horn (2) in unmanned aerial vehicle fuselage (1) front end and rear end both sides, four all fixedly connected with screw safety cover (3) in horn (2) outer end, screw safety cover (3) are rotated through the pivot and are connected with screw (301), unmanned aerial vehicle fuselage (1) front end bottom end fixedly connected with first undercarriage (4), unmanned aerial vehicle fuselage (1) rear end bottom end fixedly connected with second undercarriage (401), unmanned aerial vehicle fuselage (1) rear end has seted up the battery jar, the inside block of battery jar is connected with the lithium cell, lithium cell surface fixedly connected with handle, unmanned aerial vehicle fuselage (1) front end both sides all fixedly connected with pilot lamp (5), unmanned aerial vehicle fuselage (1) front end fixedly connected with fixed station (6), the inside fixedly connected with panorama camera (7) of fixed station (6), unmanned aerial vehicle fuselage (1) is inside to be provided with automatically controlled board.

2. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 1, wherein a first ultrasonic sensor (8) and a second ultrasonic sensor (801) are fixedly connected to the top of the outer side of the fixed station (6), each of the first ultrasonic sensor (8) and the second ultrasonic sensor (801) comprises an ultrasonic transmitter and an ultrasonic receiver, and radar detectors (9) are arranged on two sides of the unmanned aerial vehicle body (1).

3. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 1, wherein a GPS satellite positioning module and a GLONASS satellite positioning module are arranged inside the unmanned aerial vehicle body (1), two antennas (10) are fixedly connected to the top end of the unmanned aerial vehicle body (1), and the GPS satellite positioning module and the GLONASS satellite positioning module are respectively electrically connected with the two antennas (10) through wires.

4. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 1, wherein a placing groove (11) is formed in the top of the unmanned aerial vehicle body (1), a sponge layer is filled in the placing groove (11), sliding grooves (12) are fixedly connected to both sides of the placing groove (11), the placing groove (11) is slidably connected with an electric door (13) through the sliding grooves (12), the electric door (13) is connected with the inside of the unmanned aerial vehicle body (1) in a clamping manner, and an unlocking panel (14) is fixedly connected to the outer surface of the unmanned aerial vehicle body (1).

5. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 1, wherein a connecting column (15) is in threaded connection with the bottom end of the unmanned aerial vehicle body (1), a clamping plate (16) is fixedly connected to the bottom end of the connecting column (15), the clamping plate (16) comprises a fixed clamping plate (1601) and a movable clamping plate (1602), a return spring (1603) is fixedly connected between the fixed clamping plate (1601) and the movable clamping plate (1602), a limiting column is arranged inside the return spring (1603), and a placing box is in snap-fit connection with the inside of the clamping plate (16).

6. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 1, wherein the electronic control board comprises a single chip microcomputer (17), the single chip microcomputer (17) is in signal connection with a communication module (18), the communication module (18) comprises a WIFI module and a 5G module, and the communication module (18) is in signal connection with a ground control terminal (19).

7. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 6, wherein an obstacle avoidance calculation module and an image analysis module are arranged inside the single chip microcomputer (17), the single chip microcomputer (17) is electrically connected with an autonomous obstacle avoidance module, the autonomous obstacle avoidance module is in signal connection with an information acquisition module (20), the information acquisition module (20) is in signal connection with a signal amplification module (21), the signal amplification module (21) is in signal connection with a signal conversion module (22), and the signal conversion module (22) is in signal connection with a radar detector (9), a first ultrasonic sensor (8), a second ultrasonic sensor (801) and a panoramic camera (7).

8. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 7, wherein the information collection module (20) is in signal connection with a GPS satellite positioning module and a GLONASS satellite positioning module, the GPS satellite positioning module and the GLONASS satellite positioning module are internally provided with a homonavigation module, and the information collection module (20) is in signal connection with an inertial measurement module (23).

9. The high-precision obstacle avoidance medical logistics unmanned aerial vehicle as claimed in claim 6, wherein the single chip microcomputer (17) is in signal connection with an optical flow sensor (24), and an obstacle speed measurement module is arranged inside the optical flow sensor (24).

Technical Field

The invention relates to the technical field of logistics unmanned aerial vehicles, in particular to a high-precision obstacle avoidance medical logistics unmanned aerial vehicle.

Background

Currently, the logistics mode of the drugs, the slices and other articles is mainly manual. With the expansion of hospital size and the occurrence of various emergencies, this approach has not been able to meet the demand for logistics of medications, particularly emergency medications. Firstly, more than one hospital yard generally exists in domestic large and medium-sized hospitals, different hospitals often need to call back medicines or transport pathological sections for various reasons (such as patient complications, expert consultation and the like), and regular buses are dispatched at fixed time, have no special person to take charge, and cannot ensure the safety and timely arrival of the medicines;

secondly, special patients need to take medicine temporarily, special medicines are needed for epidemic outbreak, emergency medicine of a public rescue system is needed, and the like, and the conventional logistics mode obviously cannot meet the requirements; finally, in a hospital, the problems that the hospital is large in scale, a ward is far away from a pharmacy, floors of the ward are high, an elevator is crowded and the like cause untimely drug transportation and the like.

Therefore, the medical logistics unmanned aerial vehicle capable of avoiding obstacles with high precision is improved.

Disclosure of Invention

In order to solve the technical problems, the invention provides the following technical scheme:

the invention relates to a high-precision obstacle avoidance medical logistics unmanned aerial vehicle which comprises an unmanned aerial vehicle body, wherein the two sides of the front end and the rear end of the unmanned aerial vehicle body are fixedly connected with arms, the outer ends of the four arms are fixedly connected with propeller protective covers, the propeller protective cover is rotationally connected with a propeller through a rotating shaft, the bottom end of the front end of the unmanned aerial vehicle body is fixedly connected with a first landing frame, the bottom end of the rear end of the unmanned aerial vehicle body is fixedly connected with a second undercarriage, the rear end of the unmanned aerial vehicle body is provided with a battery jar, the interior of the battery jar is connected with a lithium battery in a clamping way, the outer surface of the lithium battery is fixedly connected with a handle, the two sides of the front end face of the unmanned aerial vehicle body are fixedly connected with indicator lamps, the front end of the unmanned aerial vehicle body is fixedly connected with a fixed platform, the inside fixedly connected with panorama camera of fixed station, the inside automatically controlled board that is provided with of unmanned aerial vehicle fuselage.

According to a preferable technical scheme, a first ultrasonic sensor and a second ultrasonic sensor are fixedly connected to the top of the outer side of the fixed station, the first ultrasonic sensor and the second ultrasonic sensor respectively comprise an ultrasonic transmitter and an ultrasonic receiver, and radar detectors are arranged on two sides of the unmanned aerial vehicle body.

According to a preferable technical scheme, the unmanned aerial vehicle body is internally provided with a GPS satellite positioning module and a GLONASS satellite positioning module, the top end of the unmanned aerial vehicle body is fixedly connected with two antennas, and the GPS satellite positioning module and the GLONASS satellite positioning module are respectively and electrically connected with the two antennas through conducting wires.

According to the preferable technical scheme, the top of the unmanned aerial vehicle body is provided with a placing groove, a sponge layer is filled in the placing groove, sliding grooves are fixedly connected to two sides of the placing groove, the placing groove is connected with an electric door in a sliding mode through the sliding grooves, the electric door is connected with the inside of the unmanned aerial vehicle body in a clamping mode, and an unlocking panel is fixedly connected to the outer surface of the unmanned aerial vehicle body.

According to a preferred technical scheme, the bottom end of the unmanned aerial vehicle body is in threaded connection with a connecting column, the bottom end of the connecting column is fixedly connected with a clamping plate, the clamping plate comprises a fixed clamping plate and a movable clamping plate, a return spring is fixedly connected between the fixed clamping plate and the movable clamping plate, a limiting column is arranged inside the return spring, and a placing box is connected inside the clamping plate in a clamping mode.

As a preferred technical scheme, the electric control board comprises a single chip microcomputer, the single chip microcomputer is in signal connection with a communication module, the communication module comprises a WIFI module and a 5G module, and the communication module is in signal connection with a ground control end.

As a preferred technical scheme of the present invention, an obstacle avoidance calculation module and an image analysis module are arranged inside the single chip microcomputer, the single chip microcomputer is electrically connected with an autonomous obstacle avoidance module, the autonomous obstacle avoidance module is in signal connection with an information acquisition module, the information acquisition module is in signal connection with a signal amplification module, the signal amplification module is in signal connection with a signal conversion module, and the signal conversion module is in signal connection with a radar detector, a first ultrasonic sensor, a second ultrasonic sensor and a panoramic camera.

As a preferred technical scheme of the invention, the information acquisition module is in signal connection with the GPS satellite positioning module and the GLONASS satellite positioning module, the GPS satellite positioning module and the GLONASS satellite positioning module are internally provided with navigation modules, and the information acquisition module is in signal connection with the inertial measurement module.

As a preferable technical solution of the present invention, the single chip microcomputer is signal-connected to an optical flow sensor, and an obstacle speed measurement module is disposed inside the optical flow sensor.

The invention has the beneficial effects that:

1. according to the high-precision obstacle avoidance medical logistics unmanned aerial vehicle, medical supplies needing logistics can be placed conveniently through the arrangement grooves, the internal sponge layer can be protected, and the safety of the unmanned aerial vehicle is also protected by opening the unlocking panel; through the arranged clamping plate, large articles can be conveyed through the clamping plate, and can be fixedly suspended, so that the diversity and the practicability of the unmanned logistics plane are improved;

2. the high-precision obstacle-avoiding medical logistics unmanned aerial vehicle comprises an autonomous obstacle-avoiding module, an ultrasonic sensor and a camera are matched with each other, the camera transmits an image to an image analysis module, a single chip microcomputer determines the condition of a front obstacle, the ultrasonic sensor transmits ultrasonic waves to the front, the ultrasonic waves meet the front object and return, an ultrasonic receiver receives signals and transmits related data to an obstacle-avoiding calculation module, the distance between the obstacle and the unmanned aerial vehicle is calculated to determine the condition of the front obstacle, a control signal is transmitted to a navigation module to control the unmanned aerial vehicle to avoid the obstacle, the condition that the shape and the distance of the obstacle are judged wrongly is reduced, the judgment basis of the condition of the obstacle is increased, the shape and the distance of the obstacle can be determined more accurately, the judgment mistake is prevented, and the unmanned aerial vehicle is caused to collide with the obstacle, damage to the unmanned aerial vehicle is facilitated, and logistics transportation is facilitated;

3. according to the high-precision obstacle-avoiding medical logistics unmanned aerial vehicle, the first ultrasonic sensor, the second ultrasonic sensor and the radar detector are arranged, the radar detector can perform cyclic scanning on the left side range and the right side range of the unmanned aerial vehicle to detect obstacles in the left side range and the right side range of the unmanned aerial vehicle, the first ultrasonic sensor can detect the obstacles above the unmanned aerial vehicle, and the second ultrasonic sensor can detect the obstacles in front of and below the unmanned aerial vehicle, so that multi-directional detection of the unmanned aerial vehicle is realized, and the flight safety of the unmanned aerial vehicle is fully guaranteed;

4. this kind of medical commodity circulation unmanned aerial vehicle of barrier is kept away to high accuracy, through GPS satellite positioning module and the GLONASS satellite positioning module that sets up, two kinds of satellite positioning system fuse the location and can realize more accurate location to unmanned aerial vehicle.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a main body perspective view of a high-precision obstacle avoidance medical logistics unmanned aerial vehicle of the invention;

fig. 2 is a bottom perspective view of the high-precision obstacle avoidance medical logistics unmanned aerial vehicle of the invention;

FIG. 3 is a perspective view of a clamping plate of the high-precision obstacle avoidance medical logistics unmanned aerial vehicle;

FIG. 4 is a block diagram of a single chip microcomputer program of the high-precision obstacle avoidance medical logistics unmanned aerial vehicle;

fig. 5 is a flow diagram of an information acquisition module of the high-precision obstacle avoidance medical logistics unmanned aerial vehicle.

In the figure: 1. an unmanned aerial vehicle body; 2. a horn; 3. a propeller protective cover; 301. a propeller; 4. a first landing rack; 401. a second landing gear; 5. an indicator light; 6. a fixed table; 7. a panoramic camera; 8. a first ultrasonic sensor; 801. a second ultrasonic sensor; 9. a radar detector; 10. an antenna; 11. a placement groove; 12. a chute; 13. an electrically operated door; 14. an unlocking panel; 15. connecting columns; 16. clamping a plate; 1601. fixing the clamping plate; 1602. a movable clamping plate; 1603. a return spring; 17. a single chip microcomputer; 18. a communication module; 19. a ground control end; 20. an information acquisition module; 21. a signal amplification module; 22. a signal conversion module; 23. an inertial measurement module; 24. an optical flow sensor.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

Example (b): as shown in fig. 1-5, the high-precision obstacle-avoiding medical logistics unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, the front end and the rear end of the unmanned aerial vehicle body 1 are fixedly connected with arms 2, the outer ends of the four arms 2 are fixedly connected with propeller protection covers 3, the propeller protection covers 3 are rotatably connected with propellers 301 through rotating shafts, the bottom end of the front end of the unmanned aerial vehicle body 1 is fixedly connected with a first falling frame 4, the bottom end of the rear end of the unmanned aerial vehicle body 1 is fixedly connected with a second undercarriage 401, a battery jar is arranged at the rear end of the unmanned aerial vehicle body 1, a lithium battery is clamped and connected inside the battery jar, a handle is fixedly connected to the outer surface of the lithium battery, indicator lamps 5 are fixedly connected to the two sides of the front end face of the unmanned aerial vehicle body 1, a fixed table 6 is fixedly connected to the front end of the unmanned aerial vehicle body 1, a panoramic camera 7 is fixedly connected inside the fixed table 6, and an electric control board is arranged inside the unmanned aerial vehicle body 1.

Wherein, 6 outside top fixedly connected with first ultrasonic sensor 8 of fixed station and second ultrasonic sensor 801, first ultrasonic sensor 8 and second ultrasonic sensor 801 all include ultrasonic transmitter and ultrasonic receiver, and 1 both sides of unmanned aerial vehicle fuselage all are provided with radar detector 9, through the first ultrasonic sensor 8 that sets up, second ultrasonic sensor 801 and radar detector 9, radar detector 9 can carry out the barrier of cyclic scanning in order to detect the unmanned aerial vehicle left and right sides within range to unmanned aerial vehicle's the left and right sides scope, 8 detectable unmanned aerial vehicle top barriers of first ultrasonic sensor, barriers of second ultrasonic sensor 801 detectable unmanned aerial vehicle the place ahead and below, thereby realized diversified detection to unmanned aerial vehicle, unmanned aerial vehicle's flight safety has been fully ensured.

Wherein, 1 inside GPS satellite positioning module and the GLONASS satellite positioning module of being provided with of unmanned aerial vehicle fuselage, two antennas 10 of 1 top fixedly connected with of unmanned aerial vehicle fuselage, GPS satellite positioning module and GLONASS satellite positioning module pass through wire electric connection with two antennas 10 respectively, through the GPS satellite positioning module and the GLONASS satellite positioning module that set up, two kinds of satellite positioning system fuse the location and can realize more accurate location to unmanned aerial vehicle.

Wherein, standing groove 11 has been seted up at 1 top of unmanned aerial vehicle fuselage, 11 inside packings of standing groove have the sponge layer, the equal fixedly connected with spout 12 in 11 both sides of standing groove, standing groove 11 has electrically operated gate 13 through spout 12 sliding connection, electrically operated gate 13 is connected with 1 inside block of unmanned aerial vehicle fuselage, 1 outer fixed surface of unmanned aerial vehicle fuselage is connected with panel 14 of unblanking, standing groove 11 through setting up, be convenient for place the medical supplies who needs the commodity circulation with regard to those, and inside sponge layer can also protect, open through panel 14 of unblanking, its security has also been protected equally.

Wherein, 1 bottom threaded connection of unmanned aerial vehicle fuselage has spliced pole 15, spliced pole 15 bottom fixedly connected with cardboard 16, cardboard 16 includes fixed cardboard 1601 and activity cardboard 1602, fixedly connected with reset spring 1603 between fixed cardboard 1601 and the activity cardboard 1602, and the inside spacing post that is provided with of reset spring 1603, the inside block of cardboard 16 is connected with places the box, cardboard 16 through setting up, can carry out some great article of commodity circulation through cardboard 16, can fix and hang, commodity circulation unmanned aerial vehicle's variety and practicality have been increased.

Wherein, automatically controlled board includes singlechip 17, and singlechip 17 signal connection has communication module 18, and communication module 18 includes WIFI module and 5G module, and communication module 18 signal connection has ground control end 19, through the communication module 18 who sets up, is convenient for transmit signal when using unmanned aerial vehicle.

Wherein, the single chip 17 is internally provided with an obstacle avoidance calculation module and an image analysis module, the single chip 17 is electrically connected with an autonomous obstacle avoidance module, the autonomous obstacle avoidance module is in signal connection with an information acquisition module 20, the information acquisition module 20 is in signal connection with a signal amplification module 21, the signal amplification module 21 is in signal connection with a signal conversion module 22, the signal conversion module 22 is in signal connection with a radar detector 9, a first ultrasonic sensor 8, a second ultrasonic sensor 801 and a panoramic camera 7, the ultrasonic sensor and the camera are mutually matched through the arranged autonomous obstacle avoidance module, the camera transmits an image to the image analysis module, the condition of a front obstacle is determined by the single chip 17, the ultrasonic sensor transmits ultrasonic waves to the front, the ultrasonic waves meet a front object and return, the ultrasonic receiver receives the signals and transmits related data to the obstacle avoidance calculation module, and calculate the distance between barrier and the unmanned aerial vehicle, confirm the condition of place ahead barrier, send control signal to navigation module with this, control unmanned aerial vehicle avoids the barrier, the condition of misjudgement appears in shape and the distance to the barrier, the judgement foundation of the barrier condition has been increased, the shape and the distance of confirming the barrier that can be more accurate, prevent to appear misjudgement, lead to unmanned aerial vehicle to hit the barrier, damage unmanned aerial vehicle, be favorable to carrying out the commodity circulation transportation.

Wherein, information acquisition module 20 and GPS satellite positioning module and GLONASS satellite positioning module signal connection, GPS satellite positioning module and GLONASS satellite positioning module are inside to be provided with all navigation module, and information acquisition module 20 signal connection has inertial measurement module 23, through the inertial measurement module 23 that sets up, is convenient for carry out accurate location and independently keeps away the barrier.

Wherein, singlechip 17 signal connection has light stream sensor 24, and light stream sensor 24 is inside to be provided with barrier speed measurement module, and through the light stream sensor 24 that sets up, can realize carrying out the fixed point operation of hovering to unmanned aerial vehicle under the indoor environment of no GPS signal, the access article of being convenient for.

The working principle is as follows: the high-precision obstacle avoidance medical logistics unmanned aerial vehicle is different from the prior art, is reasonable in structure, convenient to use and simple to operate, and can enable a user to understand the working principle simply and clearly; when the device is used, firstly, the electric door 13 is opened, glass slices or samples are placed in the placing groove 11, the electric door 13 is closed, or larger objects need to be transported, the connecting column 15 is fixed through threads, then the objects are placed in the placing box and fixed through the clamping plate 16, after the fixing, a relevant path is set through the collecting controller, the unmanned aerial vehicle carries out flight transportation, when the objects meet the obstacles, automatic obstacle avoidance is carried out, through the arranged automatic obstacle avoidance module, the camera is matched with the camera through the ultrasonic sensor, the image is transmitted to the image analysis module through the camera, the condition of the front obstacles is determined through the single chip microcomputer 17, the ultrasonic sensor transmits ultrasonic waves to the front, the ultrasonic waves meet the front objects and return, the ultrasonic receiver receives signals, relevant data are transmitted to the obstacle avoidance calculation module, and the distance between the obstacles and the unmanned aerial vehicle is calculated, come the condition of confirming the place ahead barrier, with this send control signal to navigation module, control unmanned aerial vehicle avoids the barrier, the wrong condition of judgement has been appeared to the shape of barrier and distance to the reduction, the judgement foundation of the barrier condition has been increased, the shape of confirming the barrier that can be more accurate and distance thereof, prevent to appear the judgement mistake, lead to unmanned aerial vehicle to bump into the barrier, damage unmanned aerial vehicle, be favorable to carrying out the commodity circulation transportation, through GPS satellite positioning module and the GLONASS satellite positioning module that sets up, two kinds of satellite positioning system fuse the location and can realize the more accurate location to unmanned aerial vehicle.

Finally, it should be noted that: in the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.