Explosion-proof quadrotor unmanned aerial vehicle capable of automatically avoiding obstacles for underground coal mine
A quad-rotor UAV, energy-using autonomous technology, applied in the direction of rotorcraft, unmanned aerial vehicles, motor vehicles, etc., can solve problems such as poor autonomous obstacle avoidance, tilt, image shaking, etc. Effect
Active Publication Date: 2021-02-19
HENAN UNIVERSITY
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Problems solved by technology
[0003] The existing explosion-proof quadrotor drones generally have poor autonomous obstacle avoidance ability, and can only avoid obstacles on one side or a specific area when avoiding obstacles, and are prone to collision with obstacles and have poor stability. When using the camera to monitor the mine, it is easy to shake or tilt the image
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[0029]The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0030] see Figure 1-2 and Figure 4-5 , an explosion-proof four-rotor UAV capable of autonomous obstacle avoidance in a coal mine, including a UAV mechanism 1, a monitoring mechanism 2 and a platform 3, and they are connected to each other by wireless means, the UAV mechanism 1 includes The upper fixing table structure 11, the fuselage 12 and the stability maintenance base structure 13, a positioning seat 111 is fixed in the inner ca...
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The invention discloses an explosion-proof quadrotor unmanned aerial vehicle capable of autonomously avoiding obstacles for underground coal mines. The unmanned aerial vehicle comprises an unmanned aerial vehicle mechanism, a monitoring mechanism and a platform which are connected with one another in a wireless manner. The unmanned aerial vehicle can continuously emit ultrasonic signals to the periphery through an ultrasonic sensing module at the upper end of the unmanned aerial vehicle when flying in an underground coal mine, receives blocking signals through the ultrasonic sensing module when encountering an obstacle, and sends the blocking signals to a power supply control module; and a miniature power supply is controlled by the power supply control module to be connected with currentin an electromagnet on the side where the obstacle is located, meanwhile, the electromagnet is used for attracting an armature block located at the same horizontal position, and the armature block moves towards one side of the electromagnet and drives a reset elastic piece and a movable guide rod to move towards the inner side, due to that a strip magnet and a main magnetic block are opposite in magnetism, certain repulsive force is generated while the main magnetic block gets close to the long-strip-shaped magnet, the unmanned aerial vehicle mechanism is promoted to integrally move in the direction away from the obstacle, and a certain autonomous obstacle avoiding effect is achieved.
Description
technical field [0001] The invention relates to the technical field of inspection and rescue equipment in coal mines, in particular to an explosion-proof four-rotor unmanned aerial vehicle capable of autonomously avoiding obstacles in coal mines. Background technique [0002] The underground environment is complex, especially after the occurrence of coal mine disasters, rapid and effective rescue is an important task to reduce casualties and property losses. Since the mine environment is unknown, the key is to quickly obtain the underground environmental information in the daily inspection and decision-making command of disaster rescue and rescue. Using drones to enter the mine for environmental detection can better solve this problem. Environmental detection drones can not only detect the environmental information of mines, but also detect toxic gases after disasters, such as gas, carbon monoxide, etc., to provide information for the safety of the ambulance team, and to se...
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IPC IPC(8): B64D7/08B64D47/00B64C27/08G08C17/02
CPCB64D7/08B64D47/00B64C27/08G08C17/02B64U10/10B64U2101/30
Inventor 张德华张妮娜张鹏翼史二东秦春斌
Owner HENAN UNIVERSITY