Amphibious calibration unmanned aerial vehicle and anti-collision walking mechanism thereof

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an amphibious calibration unmanned aerial vehicle and an anti-collision walking mechanism thereof. The anti-collision walking mechanism comprises a spherical frame, a fixed outer ring, a rotating inner ring, a fixed shaft and a rotating shaft, the fixed shaft and the rotating shaft are perpendicularly crossed, the fixed outer ring and the rotating inner ring are in sliding fit, the spherical frame can be driven by rotor power to roll to achieve ground walking, and the anti-collision function is achieved during flight. The detection device comprises a telescopic assembly mounted on a fixed shaft and a contact type image sensor, is not influenced by ambient light, adapts to multiple scenes through amphibious motion, and the telescopic assembly can go deep into a narrow space to eliminate a blind area, so that the survival ability and the operation range in a complex environment are greatly improved, and the detection device is suitable for the fields of post-disaster rescue, pipeline inspection, building surveying and mapping and the like.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to an amphibious calibration UAV and its collision avoidance walking mechanism. Background Technology

[0002] With the rapid development of drone technology, the demand for drones in complex environments such as disaster relief, pipeline inspection, and building surveying is increasing. However, traditional sensors relying on infrared and lidar are prone to failure in blinding conditions such as smoke, darkness, or dust, causing drones to be unable to accurately judge the shape and distance of surrounding obstacles, posing a safety hazard of collision damage. To address this, some solutions attempt to achieve obstacle avoidance through fixed-structure drone mechanical anti-collision cage technology. Chinese invention patent CN120383029A uses a ball cage protective mechanism, where when the drone body collides with an obstacle, the ball cage part contacts the obstacle, thus preventing the rotor from directly contacting the obstacle, but it cannot adapt to land-based navigation. Other solutions achieve obstacle avoidance through multi-modal sensor fusion, such as Chinese invention patent CN120621749A, which uses visual sensors and lidar for area detection, but is limited by signal reflection interference or ambient light limitations. Summary of the Invention

[0003] The present invention aims to provide an amphibious calibration drone and its anti-collision walking mechanism, enabling the drone to perform amphibious calibration on the ground, on walls or in the air in environments with limited or blind vision, while also having anti-collision function.

[0004] To achieve the above objectives, the present invention provides an amphibious calibration unmanned aerial vehicle (UAV) and its collision avoidance walking mechanism, comprising the UAV body and further comprising: The anti-collision walking mechanism includes a spherical frame, a fixed outer ring, a rotating inner ring, a fixed shaft, and a rotating shaft. The fixed outer ring is connected to the spherical frame, and the rotating outer ring slides against the inner wall of the fixed outer ring. The rotating shaft is rotatably connected to the drone body, and both ends of the rotating shaft are fixedly connected to the spherical frame. The fixed shaft is fixedly connected to the drone body, and both ends of the fixed shaft are fixedly connected to the rotating inner ring. The fixed shaft and the rotating shaft are arranged perpendicularly to each other. The detection device includes a telescopic assembly and a contact image sensor. The contact image sensor is located at the working end of the telescopic assembly, which is mounted on a fixed shaft.

[0005] The working principle and beneficial effects of this solution are as follows: When the drone moves on the ground or wall, no additional power source is required. It moves directly using the power of its own rotor. The contact surface between the spherical frame and the ground or wall generates friction, causing the spherical frame and the fixed outer ring to rotate, thus achieving overall rolling movement on the ground. During this process, the fixed outer ring and the rotating inner ring form a sliding fit. The middle of the fixed shaft is fixedly connected to the drone body, and both ends of the fixed shaft are fixedly connected to the rotating inner ring. The fixed shaft and the rotating shaft are perpendicularly intersecting, so that when the spherical frame rolls, the rotating inner ring, the fixed shaft, and the detection device fixed to the fixed shaft remain relatively stationary and will not shift with the rotation of the spherical frame. At the same time, the spherical frame, as a support structure for ground movement, can adapt to uneven ground with its spherical contour, improving walking stability. When the drone switches to aerial flight mode, the rotor provides lift to achieve hovering or movement in the air. At this time, the spherical frame of the anti-collision walking mechanism acts as an anti-collision protection structure. When the drone encounters a collision, the structural strength of the frame itself absorbs the impact force, preventing damage to the drone body and core components.

[0006] During ground movement, wall movement, or aerial flight, the telescopic components of the detection device can be extended at any time, allowing the contact image sensor at the end to directly contact the ground, wall, or other environmental surfaces to acquire high-definition image information at the contact point. Because the detection device is fixed on a stationary axis, the sensor maintains a stable detection posture even when the spherical frame is in motion, ensuring the accuracy of the collected data. By moving the drone in different locations and combining the multi-directional telescopic detection of the telescopic components, the image information and position information of each contact point can be fused and processed to construct a 3D model of the entire environment, achieving full-scene calibration. For narrow spaces such as slits and gaps, the telescopic components can be extended into the slits, allowing the contact image sensor to penetrate deeper into confined areas, achieving precise detection in narrow spaces that traditional detection methods cannot cover, eliminating blind spots.

[0007] Beneficial effects: (1) This solution uses a contact image sensor to replace the traditional visual sensor, so that the detection does not depend on ambient light and visibility. It can still stably acquire environmental information in visually blinding environments such as haze and dust, solving the perception problem in visually limited environments. At the same time, the spherical frame can play a collision protection role in both flight and walking states. The spherical structure can disperse the impact force, greatly reducing the risk of collision damage to the UAV and improving the equipment's survivability in complex environments. (2) Ground walking is achieved by driving the spherical frame to roll through the rotor power, without the need for additional ground drive mechanism, simplifying the structure and reducing energy consumption. Moreover, the spherical design of the spherical frame gives it good ground adaptability and obstacle crossing ability. Combined with the aerial flight function, it can achieve amphibious movement switching between land and air. This amphibious capability allows the UAV to adapt to a variety of environments, expanding its application range in disaster relief, pipeline inspection, building surveying and other fields. (3) The telescopic characteristics of the telescopic component allow the contact image sensor to penetrate into narrow spaces such as slits, filling the blind spots of traditional detection equipment. The detection device is fixed on a stationary fixed axis, decoupling from the movement of the spherical frame. Optionally, the working end of the telescopic component is also equipped with a servo motor, which drives the contact image sensor to reciprocate. By driving the contact image sensor to reciprocate, the detection coverage of the contact image sensor can be significantly expanded and the detection blind spots reduced without moving the UAV body and the telescopic component.

[0008] Optionally, the detection device also includes a pressure sensor and a temperature sensor, both of which are located at the working end of the telescopic assembly. The pressure sensor prevents damage to the sensor or the object being detected due to excessive pressure, and can also determine the hardness of the contact surface by measuring pressure changes, providing data support for environmental material identification; the temperature sensor can simultaneously collect the ambient temperature at the detection point, expanding the operational capabilities of the UAV.

[0009] Optionally, an ultrasonic sensor is installed on the outer wall of the fixed outer ring. The fixed outer ring moves synchronously with the spherical frame, and the ultrasonic sensor can achieve 360° all-around detection without blind spots, further improving the collision avoidance safety of the drone in complex environments.

[0010] Optionally, the inner wall of the fixed outer ring has an annular groove, and the outer wall of the rotating inner ring has a matching annular groove. A retainer is provided inside the annular groove, and a ball is disposed in the retainer. The annular groove guides and restricts the ball, and the retainer is used to maintain the spacing between the balls, preventing the balls from slipping to the bottom. This significantly reduces the frictional resistance when the rotating outer ring and the fixed outer ring move relative to each other, making the rotation of the spherical frame smoother.

[0011] Optionally, the telescopic component can be an electric actuator or a telescopic cylinder. The telescopic stroke of the electric actuator can be precisely adjusted, while the telescopic cylinder features high power output and strong resistance to harsh environments, and can be selected according to the application scenario.

[0012] Optionally, the spherical frame includes several connecting rods and at least two connecting surfaces, with the connecting rods and connecting surfaces being detachably connected. Different specifications of connecting rods or connecting surfaces can be replaced according to operational needs, adjusting the size or perforation density of the spherical frame to adapt to different sizes of UAVs or different detection scenarios, thus improving the scalability of the device.

[0013] Optionally, the spherical frame is hollow and integrally molded. This integral molding gives the spherical frame higher structural integrity and strength, eliminates assembly gaps, and better disperses impact forces, thus improving collision protection.

[0014] Optionally, the contact image sensor includes a base, a camera, and several LEDs. The base is recessed, and the camera and LEDs are mounted inside the recess. The recess of the base is covered with a reflective coating film and a transparent elastomer. When an object is pressed onto the elastomer, the reflective coating film deforms to resemble the shape of the object's surface, but retains a certain reflectivity. When viewed from behind, the reflective coating film appears as an embossed replica of the surface. The camera in the center of the sensor records an image of this embossed design, illuminated by LEDs from different directions. Through shading from multiple directions, the surface normal on each pixel of the shading image is estimated, and then the surface normal is integrated to obtain the three-dimensional shape of the surface. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an amphibious calibration drone in an embodiment of the present invention; Figure 2 This is a schematic diagram of the anti-collision walking mechanism in an embodiment of the present invention; Figure 3 This is a top view of the anti-collision walking mechanism in an embodiment of the present invention; Figure 4 As described in the embodiments of the present invention Figure 2 Enlarged schematic diagram of the A-type detection device; Figure 5 This is a side view of the detection device in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a contact image sensor in an embodiment of the present invention. Detailed Implementation

[0016] The following detailed description illustrates the specific implementation method: The markings in the accompanying drawings include: UAV body 1, spherical frame 2, fixed outer ring 21, rotating inner ring 22, fixed axis 23, rotating axis 24, detection device 3, electric push rod 31, dual-axis servo motor 32, U-shaped mounting base 33, contact image sensor 34, camera 341, LED light 342, pressure sensor 35, and temperature sensor 36.

[0017] Example This embodiment is basically as follows: Figure 1 , Figure 2 As shown: An amphibious calibration drone and its collision avoidance walking mechanism, including the drone body 1, the collision avoidance walking mechanism and the detection device 3.

[0018] The UAV body 1 uses a quadcopter UAV as the basic carrier. The UAV body 1 has a main control system for flight attitude control, power output adjustment and data processing. The UAV body 1 is equipped with a connection interface for mounting the fixed axis 23 and the rotating axis 24. It is also equipped with a battery to power the main control system and subsequent sensors, dual-axis servo motors 32 and electric push rods 31.

[0019] The anti-collision walking mechanism includes a spherical frame 2, a fixed outer ring 21, a rotating inner ring 22, a fixed shaft 23, and a rotating shaft 24. The spherical frame 2 is a hollow, one-piece molded structure made of aluminum alloy, which ensures structural strength while reducing weight. The outer ring 21 is fixedly connected to the inside of the spherical frame 2. An annular groove is formed on the inner wall of the fixed outer ring 21, and a matching annular groove is formed on the outer wall of the rotating inner ring 22. A retainer is provided inside the annular groove, and the balls are embedded in the retainers of the two annular grooves, so that the rotating inner ring 22 and the fixed outer ring 21 form a rolling friction engagement, and the balls are evenly distributed along the annular grooves.

[0020] The middle part of the rotating shaft 24 is rotatably connected to the drone body 1 through a deep groove ball bearing, and the two ends of the rotating shaft 24 are fixedly connected to the inner sidewall of the spherical frame 2; the middle part of the fixed shaft 23 is connected to the fuselage of the drone body 1 by welding, and the two ends of the fixed shaft 23 are welded and fixed to the inner sidewall of the rotating inner ring 22. The fixed shaft 23 and the rotating shaft 24 are vertically intersecting in space, and the intersection point coincides with the center of gravity of the drone body 1 to ensure stability during movement.

[0021] In this embodiment, the telescopic component of the detection device 3 is an electric push rod 31. The electric push rod 31 is electrically connected to the main control system. The electric push rod 31 includes a fixed end and a working end. The fixed end of the electric push rod 31 is fixed to the fixed shaft 23 by a clamping structure bolt. A dual-axis servo motor 32 is fixed to the working end of the electric push rod 31. The two output shafts of the dual-axis servo motor 32 are connected to a U-shaped mounting base 33. A contact image sensor 34, a pressure sensor 35, and a temperature sensor 36 are mounted on the U-shaped mounting base 33. The contact image sensor 34 includes... The system includes a base, a camera 341, and three LED lights 342. The base is recessed, with the camera 341 and LED lights 342 mounted within the recess. The three LED lights 342 are evenly distributed around the camera 341. The recessed surface of the base is covered with a reflective coating film and a transparent elastomer. The reflective coating film is a composite material of silicone resin and small-particle pigments, and the addition of pigments does not affect light transmission. Underneath the reflective coating film is a transparent elastomer made of polyethylene, which allows light to be better reflected back, ensuring uniform reflection. A contact image sensor 34, a pressure sensor 35, and a temperature sensor 36 are all connected to the main control system. A dual-axis servo motor 32 drives the sensors to reciprocate, expanding the detection range. Simultaneously, an ultrasonic sensor is mounted on the outer wall of the fixed outer ring 21.

[0022] The specific implementation process is as follows: When ground detection is required, the UAV body 1 starts its rotor and adjusts its rotation speed to generate horizontal driving force. The spherical frame 2 generates friction when in contact with the ground, causing the spherical frame 2 and the fixed outer ring 21 to rotate around the rotation axis 24, achieving overall rolling movement. During this process, the rotating inner ring 22, the fixed axis 23, and the detection device 3 remain relatively stationary to prevent the detection components from shifting. At the same time, the ultrasonic sensor detects obstacles, allowing the entire device to buffer the impact of the obstacle force on the system when it encounters an obstacle, and feeding back the collision signal to the UAV's main control system to achieve correction. When environmental calibration is required, the main control system controls the electric push rod 31 to extend, driving the contact image sensor 34 to contact the ground. The pressure sensor 35 detects the stiffness of the contact surface, the temperature sensor 36 collects the temperature data of the contact surface, and the dual-axis servo motor 32 drives the sensor to swing back and forth, collecting image information from different angles. The measured data is fed back to the main control system to generate point cloud data for drawing and constructing a 3D model of the environment.

[0023] When switching to aerial flight mode, the rotors increase the fuselage altitude, and the spherical frame 2 can also serve as a collision protection structure. If calibration of vertical surfaces such as walls is required, the drone hovers near the wall, and the electric push rod 31 extends to bring the contact image sensor 34 into contact with the wall, enabling aerial detection of vertical surfaces.

[0024] When probing the slit space, the rotor power is adjusted to place the detection device 3 at the edge of the slit. The main control module controls the electric push rod 31 to slowly extend into the slit, driving the contact image sensor 34 to penetrate into the slit. The dual-axis servo motor 32 drives the sensor to swing and collect images of the inner wall of the slit, thus realizing the detection of the slit space.

[0025] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness or practicality of the present invention. The specific embodiments described in the specification can be used to interpret the claims.

Claims

1. An amphibious calibration unmanned aerial vehicle and its collision avoidance walking mechanism, characterized in that: Including the drone itself, it also includes: The anti-collision walking mechanism includes a spherical frame, a fixed outer ring, a rotating inner ring, a fixed shaft, and a rotating shaft. The fixed outer ring is connected to the spherical frame, and the rotating outer ring slides against the inner wall of the fixed outer ring. The rotating shaft is rotatably connected to the drone body, and both ends of the rotating shaft are fixedly connected to the spherical frame. The fixed shaft is fixedly connected to the drone body, and both ends of the fixed shaft are fixedly connected to the rotating inner ring. The fixed shaft and the rotating shaft are arranged perpendicularly to each other. The detection device includes a telescopic assembly and a contact image sensor. The contact image sensor is located at the working end of the telescopic assembly, which is mounted on a fixed shaft.

2. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: The telescopic assembly is also equipped with a servo motor at its working end, which drives the contact image sensor to reciprocate.

3. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: The detection device also includes a pressure sensor and a temperature sensor, both of which are located at the working end of the telescopic assembly.

4. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: An ultrasonic sensor is installed on the outer wall of the fixed outer ring.

5. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: The inner wall of the fixed outer ring has an annular groove, and the outer wall of the rotating inner ring has a matching annular groove. A retainer is provided inside the annular groove, and a ball bearing is provided in the retainer.

6. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: The telescopic assembly is either an electric push rod or a telescopic cylinder.

7. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: The spherical frame includes several connecting rods and at least two connecting surfaces, and the connecting rods and connecting surfaces are detachably connected.

8. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: The spherical frame is hollow and molded in one piece.

9. The amphibious calibration UAV and its collision avoidance walking mechanism according to claim 1, characterized in that: The contact image sensor includes a base, a camera, and several LEDs. The base is grooved, and the camera and several LEDs are installed in the bottom of the groove. The groove of the base is covered with a reflective coating film and a transparent elastomer.

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