Unmanned aerial vehicle flight control module capable of automatically avoiding obstacles and use method thereof

Abstract

The invention discloses an unmanned aerial vehicle flight control module capable of automatically avoiding obstacles and a using method thereof, and relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle flight control module comprises a protective shell, a power module and a supporting shell sleeve, the supporting shell sleeve is located in an inner cavity of the protective shell, and a controller is arranged in an inner cavity of the supporting shell sleeve. According to the unmanned aerial vehicle flight control module capable of automatically avoiding obstacles and the use method thereof, various sensors such as a laser radar, an ultrasonic sensor and an infrared sensor are integrated through the sensor module, detailed information of the surrounding environment is captured in real time, and the data are efficiently transmitted to the controller for processing; the controller is combined with accurate position data provided by the GPS positioning module, the position and the distance of an obstacle can be accurately judged, so that the flight path is timely adjusted in the flight process, collision with the obstacle is avoided, the unmanned aerial vehicle can quickly respond and execute a complex obstacle avoidance strategy through cooperative work of the data processing module and the obstacle avoidance algorithm module, and the unmanned aerial vehicle is more intelligent. And flight safety is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a flight control module of an unmanned aerial vehicle capable of automatically avoiding obstacles and a use method thereof. Background Art

[0002] A drone is an aircraft that does not require a pilot to directly fly, but instead flies through remote control or autonomous programs. They are widely used in military, civilian and commercial fields, including reconnaissance, surveillance, aerial photography, logistics distribution, agricultural monitoring and disaster response. Drone designs vary, from small quadcopters to large fixed-wing aircraft. Continuous technological advances have made drones more efficient, flexible and safer when performing missions. With the development of sensor technology, communication technology and artificial intelligence, the capabilities and application scope of drones are constantly expanding.

[0003] Currently, drones do not have automatic obstacle avoidance capabilities, and their flight safety will face major challenges. When performing missions, drones may collide with obstacles such as buildings, trees, wires or other aircraft because they cannot promptly identify and avoid them. Such collisions may not only cause damage or crashes to the drone itself, but may also pose a threat to personnel and property on the ground, especially when operating in densely populated areas or complex environments. In addition, the lack of automatic obstacle avoidance will also limit the flight path and mission execution capabilities of drones, reducing their flexibility and efficiency, thereby affecting their application potential and benefits in various fields. Summary of the invention

[0004] The purpose of the present invention is to provide a UAV flight control module capable of automatic obstacle avoidance and a method of using the same, in order to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the specific technical scheme of the present invention is as follows: a UAV flight control module capable of automatic obstacle avoidance, comprising a protective casing, a power module and a support casing, wherein the support casing is located in the inner cavity of the protective casing, a controller is arranged in the inner cavity of the support casing, a sensor module is fixedly installed on one side of the protective casing, support rods are fixedly installed on the four sides of the protective casing, a fixing block is fixedly installed on one end of the support rod, a motor steering device is fixedly installed on the top of the fixing block, and a propeller is fixedly installed on the top of the motor steering device;

[0006] The output end of the sensor module is electrically connected to the input end of the controller, the input end of the sensor module is electrically connected to the environment detection module, the output end of the power module is electrically connected to the GPS positioning module, the output end of the GPS positioning module is electrically connected to the input end of the controller, the output end of the controller is electrically connected to the data processing module and the remote control signal receiving module, respectively, the output end of the data processing module is electrically connected to the obstacle avoidance algorithm module, the output end of the obstacle avoidance algorithm module is electrically connected to the input end of the motor steering device, the output end of the remote control signal receiving module is electrically connected to the wireless communication module, and the output end of the wireless communication module is electrically connected to the control terminal.

[0007] As a further solution of the present invention, the sensor module also includes a laser radar, an ultrasonic sensor and an infrared sensor, the power supply module is located at the top of the protective casing, a buffer positioning plate is fixedly installed on the top of the protective casing, a heat sink is fixedly installed on the bottom of the controller, and pillars are fixedly installed on all four sides of the inner cavity of the supporting shell.

[0008] As a further solution of the present invention, a ventilation slot is provided on the top of the buffer positioning plate, and fastening bolts are threadedly installed around the top of the buffer positioning plate.

[0009] As a further solution of the present invention, the bottom of the power module is threadedly connected to the fastening bolts, landing gears are fixedly installed on both sides of the bottom of the protective casing, supporting cross bars are fixedly installed at the ends of the landing gears, buffer pads are fixedly installed at both ends of the supporting cross bars, and a connecting plate is fixedly installed on one side of the inner cavity of the protective casing.

[0010] As a further solution of the present invention, positioning rods are fixedly installed at both ends of one side of the connecting plate, and rubber clamping sleeves are respectively sleeved and installed on the front and rear sides of the inner side of the positioning rod. A V-shaped rod is fixedly installed on the inner side of the rubber clamping sleeve, a mounting hole is opened at the middle end of the V-shaped rod, and a fixing plate is fixedly connected to the bottom of the V-shaped rod.

[0011] As a further solution of the present invention, airbag blocks are fixedly installed around the fixing plate, threaded holes are provided in the inner cavity of the airbag blocks, and a steering gear is fixedly installed at the bottom of the fixing plate.

[0012] As a further solution of the present invention, an adjusting arm is fixedly connected to the bottom of the steering gear, a rotator is fixedly connected to one side of the adjusting arm, and a camera body is fixedly connected to one side of the rotator.

[0013] As a further solution of the present invention, a camera lens and a motion capture lens are fixedly installed on the front and rear sides of one side of the camera body, and a fastening screw is respectively provided on the top and bottom of one side of the camera body.

[0014] As a further solution of the present invention, an adjustment limit rod is vertically arranged on one side of the camera body, and the fastening screw is threadedly connected to the adjustment limit rod.

[0015] A method for using a UAV flight control module capable of automatically avoiding obstacles is as follows:

[0016] S1: First, the protective casing provides a protective shell for the entire module, which houses key components such as the power module and the support shell. The support shell is located in the inner cavity of the protective casing and is used to fix and protect the controller to ensure its stable operation.

[0017] S2: The sensor module is used to detect the surrounding environment and transmit the detected data to the controller. The controller receives the sensor data and processes the information according to the built-in algorithm to realize functions such as automatic obstacle avoidance.

[0018] S3: The power module provides power for the entire system. The GPS positioning module transmits the positioning information to the controller so that the drone can accurately locate and navigate. The data processing module can further process the data output by the controller. The output end of the data processing module is connected to the obstacle avoidance algorithm module, which calculates the obstacle avoidance strategy based on the processed data and sends the command to the motor steering device.

[0019] S4: Subsequently, the motor steering device adjusts the flight direction of the drone according to the instructions of the obstacle avoidance algorithm module to ensure that obstacles are avoided.

[0020] S5: Secondly, the steering gear is connected to the camera body through an adjusting arm and a rotator to realize the steering and positioning of the camera body. The camera body is fixed by a fastening screw. The camera lens and dynamic capture lens thereon are used to shoot and capture the surrounding environment to provide visual information for obstacle avoidance and navigation.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The sensor module integrates multiple sensors such as lidar, ultrasonic sensors and infrared sensors to capture detailed information about the surrounding environment in real time, and efficiently transmits this data to the controller for processing. The controller, combined with the precise location data provided by the GPS positioning module, can accurately determine the location and distance of obstacles, so as to adjust the flight path in time during the flight to avoid collisions with obstacles. The coordinated work of the data processing module and the obstacle avoidance algorithm module enables the UAV to respond quickly and execute complex obstacle avoidance strategies to ensure flight safety. In addition, the addition of the remote control signal receiving module and the wireless communication module enables the operator to remotely monitor the status of the UAV and intervene when necessary, further improving the reliability of the system and the convenience of operation. The automatic obstacle avoidance function greatly improves the flight safety of the UAV and the efficiency of mission execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the present invention;

[0024] Figure 2 It is a bottom view of the overall structure provided by an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of the camera body structure provided by an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of the support shell structure provided by an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of the positioning rod structure provided by an embodiment of the present invention;

[0028] Figure 6 is a schematic diagram of the structure of a buffer positioning plate provided by an embodiment of the present invention;

[0029] Figure 7 is a system principle diagram provided by an embodiment of the present invention;

[0030] Figure 8 It is a schematic diagram of a sensor module system provided by an embodiment of the present invention.

[0031] Explanation of the markings in the figure: 1. Protective casing; 2. Power module; 3. Sensor module; 4. Support shell; 5. Controller; 6. Support rod; 7. Fixed block; 8. Motor steering device; 9. Propeller; 10. Landing gear; 11. Support crossbar; 12. Buffer pad; 13. Rotator; 14. Camera body; 15. Camera lens; 16. Motion capture lens; 17. Fixed plate; 18. Airbag block; 19. Threaded hole; 20. Steering gear; 21. Adjustment arm; 22. Heat sink; 23. Pillar; 24. Positioning rod; 25. Connecting plate; 26. Rubber clamping sleeve; 27. V-rod; 28. Mounting hole; 29. ​​Buffer positioning plate; 30. Ventilation slot; 31. Fastening bolt; 32. Fastening screw; 33. Adjustment limit rod. DETAILED DESCRIPTION

[0032] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0033] The structure of the present invention is described in detail below in conjunction with the accompanying drawings.

[0034] Embodiment 1:

[0035] like Figures 1 to 8 As shown, a drone flight control module capable of automatic obstacle avoidance provided by the present invention comprises a protective casing 1, a power module 2 and a support casing 4, the support casing 4 is located in the inner cavity of the protective casing 1, a controller 5 is provided in the inner cavity of the support casing 4, a sensor module 3 is fixedly installed on one side of the protective casing 1, support rods 6 are fixedly installed on the four sides of the protective casing 1, a fixing block 7 is fixedly installed on one end of the support rod 6, a motor steering device 8 is fixedly installed on the top of the fixing block 7, and a propeller 9 is fixedly installed on the top of the motor steering device 8;

[0036] The output end of the sensor module 3 is electrically connected to the input end of the controller 5, the input end of the sensor module 3 is electrically connected to the environment detection module, the output end of the power supply module 2 is electrically connected to the GPS positioning module, the output end of the GPS positioning module is electrically connected to the input end of the controller 5, the output end of the controller 5 is electrically connected to the data processing module and the remote control signal receiving module respectively, the output end of the data processing module is electrically connected to the obstacle avoidance algorithm module, the output end of the obstacle avoidance algorithm module is electrically connected to the input end of the motor steering device 8, the output end of the remote control signal receiving module is electrically connected to the wireless communication module, and the output end of the wireless communication module is electrically connected to the control terminal.

[0037] refer to Figure 1 , Figure 5 and Figure 6The sensor module 3 also includes a laser radar, an ultrasonic sensor and an infrared sensor. The power module 2 is located at the top of the protective housing 1. A buffer positioning plate 29 is fixedly installed on the top of the protective housing 1. A heat sink 22 is fixedly installed on the bottom of the controller 5. Pillars 23 are fixedly installed around the inner cavity of the support shell 4. A ventilation slot 30 is opened on the top of the buffer positioning plate 29. Fastening bolts 31 are threadedly installed around the top of the buffer positioning plate 29. The bottom of the power module 2 is threadedly connected with the fastening bolts 31. The two sides of the bottom of the protective housing 1 are fixedly installed. A landing gear 10 is fixedly installed, a supporting cross bar 11 is fixedly installed at the end of the landing gear 10, and buffer pads 12 are fixedly installed at both ends of the supporting cross bar 11, a connecting plate 25 is fixedly installed on one side of the inner cavity of the protective casing 1, and positioning rods 24 are fixedly installed at both ends of one side of the connecting plate 25, and rubber clamping sleeves 26 are respectively sleeved on the front and rear sides of the inner side of the positioning rod 24, and a V-shaped rod 27 is fixedly installed on the inner side of the rubber clamping sleeve 26, and a mounting hole 28 is opened at the middle end of the V-shaped rod 27, and a fixing plate 17 is fixedly connected to the bottom of the V-shaped rod 27.

[0038] The above scheme is adopted: the sensor module 3 integrates laser radar, ultrasonic sensor and infrared sensor, provides all-round environmental perception capability, ensures the accurate navigation and automatic obstacle avoidance of the UAV in complex environment, the power module 2 is located on the top of the protective casing and fixed by fastening bolts, which not only improves the stability of the structure, but also facilitates maintenance and replacement, the design of the ventilation slots 30 and the heat sink 22 on the buffer positioning plate 29 effectively improves the heat dissipation efficiency and ensures the stable operation of the power module 2, the configuration of the landing gear 10 and the supporting cross bar 11, combined with the buffer pad 12, enhances the stability and buffering effect of the UAV during landing, and reduces the impact of the landing impact on the fuselage, the combination of the connecting plate 25, the positioning rod 24 and the rubber clamping sleeve 26, provides a stable support and protection for the internal components, and the design of the V-shaped rod 27 and the fixing plate 17 ensures the accurate installation and fixation of the fixing plate 17 and the components below it.

[0039] Embodiment 2:

[0040] refer to Figure 1 , Figure 2 and Figure 3Airbag blocks 18 are fixedly installed around the fixing plate 17, and a threaded hole 19 is opened in the inner cavity of the airbag block 18. A steering gear 20 is fixedly installed at the bottom of the fixing plate 17, and an adjusting arm 21 is fixedly connected to the bottom of the steering gear 20. A rotator 13 is fixedly connected to one side of the adjusting arm 21, and a camera body 14 is fixedly connected to one side of the rotator 13. A camera lens 15 and a dynamic capture lens 16 are fixedly installed on the front and back sides of one side of the camera body 14, respectively. Fastening screws 32 are respectively arranged on the top and bottom of one side of the camera body 14, and an adjusting limit rod 33 is vertically arranged on one side of the camera body 14. The fastening screw 32 is threadedly connected to the adjusting limit rod 33.

[0041] By adopting the above scheme: the design of the UAV further enhances its functionality and operational flexibility, the airbag blocks 18 around the fixing plate 17 not only provide an additional layer of protection, but also can be quickly disassembled and assembled through the threaded holes 19 in the inner cavity, which is convenient for maintenance and replacement, and the combination of the steering gear 13 and the adjustment arm 21 allows the direction and angle of the camera body 14 to be flexibly adjusted, so as to capture a wider field of view and more accurate images, and the connection between the rotator 13 and the camera body 14 ensures the stability and accuracy of the camera body 14 during flight, and the camera lens 15 and the dynamic capture lens 16 on the camera body 14 provide high-quality video and image capture capabilities, which are suitable for a variety of monitoring and shooting tasks, and the design of the fastening screw 32 and the adjustment limit rod 33 makes the installation and fixation of the camera body 14 more stable, while allowing subtle angle adjustments to meet different shooting requirements.

[0042] Working principle of the present invention:

[0043] When in use, the laser radar, ultrasonic sensor and infrared sensor in the sensor module 3 collect data of the surrounding environment in real time. The environmental detection module further processes and analyzes the sensor data to provide environmental perception capabilities. The power module 2 supplies power to the GPS positioning module and other modules, and the GPS positioning module provides accurate location information. The controller 5 calculates a safe flight path and obstacle avoidance strategy based on the GPS positioning information and environmental detection data, combined with the built-in obstacle avoidance algorithm module. The data processing module further processes the flight path and obstacle avoidance strategy according to the instructions of the controller, and outputs the results to the obstacle avoidance algorithm module. The obstacle avoidance algorithm module controls the motor steering device 8 to adjust the direction and speed of the propeller 9 to adjust the flight path. and obstacle avoidance actions, structural components such as the protective casing 1, the supporting shell 4 and the supporting rod 6 provide physical protection and structural support for the internal electronic equipment, designs such as the buffer positioning plate 29, the fastening bolts 31, the landing gear 10, the supporting cross bar 11 and the buffer pad 12 enhance the impact resistance and stability of the UAV, the combination of the steering gear 20 and the adjusting arm 21 allows the direction and angle of the camera body 14 to be flexibly adjusted to capture a wider field of view and more accurate images, the camera lens 15 and the dynamic capture lens 16 on the camera body 14 provide high-quality video and image capture capabilities, which are suitable for a variety of monitoring and shooting tasks, the fastening screw 32 and the adjustment limit rod 33 ensure the stable installation and precise adjustment of the camera body 14.

[0044] In summary: the sensor module 3 integrates multiple sensors such as laser radar, ultrasonic sensor and infrared sensor to capture detailed information of the surrounding environment in real time, and efficiently transmits this data to the controller 5 for processing. The controller 5, combined with the precise location data provided by the GPS positioning module, can accurately determine the location and distance of obstacles, so as to adjust the flight path in time during the flight to avoid collision with obstacles. The coordinated work of the data processing module and the obstacle avoidance algorithm module enables the UAV to respond quickly and execute complex obstacle avoidance strategies to ensure flight safety. In addition, the addition of the remote control signal receiving module and the wireless communication module enables the operator to remotely monitor the status of the UAV and intervene when necessary, further improving the reliability of the system and the convenience of operation. The automatic obstacle avoidance function greatly improves the flight safety of the UAV and the efficiency of mission execution.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A UAV flight control module capable of automatic obstacle avoidance, characterized in that: The invention comprises a protective casing (1), a power module (2) and a supporting casing (4), wherein the supporting casing (4) is located in the inner cavity of the protective casing (1), a controller (5) is arranged in the inner cavity of the supporting casing (4), a sensor module (3) is fixedly mounted on one side of the protective casing (1), supporting rods (6) are fixedly mounted on the four sides of the protective casing (1), a fixing block (7) is fixedly mounted on one end of the supporting rod (6), a motor steering device (8) is fixedly mounted on the top of the fixing block (7), and a propeller (9) is fixedly mounted on the top of the motor steering device (8); The output end of the sensor module (3) is electrically connected to the input end of the controller (5), the input end of the sensor module (3) is electrically connected to the environment detection module, the output end of the power module (2) is electrically connected to the GPS positioning module, the output end of the GPS positioning module is electrically connected to the input end of the controller (5), the output end of the controller (5) is electrically connected to the data processing module and the remote control signal receiving module, respectively, the output end of the data processing module is electrically connected to the obstacle avoidance algorithm module, the output end of the obstacle avoidance algorithm module is electrically connected to the input end of the motor steering device (8), the output end of the remote control signal receiving module is electrically connected to the wireless communication module, and the output end of the wireless communication module is electrically connected to the control terminal.

2. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 1, characterized in that: The sensor module (3) also includes a laser radar, an ultrasonic sensor and an infrared sensor. The power module (2) is located on the top of the protective casing (1). A buffer positioning plate (29) is fixedly installed on the top of the protective casing (1). A heat sink (22) is fixedly installed on the bottom of the controller (5). Pillars (23) are fixedly installed on all four sides of the inner cavity of the supporting shell (4).

3. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 2, characterized in that: A ventilation slot (30) is provided on the top of the buffer positioning plate (29), and fastening bolts (31) are threadedly mounted on four sides of the top of the buffer positioning plate (29).

4. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 3, characterized in that: The bottom of the power module (2) is threadedly connected to the fastening bolts (31), and landing gears (10) are fixedly installed on both sides of the bottom of the protective casing (1), and a supporting cross bar (11) is fixedly installed at the end of the landing gear (10), and buffer pads (12) are fixedly installed at both ends of the supporting cross bar (11), and a connecting plate (25) is fixedly installed on one side of the inner cavity of the protective casing (1).

5. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 4, characterized in that: Positioning rods (24) are fixedly mounted at both ends of one side of the connecting plate (25), and rubber clamping sleeves (26) are respectively sleeved and mounted on the front and rear sides of the inner side of the positioning rod (24). A V-shaped rod (27) is fixedly mounted on the inner side of the rubber clamping sleeve (26), and a mounting hole (28) is provided at the middle end of the V-shaped rod (27). The bottom of the V-shaped rod (27) is fixedly connected to a fixing plate (17).

6. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 5, characterized in that: Airbag blocks (18) are fixedly mounted on the four sides of the fixing plate (17), a threaded hole (19) is provided in the inner cavity of the airbag block (18), and a steering gear (20) is fixedly mounted on the bottom of the fixing plate (17).

7. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 6, characterized in that: The bottom of the steering gear (20) is fixedly connected to an adjusting arm (21), one side of the adjusting arm (21) is fixedly connected to a rotator (13), and one side of the rotator (13) is fixedly connected to a camera body (14).

8. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 7, characterized in that: A camera lens (15) and a motion capture lens (16) are fixedly mounted on the front and rear sides of one side of the camera body (14), and a fastening screw (32) is provided on the top and bottom of one side of the camera body (14).

9. The unmanned aerial vehicle flight control module capable of automatic obstacle avoidance according to claim 8, characterized in that: An adjusting limit rod (33) is vertically arranged on one side of the camera body (14), and the fastening screw (32) is threadedly connected to the adjusting limit rod (33).

10. A method for using a UAV flight control module capable of automatic obstacle avoidance, characterized in that: Here’s how to use it: S1: First, the protective casing (1) provides a protective shell for the entire module, and contains key components such as the power module (2) and the supporting shell (4). The supporting shell (4) is located in the inner cavity of the protective casing (1) and is used to fix and protect the controller (5) to ensure its stable operation. S2: The sensor module (3) is used to detect the surrounding environment and transmit the detected data to the controller (5). The controller (5) receives the sensor data and processes the information according to the built-in algorithm to realize functions such as automatic obstacle avoidance; S3: The power module (2) provides power to the entire system, the GPS positioning module transmits positioning information to the controller (5) so that the drone can accurately locate and navigate, the data processing module can further process the data output by the controller (5), and the output end of the data processing module is connected to the obstacle avoidance algorithm module, which calculates the obstacle avoidance strategy based on the processed data and sends the instruction to the motor steering device (8); S4: Subsequently, the motor steering device (8) adjusts the flight direction of the drone according to the instructions of the obstacle avoidance algorithm module to ensure that obstacles are avoided. S5: Secondly, the steering gear (20) is connected to the camera body (14) through the adjusting arm (21) and the rotator (13) to realize the steering and positioning of the camera body (14). The camera body (14) is fixed by the fastening screw (32). The camera lens (15) and the dynamic capture lens (16) thereon are used to shoot and capture the surrounding environment to provide visual information for obstacle avoidance and navigation.

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