Drones

Abstract

The application provides a kind of unmanned plane, comprising: cabin;Obstacle avoidance sensor, obstacle avoidance sensor is installed at the top of cabin;Multiple propeller assemblies, each propeller assembly is connected with cabin, each propeller assembly includes propeller, the propeller of multiple propeller assemblies is arranged around cabin interval;Obstacle avoidance movement mechanism, obstacle avoidance movement mechanism includes multiple obstacle avoidance movement components, each obstacle avoidance movement component includes obstacle avoidance fan and obstacle avoidance transmission component, the obstacle avoidance fan of multiple obstacle avoidance movement components is arranged around cabin interval, obstacle avoidance transmission component is drivingly connected with corresponding obstacle avoidance fan, to drive obstacle avoidance fan movement, adjust the included angle between the rotation axis of obstacle avoidance fan and horizontal plane.The application solves the problem that the surveying and mapping unmanned plane is easily damaged by collision in the prior art.

Description

Technical Field

[0001] This invention relates to the field of coal mine surveying technology, and more specifically, to a drone. Background Technology

[0002] Open-pit mining involves removing the overlying rock and covering materials from the coal seam to expose the coal on the surface for extraction. The process of removing the soil and rock is called stripping, and the process of extracting the coal is called mining. In coal mine surveying, it is often necessary to conduct overall surveys of mine construction and mining area planning. To facilitate the planning of coal mining areas, appropriate surveying drones are indispensable for aerial mapping of the coal mine excavation area.

[0003] Common surveying drones often encounter flying birds or obstacles while flying in the air, which can easily cause collision damage to the surveying drone.

[0004] It is evident that the safety of surveying equipment used in coal mine surveying is an aspect that cannot be ignored. Summary of the Invention

[0005] The main objective of this invention is to provide a drone to solve the problem that existing mapping drones are easily damaged by collisions.

[0006] To achieve the above objectives, according to one aspect of the present invention, an unmanned aerial vehicle (UAV) is provided, comprising: a cabin; an obstacle avoidance sensor mounted on the top of the cabin; a plurality of propeller assemblies, each propeller assembly being connected to the cabin and each propeller assembly including a propeller, the propellers of the plurality of propeller assemblies being arranged at intervals around the cabin; and an obstacle avoidance motion mechanism, the obstacle avoidance motion mechanism including a plurality of obstacle avoidance motion components, each obstacle avoidance motion component including an obstacle avoidance fan and an obstacle avoidance transmission component, the obstacle avoidance fans of the plurality of obstacle avoidance motion components being arranged at intervals around the cabin, and the obstacle avoidance transmission component being drively connected to the corresponding obstacle avoidance fan to adjust the angle between the rotation axis of the obstacle avoidance fan and the horizontal plane by driving the obstacle avoidance fan to move.

[0007] Furthermore, along the circumference of the nacelle, each obstacle avoidance fan is positioned between two adjacent propellers; and / or along the direction from the nacelle to the obstacle avoidance fan, multiple obstacle avoidance fans are positioned between multiple propellers and the nacelle; and / or along the circumference of the nacelle, multiple propellers are evenly distributed; and / or along the circumference of the nacelle, multiple obstacle avoidance fans are evenly distributed.

[0008] Furthermore, the obstacle avoidance motion component includes: an obstacle avoidance drive component, which includes an obstacle avoidance slider, the obstacle avoidance slider being movably disposed in a predetermined direction, and all obstacle avoidance transmission components being connected to the obstacle avoidance slider to move under the drive of the obstacle avoidance slider.

[0009] Furthermore, the obstacle avoidance drive assembly also includes: an obstacle avoidance drive motor; an obstacle avoidance transmission rod, with an obstacle avoidance slider sleeved on the obstacle avoidance transmission rod and threadedly connected to it; wherein, the top of the obstacle avoidance transmission rod is connected to the engine compartment via a transmission bearing, and the obstacle avoidance drive motor is driven to the bottom of the obstacle avoidance transmission rod to drive the obstacle avoidance transmission rod to rotate.

[0010] Furthermore, the obstacle avoidance transmission assembly includes: an obstacle avoidance link and an obstacle avoidance bracket. One end of the obstacle avoidance link is connected to the obstacle avoidance slider, and the other end of the obstacle avoidance link is hinged to the first end of the obstacle avoidance bracket. The second end of the obstacle avoidance bracket is connected to the obstacle avoidance fan. The obstacle avoidance bracket is hinged to the nacelle via a rotating pin.

[0011] Furthermore, the drone also includes: a base compartment, the cabin being a cylindrical structure, the opening of the cabin facing the base compartment and connected to the base compartment, the cabin and the base compartment forming an accommodating space; wherein, at least part of the obstacle avoidance drive component is disposed in the accommodating space, a through hole is provided on the side wall of the cabin, the obstacle avoidance bracket passes through the through hole, and a rotating pin is inserted into the inner wall of the obstacle avoidance bracket and the through hole.

[0012] Furthermore, each obstacle avoidance transmission component includes: a protective cylinder, which is installed on the obstacle avoidance transmission component, and an obstacle avoidance fan installed inside the protective cylinder, with the cylinder opening facing away from the engine compartment; wherein, the protective cylinder wall is provided with multiple ventilation holes, which are arranged at intervals along the circumference of the protective cylinder.

[0013] Furthermore, the drone also includes: a limiting frame surrounding the nacelle; multiple support plates on the limiting frame, each support plate having a slot, and the multiple support plates corresponding to multiple propeller assemblies; wherein each propeller assembly includes a fixing rod, one end of each fixing rod being connected to the nacelle, and the other end of each fixing rod being connected to the propeller; each fixing rod is engaged in a corresponding slot.

[0014] Furthermore, the drone also includes: a base, which is located at the bottom of the cabin; a mapping camera, which is mounted at the bottom of the base; and a mounting base, at least part of which is located below the base, the mounting base having a protective space in which the mapping camera is located.

[0015] Furthermore, the drone also includes: multiple buffer components, which are arranged one-to-one with multiple propeller components. The first end of each buffer component is connected to the bottom of the mounting base, and the second end of each buffer component is hinged to the corresponding propeller component. Each buffer component is extendable and retractable along the direction between its first end and second end.

[0016] Furthermore, the mounting base includes a mounting frame, a support frame, and a connecting rod. The mounting frame and the support frame are arranged opposite to each other, and the connecting rod is connected to the mounting frame and the support frame respectively. The mounting frame is used to connect to the bottom hull, and the support frame is used to support on the support base surface. The buffer assembly includes a locking seat with a slot for locking onto the rod body of the support frame. The slot is interference-fitted with the support frame. And / or each buffer assembly includes a guide sleeve, a pressure rod, and an elastic element. The guide sleeve is used to connect to the support frame. One end of the pressure rod is provided with a limit block and located inside the guide sleeve. The elastic element is located inside the guide sleeve and is clamped between the limit block and the end wall of the guide sleeve. And / or each buffer assembly is provided with a hook with the hook inlet facing upward.

[0017] Applying the technical solution of this invention, the drone of this invention includes a cabin, an obstacle avoidance sensor, multiple propeller assemblies, and an obstacle avoidance motion mechanism. The obstacle avoidance sensor is installed on the top of the cabin. Each propeller assembly is connected to the cabin and includes a propeller. The propellers of the multiple propeller assemblies are arranged at intervals around the cabin to drive the drone's movement. The obstacle avoidance motion mechanism includes multiple obstacle avoidance motion components, each including an obstacle avoidance fan and an obstacle avoidance transmission component. The obstacle avoidance fans of the multiple obstacle avoidance motion components are arranged at intervals around the cabin. The obstacle avoidance transmission component is connected to the corresponding obstacle avoidance fan for transmission. By driving the obstacle avoidance fan to move, the angle between the rotation axis of the obstacle avoidance fan and the horizontal plane is adjusted. After the obstacle avoidance sensor detects an obstacle, the obstacle avoidance fan rotates at high speed to drive the drone to avoid the obstacle, thus preventing the drone from being damaged by collision. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 A front view of an embodiment of a drone according to the present invention is shown;

[0020] Figure 2 It shows according to Figure 1 An enlarged schematic diagram of region A of the drone in the image;

[0021] Figure 3 A top view of an embodiment of the UAV according to the present invention is shown;

[0022] Figure 4 A cross-sectional view of the casing of an embodiment of a UAV according to the present invention is shown;

[0023] Figure 5 It shows according to Figure 4 A schematic diagram of the obstacle avoidance mechanism of a drone in the image;

[0024] Figure 6 A schematic diagram of the obstacle avoidance transmission assembly according to an embodiment of the UAV according to the present invention is shown;

[0025] Figure 7 A schematic diagram of the mounting base according to an embodiment of the UAV according to the present invention is shown;

[0026] Figure 8 A schematic diagram of the structure of a limiting frame according to an embodiment of a drone based on the present invention is shown.

[0027] The above figures include the following reference numerals:

[0028] 10. Cabin; 20. Obstacle avoidance sensor; 30. Propeller assembly; 31. Propeller; 40. Obstacle avoidance motion mechanism; 41. Obstacle avoidance motion assembly; 410. Obstacle avoidance fan; 400. Obstacle avoidance transmission assembly; 420. Obstacle avoidance drive assembly; 421. Obstacle avoidance slider; 422. Obstacle avoidance drive motor; 423. Obstacle avoidance transmission rod; 411. Transmission bearing; 401. Obstacle avoidance link; 402. Obstacle avoidance bracket; 412. Rotating pin; 50. Bottom compartment; 500. Accommodation space; 501. Accommodation cavity; 100. Through hole; 4 03. Protective cylinder; 4030. Vent hole; 200. Limiting frame; 201. Support plate; 202. Slot; 203. Warning component; 32. Fixing rod; 33. Drive motor; 300. Surveying camera; 60. Mounting base; 600. Protective space; 70. Buffer assembly; 61. Mounting frame; 62. Support frame; 620. Rod body; 63. Connecting rod; 71. Slot; 710. Bayonet; 72. Guide sleeve; 73. Pressure rod; 74. Elastic element; 730. Limiting block; 75. Hook; 76. Hinge seat. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] Please refer to Figures 1 to 8The present invention provides an unmanned aerial vehicle (UAV), comprising: a cabin 10; an obstacle avoidance sensor 20 mounted on the top of the cabin 10; multiple propeller assemblies 30, each propeller assembly 30 connected to the cabin 10, each propeller assembly 30 including a propeller 31, the propellers 31 of the multiple propeller assemblies 30 being arranged at intervals around the cabin 10; and an obstacle avoidance motion mechanism 40, comprising multiple obstacle avoidance motion components 41, each obstacle avoidance motion component 41 including an obstacle avoidance fan 410 and an obstacle avoidance transmission component 400, the obstacle avoidance fans 410 of the multiple obstacle avoidance motion components 41 being arranged at intervals around the cabin 10, and the obstacle avoidance transmission component 400 being connected to the corresponding obstacle avoidance fan 410 for transmission, so as to adjust the angle between the rotation axis of the obstacle avoidance fan 410 and the horizontal plane by driving the obstacle avoidance fan 410 to move.

[0031] The drone of the present invention includes a cabin 10, an obstacle avoidance sensor 20, multiple propeller assemblies 30, and an obstacle avoidance motion mechanism 40. The obstacle avoidance sensor 20 is mounted on the top of the cabin 10. Each propeller assembly 30 is connected to the cabin 10, and each propeller assembly 30 includes a propeller 31. The propellers 31 of the multiple propeller assemblies 30 are arranged at intervals around the cabin 10 to drive the drone's movement. The obstacle avoidance motion mechanism 40 includes multiple obstacle avoidance motion components 41, each of which... The system includes obstacle avoidance fans 410 and obstacle avoidance transmission components 400. Multiple obstacle avoidance motion components 41 are arranged around the cabin 10 at intervals. The obstacle avoidance transmission components 400 are connected to the corresponding obstacle avoidance fans 410 to drive the obstacle avoidance fans 410 to move and adjust the angle between the rotation axis of the obstacle avoidance fans 410 and the horizontal plane. After the obstacle avoidance sensor 20 detects an obstacle, the obstacle avoidance fans 410 rotate at high speed to drive the UAV to avoid the obstacle. This can prevent the UAV from being damaged by collision.

[0032] In the embodiments of this application, the obstacle avoidance sensor 20 is an ultrasonic sensor. The ultrasonic waves emitted by the obstacle avoidance sensor 20 will be reflected when they encounter an obstacle. The distance between the obstacle and the drone can be calculated by the time difference between emitting the ultrasonic wave and receiving the reflected ultrasonic wave.

[0033] Specifically, along the circumference of the cabin 10, each obstacle avoidance fan 410 is positioned between two adjacent propellers 31; and / or along the direction from the cabin 10 to the obstacle avoidance fan 410, multiple obstacle avoidance fans 410 are positioned between multiple propellers 31 and the cabin 10; and / or along the circumference of the cabin 10, multiple propellers 31 are evenly distributed to drive the UAV to move smoothly; and / or along the circumference of the cabin 10, multiple obstacle avoidance fans 410 are evenly distributed to enable the UAV to move smoothly while avoiding obstacles.

[0034] In the embodiments of this application, the obstacle avoidance motion component 41 includes: an obstacle avoidance drive component 420, the obstacle avoidance drive component 420 includes an obstacle avoidance slider 421, the obstacle avoidance slider 421 is movably disposed in a predetermined direction, and the obstacle avoidance transmission components 400 are all connected to the obstacle avoidance slider 421 so as to move under the drive of the obstacle avoidance slider 421, so as to move the obstacle avoidance transmission components and the obstacle avoidance fan.

[0035] like Figures 4 to 6 As shown, the obstacle avoidance drive assembly 420 also includes: an obstacle avoidance drive motor 422; an obstacle avoidance transmission rod 423, and an obstacle avoidance slider 421 sleeved on the obstacle avoidance transmission rod 423 and threadedly connected to the obstacle avoidance transmission rod 423; wherein, the top of the obstacle avoidance transmission rod 423 is connected to the cabin 10 through a transmission bearing 411 to ensure smooth rotation of the obstacle avoidance transmission rod 423, and the obstacle avoidance drive motor 422 is driven to the bottom of the obstacle avoidance transmission rod 423 to drive the obstacle avoidance transmission rod 423 to rotate, thereby causing the obstacle avoidance slider 421 to move along the extension direction of the obstacle avoidance transmission rod 423.

[0036] Specifically, the obstacle avoidance transmission assembly 400 includes an obstacle avoidance link 401 and an obstacle avoidance bracket 402. One end of the obstacle avoidance link 401 is connected to the obstacle avoidance slider 421, and the other end of the obstacle avoidance link 401 is hinged to the first end of the obstacle avoidance bracket 402. The second end of the obstacle avoidance bracket 402 is connected to the obstacle avoidance fan 410. The obstacle avoidance bracket 402 is hinged to the nacelle 10 by a rotating pin 412 to ensure smooth transmission of the obstacle avoidance bracket 402.

[0037] Specifically, the obstacle avoidance slider 421 includes multiple connecting protrusions, which are arranged one-to-one with multiple obstacle avoidance links 401.

[0038] like Figure 6 As shown in the embodiment of this application, there are four obstacle avoidance motion components 41, and the obstacle avoidance slider 421 has a cross-shaped structure, so as to be connected to the obstacle avoidance connecting rods 401 of the four obstacle avoidance motion components 41 through the obstacle avoidance slider 421. Among them, each obstacle avoidance connecting rod 401 is symmetrically arranged with the axis of the obstacle avoidance transmission rod 423 as the center line of symmetry.

[0039] Specifically, the rotation axis of the obstacle avoidance fan 410 is the axis of the obstacle avoidance bracket 402, so that the angle between the obstacle avoidance bracket 402 and the horizontal direction can be adjusted by moving the obstacle avoidance slider 421.

[0040] Specifically, the drone also includes: a base compartment 50; a cabin 10 having a cylindrical structure, with its opening facing and connected to the base compartment 50; and the cabin 10 and the base compartment 50 forming an accommodating space 500. At least a portion of the obstacle avoidance drive assembly 420 is disposed within the accommodating space 500. A through hole 100 is provided on the side wall of the cabin 10, and an obstacle avoidance bracket 402 passes through the through hole 100. A rotating pin 412 is inserted into the obstacle avoidance bracket 402 and the inner wall of the through hole 100. A distance is maintained between the inner wall surface of the through hole 100 and the outer peripheral surface of the obstacle avoidance bracket 402, allowing the obstacle avoidance bracket 402 a predetermined movement space.

[0041] like Figure 4 As shown, each obstacle avoidance transmission component 400 includes: a protective cylinder 403, which is disposed on the obstacle avoidance transmission component 400; an obstacle avoidance fan 410 is disposed inside the protective cylinder 403; the opening of the protective cylinder 403 is oriented away from the engine compartment 10, so as to protect the obstacle avoidance fan 410 and prevent the obstacle avoidance fan 410 from being damaged; wherein, a plurality of ventilation holes 4030 are provided on the cylinder wall of the protective cylinder 403, and the plurality of ventilation holes 4030 are arranged at intervals along the circumference of the protective cylinder 403.

[0042] like Figure 8 As shown, the UAV also includes: a limiting frame 200, which surrounds the cabin 10; multiple support plates 201 are provided on the limiting frame 200, and each support plate 201 is provided with a slot 202, with the multiple support plates 201 corresponding to multiple propeller assemblies 30; each propeller assembly 30 includes a fixing rod 32, one end of each fixing rod 32 is connected to the cabin 10, and the other end of each fixing rod 32 is connected to the propeller 31; each fixing rod 32 is engaged in the corresponding slot 202 to ensure the stability of the propeller assembly 30 through the limiting frame 200.

[0043] Specifically, each propeller assembly 30 includes a drive motor 33, which is drivenly connected to the propeller 31 to drive the propeller 31 to rotate; wherein, the drive motor 33 is installed at the end of the fixed rod 32 away from the nacelle 10.

[0044] Specifically, the drone also includes: a base 50, which is located at the bottom of the cabin 10; a mapping camera 300, which is mounted at the bottom of the base 50 so that when the propeller assembly 30 moves the drone, the mapping camera 300 simultaneously maps and films the location of the open-pit coal mine (the location to be detected); and a mounting base 60, at least a portion of which is located below the base 50, the mounting base 60 having a protective space 600 in which the mapping camera 300 is located.

[0045] like Figure 1 and Figure 2 As shown, the drone also includes: multiple buffer components 70, each corresponding to a multiple propeller assembly 30. The first end of each buffer component 70 is connected to the bottom of the mounting base 60, and the second end of each buffer component 70 is hinged to the corresponding propeller assembly 30. Each buffer component 70 is extendable and retractable along the direction from its first end to its second end. Thus, by using the buffer components 70 and the mounting base 60, the problem of collision damage to the mapping camera 300 during flight or landing of the drone can be prevented.

[0046] Specifically, the mounting base 60 includes a mounting frame 61, a support frame 62, and a connecting rod 63. The mounting frame 61 and the support frame 62 are arranged opposite to each other. The connecting rod 63 is connected to the mounting frame 61 and the support frame 62 respectively. The mounting frame 61 is used to connect to the bottom compartment 50, and the support frame 62 is used to support on the support base surface. The buffer assembly 70 includes a retainer 71, which has a latch 710 for engaging with the rod 620 of the support frame 62. The latch 710 is interference-fitted with the support frame 62. And / or each buffer assembly 70 includes a guide sleeve 72, a pressure rod 73, and an elastic element 74. The guide sleeve 72 is used to connect to the support frame 62, and the pressure rod 73... One end of the device is provided with a limiting block 730 located within a guide sleeve 72. An elastic element 74 is located within the guide sleeve 72 and is clamped between the limiting block 730 and the end wall of the guide sleeve 72. This is to reduce the vibration of the propeller assembly 30 through the buffer assembly 70 during the operation of the propeller assembly 30. And / or each buffer assembly 70 is provided with a hook 75, with the hook inlet of the hook 75 facing upwards. The hook 75 can increase the contact area between the rod body 620 and the ground, thereby reducing the contact force between the drone and the ground when the drone lands and preventing damage to the drone. At the same time, the hook 75 can also assist the drone in lifting lighter items. Among them, the elastic element 74 is a spring component.

[0047] Specifically, the support frame 62 is formed by multiple rods 620, each of which is a damping rod, to provide shock absorption and cushioning during the landing of the drone. Each rod 620 is made of rubber and has a cylindrical structure.

[0048] Specifically, each propeller assembly 30 has a hinge seat 76 on its fixing rod 32, and one end of the pressure rod 73 is hinged to the hinge seat 76.

[0049] Specifically, some sections of the pressure bar 73 are curved to enhance the buffering force of the buffer assembly 70; a receiving cavity 501 is provided on the bottom compartment 50, and the obstacle avoidance drive motor 422 is installed in the receiving cavity 501.

[0050] like Figure 3As shown, the drone also includes a warning component 203 and a battery component. The battery component is connected to the warning component 203. The warning component 203 is disposed on the limit frame 200 and surrounds the limit frame 200. The warning component 203 is powered by the drone's battery, enabling the drone to emit light warnings during flight to facilitate identification by the operator.

[0051] Specifically, the warning component 203 is a light strip.

[0052] Specifically, the battery component is connected to the obstacle avoidance drive motor 422, the obstacle avoidance sensor 20, and the drive motor 33 to provide power to these components. The battery component is a rechargeable battery.

[0053] Specifically, the drone also includes a control system. Both the control system and the battery components are located inside the cabin 10. The control system is connected to both the obstacle avoidance drive motor 422 and the obstacle avoidance sensor 20. After acquiring the detection results from the obstacle avoidance sensor, the control system controls the forward and reverse rotation of the obstacle avoidance drive motor 422 based on the detection results from the obstacle avoidance sensor 20. The obstacle avoidance drive motor 422 is a drive motor.

[0054] In the specific implementation of the embodiments of this application, when the drone of this application is in flight, the drive motor 33 at one end of the fixed rod 32 drives the propeller 31 to rotate, so that the drone drives the mapping camera 300 to map and photograph the location of the open-pit coal mine in the air. At this time, the obstacle avoidance sensor 20 on the top of the cabin 10 is powered on and operates, and the ultrasonic waves emitted by the obstacle avoidance sensor 20 will be reflected when they encounter obstacles. The distance between the obstacle and the drone is calculated by the time difference between transmission and reception. At the same time, the battery component inside the drone powers the obstacle avoidance drive motor 422, and the processor (control system) inside the cabin 10 controls the obstacle avoidance drive motor 422 to perform forward or reverse rotation. The reverse rotation causes the obstacle avoidance transmission rod 423 and the corresponding protective cylinder 403 and obstacle avoidance fan 410 to deflect downward or upward. When the obstacle avoidance fan 410 rotates at high speed, it can blow air downward or upward, thereby enabling the UAV to automatically move upward or downward to avoid obstacles when it detects obstacles in the air. When the UAV lands on the ground, the rod 620 of the support frame 62 cushions the impact on the ground, and the vibration generated by the landing will cause the fixed rod 32 to deflect. At this time, the fixed rod 32 pushes the pressure rod 73 downward through the hinge seat 76. Through the elastic action of the elastic element 74 on the pressure rod 73, the vibration of the fixed rod 32 of the UAV can be cushioned.

[0055] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0056] The drone of the present invention includes a cabin 10, an obstacle avoidance sensor 20, multiple propeller assemblies 30, and an obstacle avoidance motion mechanism 40. The obstacle avoidance sensor 20 is mounted on the top of the cabin 10. Each propeller assembly 30 is connected to the cabin 10, and each propeller assembly 30 includes a propeller 31. The propellers 31 of the multiple propeller assemblies 30 are arranged at intervals around the cabin 10 to drive the drone's movement. The obstacle avoidance motion mechanism 40 includes multiple obstacle avoidance motion components 41, each of which... The system includes obstacle avoidance fans 410 and obstacle avoidance transmission components 400. Multiple obstacle avoidance motion components 41 are arranged around the cabin 10 at intervals. The obstacle avoidance transmission components 400 are connected to the corresponding obstacle avoidance fans 410 to drive the obstacle avoidance fans 410 to move and adjust the angle between the rotation axis of the obstacle avoidance fans 410 and the horizontal plane. After the obstacle avoidance sensor 20 detects an obstacle, the obstacle avoidance fans 410 rotate at high speed to drive the UAV to avoid the obstacle. This can prevent the UAV from being damaged by collision.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A drone, characterized in that, The unmanned aerial vehicle comprises: a cabin (10); an obstacle avoidance sensor (20) mounted on the top of the cabin (10), wherein the obstacle avoidance sensor (20) is an ultrasonic sensor; a plurality of propeller assemblies (30), each of which is connected to the cabin (10), each of which comprises a propeller (31), and the propellers (31) of the plurality of propeller assemblies (30) are arranged at intervals around the cabin (10); an obstacle avoidance moving mechanism (40) comprising a plurality of obstacle avoidance moving assemblies (41), each of which comprises an obstacle avoidance fan (410) and an obstacle avoidance transmission assembly (400), the obstacle avoidance fans (410) of the plurality of obstacle avoidance moving assemblies (41) are arranged at intervals around the cabin (10), and the obstacle avoidance transmission assembly (400) is in driving connection with the corresponding obstacle avoidance fan (410) to adjust the included angle between the rotating axis of the obstacle avoidance fan (410) and the horizontal plane by driving the obstacle avoidance fan (410) to move; the obstacle avoidance moving assembly (41) comprises an obstacle avoidance driving assembly (420) comprising an obstacle avoidance sliding block (421) movably arranged in a predetermined direction, and the obstacle avoidance transmission assembly (400) is connected with the obstacle avoidance sliding block (421) to move under the driving of the obstacle avoidance sliding block (421); the obstacle avoidance transmission assembly (400) comprises an obstacle avoidance connecting rod (401) and an obstacle avoidance support (402), one end of the obstacle avoidance connecting rod (401) is connected with the obstacle avoidance sliding block (421), the other end of the obstacle avoidance connecting rod (401) is hingedly connected with a first end of the obstacle avoidance support (402), and a second end of the obstacle avoidance support (402) is connected with the obstacle avoidance fan (410); wherein the obstacle avoidance support (402) is hingedly connected with the cabin (10) through a rotating pin (412); a through hole (100) is arranged on the side wall of the cabin (10), the obstacle avoidance support (402) is arranged in the through hole (100), and the rotating pin (412) is inserted into the obstacle avoidance support (402) and the inner wall of the through hole (100).

2. The unmanned aerial vehicle according to claim 1, wherein each of the obstacle avoidance fans (410) is arranged between two adjacent propellers (31) along the circumference of the cabin (10); and / or a plurality of the obstacle avoidance fans (410) are arranged between the plurality of propellers (31) and the cabin (10) along the direction from the cabin (10) to the obstacle avoidance fans (410); and / or a plurality of the propellers (31) are uniformly arranged along the circumference of the cabin (10); and / or a plurality of the obstacle avoidance fans (410) are uniformly arranged along the circumference of the cabin (10).

3. The drone of claim 1, wherein, the obstacle avoidance driving assembly (420) further comprises: an obstacle avoidance driving motor (422). The barrier-avoiding transmission rod (423) is sleeved with the barrier-avoiding sliding block (421) and is in threaded connection with the barrier-avoiding transmission rod (423); The top of the barrier-avoiding transmission rod (423) is connected with the cabin (10) through a transmission bearing (411), and the barrier-avoiding driving motor (422) is in driving connection with the bottom of the barrier-avoiding transmission rod (423) to drive the barrier-avoiding transmission rod (423) to rotate.

4. The drone of claim 1, wherein, The unmanned aerial vehicle further comprises: The cabin (10) is a cylindrical structure, the opening of the cabin (10) is arranged towards the bottom cabin (50) and is connected with the bottom cabin (50), and a containing space (500) is formed between the cabin (10) and the bottom cabin (50). At least part of the barrier-avoiding driving assembly (420) is arranged in the containing space (500).

5. The drone of claim 1, wherein, Each barrier-avoiding transmission assembly (400) comprises: The protective cylinder (403) is arranged on the barrier-avoiding transmission assembly (400), the barrier-avoiding fan (410) is arranged in the protective cylinder (403), and the cylinder opening of the protective cylinder (403) is arranged towards a direction away from the cabin (10). A plurality of air holes (4030) are arranged on the cylinder wall of the protective cylinder (403), and the plurality of air holes (4030) are arranged in a circumferential direction of the protective cylinder (403).

6. The drone of any one of claims 1 to 5, wherein, The unmanned aerial vehicle further comprises: The limiting frame (200) is arranged around the cabin (10), a plurality of supporting plates (201) are arranged on the limiting frame (200), a clamping groove (202) is arranged on each supporting plate (201), and a plurality of propeller assemblies (30) are arranged in one-to-one correspondence with the plurality of supporting plates (201). Each propeller assembly (30) comprises a fixing rod (32), one end of each fixing rod (32) is connected with the cabin (10), the other end of each fixing rod (32) is connected with the propeller (31), and each fixing rod (32) is clamped in the corresponding clamping groove (202).

7. The drone of claim 1, wherein, The unmanned aerial vehicle further comprises: A bottom cabin (50) is arranged at the bottom of the cabin (10); A surveying camera (300) is installed at the bottom of the bottom cabin (50); An installation seat (60) is arranged below the bottom cabin (50), the installation seat (60) has a protection space (600), and the surveying camera (300) is arranged in the protection space (600).

8. The drone of claim 7, wherein, The unmanned aerial vehicle further comprises: A plurality of buffer assemblies (70) are arranged in one-to-one correspondence with the plurality of propeller assemblies (30), a first end of each buffer assembly (70) is connected with the bottom of the installation seat (60), and a second end of each buffer assembly (70) is hingedly connected with the corresponding propeller assembly (30). Each of the buffer assemblies (70) is telescopically arranged along a direction between a first end and a second end thereof.

9. The unmanned aerial vehicle of claim 8, wherein, The mounting seat (60) comprises a mounting frame (61), a supporting frame (62) and a connecting rod (63), the mounting frame (61) and the supporting frame (62) are oppositely arranged, and the connecting rod (63) is connected with the mounting frame (61) and the supporting frame (62) respectively, the mounting frame (61) is used for connecting with the bottom cabin (50), and the supporting frame (62) is used for being supported on a supporting base surface; The buffer assembly (70) comprises a clamping seat (71), the clamping seat (71) is provided with a clamping opening (710) for clamping on a rod body (620) of the supporting frame (62), and the clamping opening (710) is in interference fit with the supporting frame (62); and / or Each of the buffer assemblies (70) comprises a guide sleeve (72), a pressing rod (73) and an elastic member (74), the guide sleeve (72) is used for connecting with the supporting frame (62), one end of the pressing rod (73) is provided with a limiting block (730) and located in the guide sleeve (72), and the elastic member (74) is located in the guide sleeve (72), the elastic member (74) is clamped between the limiting block (730) and an end wall of the guide sleeve (72); and / or Each of the buffer assemblies (70) is provided with a hook (75), and a hook entrance of the hook (75) is upwardly arranged.

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