A night flight airborne early warning device

Abstract

The invention discloses a night flight airborne early warning device, comprising: an unmanned aerial vehicle component, wherein the unmanned aerial vehicle component comprises an upper mounting plate and a lower mounting plate, wherein a camera device is arranged at the edge of the upper surface of the lower mounting plate, and a laser rangefinder is arranged at the edge of the lower surface of the lower mounting plate. The invention also comprises a center of gravity adjustment component, wherein the center of gravity adjustment component is arranged below the unmanned aerial vehicle component, and wherein the center of gravity adjustment component comprises an installation base, wherein a winding motor and a rope body are arranged inside the installation base, wherein a first through hole is arranged below the installation base, wherein one end of the rope body passes through the first through hole, wherein a driver is arranged at the middle and upper part of the rope body, wherein a connecting rod is arranged on the driver, and wherein adjusting rotors are arranged at both ends of the connecting rod. The invention provides obstacle avoidance data and images by arranging laser rangefinders and camera devices around the unmanned aerial vehicle component and utilizing a combination of visual obstacle avoidance and laser obstacle avoidance. The invention has the characteristics of power saving, long detection distance, fast scanning speed, good light interference resistance, and can realize the functions of multi-angle ranging and ranging without dead angle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle obstacle avoidance, and in particular to an airborne early warning device for night flights. Background Art

[0002] With the continuous development of science and technology, drones have played a huge role in the application of aerial photography, plant protection, inspection, police use and other fields, but there are also some factors that limit the development of the drone market to a certain extent, such as obstacle avoidance technology. Drones have different obstacle avoidance requirements in different application scenarios. For example, when drones are inspecting engineering sites, they need to maintain a special distance or angle with the main building to avoid possible collisions; in dim places such as tunnels, they need to be able to actively avoid existing obstacles, and even be able to quickly avoid flying animals such as bats, in order to complete the inspection task in the case of unclear vision.

[0003] Visual obstacle avoidance is currently widely used. It is similar to the principle of binocular visual distance estimation. It uses cameras at two angles to obtain different perspectives of an object and uses triangulation to calculate the distance to the object. The advantages of visual obstacle avoidance are power saving and suitability for well-lit environments. Its disadvantages are complex algorithms, high latency, and it is not suitable for dim or light-changing conditions. Recognition depends largely on the reflective properties of the object. Another widely used method is laser obstacle avoidance. Its principle is similar to that of infrared obstacle avoidance. It calculates the distance to the object through the time it takes for light to return to obtain a 3D depth map. Its advantages are long detection distance, fast scanning speed, and good resistance to light interference, but it has the disadvantages of limited accuracy and large size.

[0004] The prior art discloses an intelligent obstacle avoidance device and a drone using the device (CN108427435A). The drone intelligent obstacle avoidance device of the invention can automatically adjust the obstacle avoidance range according to the flight speed. The device can also change the flight speed of the drone, which can not only make the obstacle avoidance ranges in the four directions automatically increase or decrease in the same proportion, but also can only change the obstacle avoidance distance in the flight direction while keeping the minimum obstacle avoidance distance in the other three directions, so that the obstacle avoiding drone can greatly increase the flight speed when passing through the alley environment without generating abnormal obstacle avoidance effects on the walls on both sides. However, it lacks a device that can keep the drone stable and flexibly turn and accurately avoid obstacles during flight. Summary of the invention

[0005] The purpose of the present invention is to provide a night flight airborne early warning device to solve the problems of unstable center of gravity, inflexible steering, inaccurate obstacle avoidance information transmission, and easy entanglement of foreign objects on the flying rotor shaft of the UAV.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a night flight airborne early warning device, comprising: a drone assembly, the drone assembly having an upper mounting plate and a lower mounting plate, a drone arm is arranged between the upper mounting plate and the lower mounting plate, four drone arms are arranged circumferentially, a drone bracket is arranged below each drone arm, one end of each drone arm is axially connected with a flight rotor, a main controller is arranged in the middle of the upper surface of the lower mounting plate, a camera device is arranged at the edge of the upper surface of the lower mounting plate, four cameras are arranged equidistantly in the circumference, a laser rangefinder is arranged at the edge of the lower surface of the lower mounting plate, and four laser rangefinders are arranged equidistantly in the circumference; a night flight airborne early warning device also includes a center of gravity adjustment component, the center of gravity adjustment component is arranged below the drone assembly, the center of gravity adjustment component has a mounting base, the mounting base is fixedly connected to the lower surface of the lower mounting plate, a winding motor is arranged inside the mounting base, a rope body is wound around the winding motor, a first through hole is arranged below the mounting base, one end of the rope body passes through the first through hole, a driver is arranged in the middle and upper part of the rope body, a connecting rod is arranged on the driver, and adjusting rotors are arranged at both ends of the connecting rod;

[0007] The night flight airborne early warning device provides obstacle avoidance data and images by arranging laser rangefinders and camera devices around the UAV components, and utilizing a combination of visual obstacle avoidance and laser obstacle avoidance. The device has the characteristics of power saving, long detection distance, fast scanning speed, good resistance to light interference, and can realize multi-angle ranging and ranging without blind spots.

[0008] The design of the center of gravity adjustment component, on the one hand, can control the driver through the main controller to drive the adjustment blade when the system determines that obstacle avoidance is needed, and by controlling the rotation speed and direction of the adjustment blade, the purpose of assisting in adjusting the flight direction and route of the UAV can be achieved; on the other hand, the airflow driven by the adjustment blade has a rectifying effect on the airflow below the UAV component when it is flying, which can avoid shaking or vibration of the UAV component caused by turbulence.

[0009] A counterweight assembly is provided below the center of gravity adjustment assembly, and the counterweight assembly has a counterweight box body, the counterweight box body has a hollow structure, a second through hole is opened on the top of the counterweight box body, and one end of the rope body passes through the second through hole and extends to the bottom of the counterweight box body; a counterweight piece is provided below the counterweight box body, and the counterweight piece has a bottom plate, and a connecting column is provided in the middle of the bottom plate, and the connecting column has a hollow cylindrical structure, and one end of the connecting column is fixedly connected to the bottom surface of the counterweight box body, and a plurality of buffer bent plates are equidistantly provided on the outer wall of the connecting column in the circumferential direction, and the bottom of the buffer bent plate is fixedly connected to the bottom plate;

[0010] The design of the counterweight assembly, on the one hand, can raise or lower the position of the counterweight assembly by controlling the winding of the rope body on the winding motor, thereby controlling the center of gravity position of the bottom of the drone assembly; on the other hand, the counterweight box in the counterweight assembly can cooperate with the adjusting vane to achieve center of gravity adjustment. Specifically, when the system determines that obstacle avoidance is required, the rope body is wound up by the winding motor to make the mounting base, the driver, and the counterweight box fit together. At this time, the adjusting vane rotates around the rope body, which then drives the counterweight box to rotate, thereby making the counterweight box cooperate with the center of gravity adjustment assembly to adjust the center of gravity; on the other hand, the counterweight part under the counterweight assembly can play an anti-collision buffering effect on the bottom of the drone assembly when the drone assembly lands. Specifically, the bottom plate provided under the counterweight part can disperse the impact force of the drone assembly when it lands, and reduce the impact force through the buffer bent plate to avoid excessive impact force being transmitted to the upper part of the drone assembly, causing damage to the core components in the drone assembly.

[0011] A parachute device is provided in the middle of the upper surface of the upper mounting plate;

[0012] When a drone component falls accidentally, the drone component can be protected by a parachute device, which can not only make the drone component easy to be found at the falling point, but also reduce the degree of damage to its core components after the drone component falls.

[0013] An anti-collision component is axially connected to the lower part of one end of the drone arm. The anti-collision component has an anti-collision outer ring. The anti-collision outer ring has a circular ring structure. A supporting inner ring is coaxially arranged inside the ring body of the anti-collision outer ring. The supporting inner ring also has a circular ring structure. A supporting plate body is fixedly connected between the anti-collision outer ring and the supporting inner ring.

[0014] The design of the anti-collision component, on the one hand, is conducive to protecting the flying rotor blades, reducing the chance of the flying rotor blades being entangled in filamentary, linear or sheet-like objects such as wires and leaves during operation, and can also avoid direct impact contact with building walls or other hard objects; on the other hand, when a collision occurs, the anti-collision outer ring on the outside of the anti-collision component can reduce the collision impact and change the impact point through its own deformation and rotation around its axis, which helps the drone component to quickly resume stable flight after the collision.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This night flight airborne early warning device, by arranging laser rangefinders and camera devices around the UAV components, uses a combination of visual obstacle avoidance and laser obstacle avoidance to provide obstacle avoidance data and images. It has the characteristics of power saving, long detection distance, fast scanning speed, good resistance to light interference, and can achieve multi-angle ranging and ranging without blind spots;

[0017] 2. This night flight airborne early warning device, through the design of the center of gravity adjustment component, can achieve the purpose of assisting in adjusting the flight direction and route of the UAV by controlling the rotation speed and the direction of the rotor blades, and can also avoid shaking or vibration of the UAV components caused by turbulence;

[0018] 3. This night flight airborne early warning device, through the design of the counterweight assembly, can raise or lower the position of the counterweight assembly by controlling the winding of the rope body on the winding motor, thereby controlling the center of gravity position of the bottom of the drone assembly, and can also play an anti-collision buffer effect on the bottom of the drone assembly through the counterweight piece under the counterweight assembly when the drone assembly lands;

[0019] 4. This night flight airborne early warning device, through the design of the anti-collision component, is conducive to protecting the flying rotor blades. When a collision occurs, the anti-collision outer ring provided on the outside of the anti-collision component can reduce the collision impact and change the impact point through its own deformation and rotation around its axis, which helps to quickly restore the drone component to stable flight after the collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of a preferred embodiment of a night flight airborne early warning device provided by the present invention;

[0021] Figure 2 for Figure 1 The main view;

[0022] Figure 3 for Figure 2 A partial cross-sectional view of

[0023] Figure 4 for Figure 3 An enlarged view of Ⅰ-Ⅰ is shown;

[0024] Figure 5 for Figure 2 The schematic diagram of the structure of the parachute device after opening is shown;

[0025] Figure 6 for Figure 3 The structural schematic diagram of the counterweight shown;

[0026] Figure 7 for Figure 1 Schematic diagram of the structure of the anti-collision component shown.

[0027] In the figure: 1. UAV assembly; 11. upper mounting plate; 12. lower mounting plate; 13. parachute device; 14. UAV arm; 15. UAV bracket; 16. flight rotor; 17. laser rangefinder; 18. camera device; 19. main controller; 2. center of gravity adjustment assembly; 21. mounting base; 22. winding motor; 23. rope body; 24. connecting rod; 25. driver; 26. adjustment rotor; 27. first through hole; 3. counterweight assembly; 31. counterweight box; 32. second through hole; 33. counterweight piece; 34. bottom plate; 35. buffer bent plate; 36. connecting column; 4. anti-collision assembly; 41. anti-collision outer ring; 42. support inner ring; 43. support plate. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-4 , an embodiment of the present invention: a night flight airborne early warning device, comprising: a drone component 1, the drone component 1 has an upper mounting plate 11 and a lower mounting plate 12, a drone arm 14 is arranged between the upper mounting plate 11 and the lower mounting plate 12, and four drone arms 14 are arranged circumferentially, and a drone bracket 15 is arranged below each drone arm 14, and one end of each drone arm 14 is axially connected to a flight rotor 16, a main controller 19 is arranged in the middle of the upper surface of the lower mounting plate 12, a camera device 18 is arranged at the edge of the upper surface of the lower mounting plate 12, and four camera devices 18 are arranged equidistantly in the circumferential direction, and a laser rangefinder 17 is arranged at the edge of the lower surface of the lower mounting plate 12, and four laser rangefinders 17 are arranged equidistantly in the circumferential direction; a night flight airborne early warning device also includes a center of gravity adjustment component 2, and the center of gravity adjustment component 2 is arranged Below the drone assembly 1, the center of gravity adjustment assembly 2 has a mounting base 21, the mounting base 21 is fixedly connected to the lower surface of the lower mounting plate 12, a winding motor 22 is arranged inside the mounting base 21, a rope 23 is wound around the winding motor 22, a first through hole 27 is arranged below the mounting base 21, one end of the rope 23 passes through the first through hole 27, a driver 25 is arranged in the middle and upper part of the rope 23, a connecting rod 24 is arranged on the driver 25, and adjusting vanes 26 are arranged at both ends of the connecting rod 24 (the solution of the driver 25 driving the adjusting vane 26 is a prior art, which is widely used in this field and other fields, such as the solution in the existing patent CN103661899B, and the relevant prior art is not described in detail in this embodiment, and those skilled in the art should be able to understand it);

[0030] The night flight airborne warning device should also include a receiver, a PWM to PPM module, a single chip microcomputer, a flight control and a program module. The laser rangefinder 17 and the camera device 18 are used to detect the distance between the drone and obstacles in four directions. The receiver is used to receive the PWM signal value that affects the flight speed of the drone component 1. The PWM to PPM module is used to determine the obstacle avoidance distance according to the PWM signal value that affects the flight speed. The single chip microcomputer is used for data processing. The specific connection structure is: the laser rangefinder 17 and the camera device 18 are connected to the single chip microcomputer, the single chip microcomputer and the receiver are respectively connected to the PWM to PPM module, and the PWM to PPM module is connected to the flight control and the program module.

[0031] The night flight airborne warning device provides obstacle avoidance data and images by arranging laser rangefinders 17 and camera devices 18 around the UAV component 1, and utilizing a combination of visual obstacle avoidance and laser obstacle avoidance. The device has the characteristics of power saving, long detection distance, fast scanning speed, good resistance to light interference, and can realize multi-angle ranging and ranging without blind spots.

[0032] The design of the center of gravity adjustment component, on the one hand, can control the driver 25 through the main controller 19 to drive the adjusting blade 26 when the system determines that obstacle avoidance is needed, and by controlling the rotation speed of the adjusting blade 26 and the blade direction of the adjusting blade 26, the purpose of assisting in adjusting the flight direction and route of the UAV can be achieved; on the other hand, the airflow driven by the adjusting blade 26 has a rectifying effect on the airflow below the UAV component 1 when it is flying, which can avoid shaking or vibration of the UAV component 1 caused by turbulence.

[0033] See also Figure 1-4 , Figure 6 A counterweight assembly 3 is provided below the center of gravity adjustment assembly 2. The counterweight assembly 3 has a counterweight box 31. The counterweight box 31 has a hollow structure. A second through hole 32 is provided on the top of the counterweight box 31. One end of the rope body 23 passes through the second through hole 32 and extends to the bottom of the counterweight box 31. A counterweight piece 33 is provided below the counterweight box 31. The counterweight piece 33 has a bottom plate 34. A connecting column 36 is provided in the middle of the bottom plate 34. The connecting column 36 has a hollow cylindrical structure. One end of the connecting column 36 is fixedly connected to the bottom surface of the counterweight box 31. A plurality of buffer bent plates 35 are equidistantly provided on the outer wall of the connecting column 36 in the circumferential direction. The bottom of the buffer bent plate 35 is fixedly connected to the bottom plate 34.

[0034] The design of the counterweight assembly 3, on the one hand, can raise or lower the position of the counterweight assembly 3 by controlling the winding of the rope body 23 on the winding motor 22, thereby controlling the center of gravity position of the bottom of the drone assembly 1; on the other hand, the counterweight box 31 in the counterweight assembly 3 can cooperate with the adjusting rotor 26 to achieve center of gravity adjustment. Specifically, when the system determines that obstacle avoidance is required, the winding motor 22 winds up the rope body 23, so that the mounting base 21, the driver 25, and the counterweight box 31 fit together. At this time, the adjusting rotor 26 rotates around the rope body 23, and then its It will drive the counterweight box 31 to rotate, and then the counterweight box 31 will cooperate with the center of gravity adjustment component 2 to adjust the center of gravity; on the other hand, the counterweight part 33 below the counterweight component 3 can play an anti-collision buffering effect on the bottom of the drone component 1 when the drone component 1 lands. Specifically, the bottom plate 34 provided below the counterweight part 33 can disperse the impact force of the drone component 1 when it lands, and reduce the impact force through the buffer bent plate 35 to avoid excessive impact force being transmitted to the upper part of the drone component 1, causing damage to the core components in the drone component 1.

[0035] See also Figure 5 , a parachute device 13 is provided in the middle of the upper surface of the upper mounting plate 11;

[0036] When the drone assembly 1 falls accidentally, the drone assembly 1 can be protected by the parachute device 13, which can not only make the drone assembly 1 easy to be found at the falling point, but also reduce the degree of damage to the core components of the drone assembly 1 after the falling.

[0037] See also Figure 1 , Figure 7 An anti-collision component 4 is axially connected to the lower part of one end of the drone arm 14. The anti-collision component 4 has an anti-collision outer ring 41. The anti-collision outer ring 41 has a circular ring structure. A support inner ring 42 is coaxially arranged inside the ring body of the anti-collision outer ring 41. The support inner ring 42 also has a circular ring structure. A support plate 43 is fixedly connected between the anti-collision outer ring 41 and the support inner ring 42.

[0038] The design of the anti-collision component 4, on the one hand, is conducive to protecting the flying rotor 16, reducing the probability of the flying rotor 16 being entangled in filamentary, linear or sheet-like objects such as wires and leaves during operation, and can also avoid direct impact contact with building walls or other hard objects; on the other hand, when a collision occurs, the anti-collision outer ring 41 provided on the outside of the anti-collision component 4 can reduce the collision impact and change the impact point through its own deformation and rotation around its axis, which helps to quickly restore the drone component 1 to stable flight after the collision.

[0039] Working principle:

[0040] During the flight, the drone component 1 in the night flight airborne warning device collects information from the laser rangefinder 17 and the camera device 18 through the single-chip microcomputer, detects the distance of the obstacle in front in real time, and transmits the PWM signal value to the receiver;

[0041] After the receiver receives the pwm signal value affecting the flight speed of the drone component 1, it transmits it to the pwm to ppm module;

[0042] Then the PWM to PPM module reads the PWM signal value that affects the flight speed, and calculates the obstacle avoidance distance based on the proportional algorithm;

[0043] Then the PWM-to-PPM module performs a comparison operation based on the obstacle avoidance distance and the distance between the device and the obstacle measured by the single-chip microcomputer to determine whether it poses a threat to flight safety and outputs intelligent obstacle avoidance flight information;

[0044] After receiving the intelligent obstacle avoidance flight information from the pwm-to-ppm module, the flight control and program modules output electrical signals to the main controller 19, which then adjusts the drone component 1 to perform intelligent obstacle avoidance.

[0045] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A night flight airborne early warning device, comprising: A drone component (1), the drone component (1) comprising an upper mounting plate (11) and a lower mounting plate (12), a drone arm (14) being arranged between the upper mounting plate (11) and the lower mounting plate (12), four drone arms (14) being arranged circumferentially, a drone bracket (15) being arranged below each drone arm (14), one end of each drone arm (14) being axially connected to a flight rotor blade (16), a main controller (19) being arranged in the middle of the upper surface of the lower mounting plate (12), a camera device (18) being arranged at an edge of the upper surface of the lower mounting plate (12), four cameras (18) being arranged equidistantly in the circumferential direction, a laser rangefinder (17) being arranged at an edge of the lower surface of the lower mounting plate (12), four laser rangefinders (17) being arranged equidistantly in the circumferential direction, A center of gravity adjustment component (2), wherein the center of gravity adjustment component (2) is arranged below the drone component (1). Features: The center of gravity adjustment component (2) comprises a mounting base (21), the mounting base (21) being fixedly connected to the lower surface of the lower mounting plate (12), a winding motor (22) being provided inside the mounting base (21), a rope body (23) being wound around the winding motor (22), a first through hole (27) being provided below the mounting base (21), one end of the rope body (23) passing through the first through hole (27), a driver (25) being provided at the middle and upper part of the rope body (23), a connecting rod (24) being provided on the driver (25), and adjusting rotary vanes (26) being provided at both ends of the connecting rod (24); A counterweight assembly (3) is provided below the center of gravity adjustment assembly (2), the counterweight assembly (3) having a counterweight box (31), the counterweight box (31) having a hollow structure, a second through hole (32) being provided at the top of the counterweight box (31), and one end of the rope (23) passing through the second through hole (32) and extending to the bottom of the counterweight box (31); A counterweight member (33) is provided below the counterweight box (31), and the position of the counterweight assembly (3) is raised or lowered by controlling the winding of the rope body (23) on the winding motor (22), thereby controlling the center of gravity position of the bottom of the drone assembly (1); a parachute device (13) is provided in the middle of the upper surface of the upper mounting plate (11); The counterweight member (33) has a bottom plate (34), a connecting column (36) is provided in the middle of the bottom plate (34), the connecting column (36) has a hollow cylindrical structure, one end of the connecting column (36) is fixedly connected to the bottom surface of the counterweight box (31), and a plurality of buffer bent plates (35) are equidistantly provided on the outer wall of the connecting column (36) in the circumferential direction, and the bottom of the buffer bent plate (35) is fixedly connected to the bottom plate (34).

2. The night flight airborne early warning device according to claim 1, characterized in that: An anti-collision component (4) is axially connected to the lower side of one end of the drone arm (14); the anti-collision component (4) comprises an anti-collision outer ring (41); the anti-collision outer ring (41) has a circular ring structure; a supporting inner ring (42) is coaxially arranged inside the ring body of the anti-collision outer ring (41); the supporting inner ring (42) also has a circular ring structure; a supporting plate (43) is fixedly connected between the anti-collision outer ring (41) and the supporting inner ring (42).

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