New energy unmanned aerial vehicle obstacle avoidance device and method for urban safe cruise

Abstract

The invention discloses a new energy unmanned aerial vehicle obstacle avoidance device and method for urban safety cruise, and the device comprises an aircraft main body which is fixedly provided with a cradle head at the abdomen; the inspection camera is mounted on the holder; the number of the obstacle avoidance rotor wing components is four, and the obstacle avoidance rotor wing components are installed on four wing arms of the aircraft body respectively. The laser range finder is mounted at the top of the aircraft main body; and the obstacle avoidance flight system can send a flight instruction to each obstacle avoidance rotor component and drive each obstacle avoidance rotor component to carry out attitude adjustment so as to cooperate with a laser range finder to carry out a flight obstacle avoidance action. The obstacle avoidance rotor component is arranged in the device, and during flying, if the laser rangefinder detects that an obstacle exists in front, the terminal intelligent system gives an avoidance instruction for fast moving leftwards or rightwards in time.

Description

Technical Field

[0001] The present invention specifically relates to the technical field of unmanned aerial vehicles, and in particular to a new energy unmanned aerial vehicle obstacle avoidance device and method for safe urban cruising. Background Art

[0002] Under urban safety management, the use of drones and drone-mounted equipment combined with AI-related algorithms can help users detect problems from an aerial perspective in a timely and accurate manner, conduct law enforcement and evidence collection, and assist in handling related issues to maintain urban construction order.

[0003] In the inspection and flight missions of drones, a composite obstacle avoidance method is generally used that combines multiple distance measurement methods and visual image processing technology to provide more comprehensive and accurate obstacle information. This method usually includes the comprehensive use of sensors such as lidar and cameras, and controls its flight direction to achieve more complex obstacle avoidance tasks. However, this method has a short obstacle avoidance buffer distance. If a wider obstacle is encountered, the drone's reaction time is short and it cannot quickly complete the obstacle avoidance action, which in turn affects the drone's inspection operations. Summary of the invention

[0004] To this end, the present invention proposes a new energy UAV obstacle avoidance device and method suitable for urban safe cruising to solve the problems raised in the above background technology.

[0005] To achieve the above purpose, the present invention provides the following technical solution: a new energy drone obstacle avoidance device for urban safe cruising, comprising:

[0006] The main body of the aircraft has a gimbal fixedly mounted on its belly;

[0007] An inspection camera, which is mounted on the pan-tilt platform;

[0008] Obstacle avoidance rotor components, of which four are provided and are respectively mounted on four wing arms of the aircraft body;

[0009] a laser rangefinder mounted on the top of the aircraft body;

[0010] And an obstacle avoidance flight system, which can issue flight instructions to each obstacle avoidance rotor component and drive each obstacle avoidance rotor component to adjust its attitude to cooperate with the laser rangefinder to perform flight obstacle avoidance actions.

[0011] Further, preferably, the obstacle avoidance rotor component is composed of an upper rotor mechanism and a lower rotor mechanism, wherein the lower rotor mechanism is fixed to the end of the wing arm of the aircraft body, and the lower rotor mechanism and the upper rotor mechanism are synchronously adjusted in attitude and rotated.

[0012] Further, preferably, the lower rotor mechanism includes

[0013] A lower cylindrical shell, in which an inner liner is arranged, and the inner liner is fixed to the inner wall of the lower cylindrical shell by a plurality of fixing claws thereon;

[0014] A tilting seat, which is mounted on the lower cylinder shell through a posture adjustment component, wherein a special-shaped groove is arranged on the inner bottom surface of the tilting seat, and a swivel is arranged in the special-shaped groove for matching and sliding;

[0015] An internal rotating seat, which is arranged in the tilting seat and is fixedly connected to the rotating ring, so that the internal rotating seat and the tilting seat are rotationally connected;

[0016] A wing ring, which is fixedly connected to the inner rotating seat by a connecting rod, and the wing ring is arranged parallel to the inner rotating seat;

[0017] and second rotating blades, at least two of which are provided and arranged in a circumferential array on the outer side wall of the wing ring.

[0018] Further, preferably, a brushless motor is fixedly installed in the tilting seat, a driving end of the brushless motor is fixedly connected to one end of a driving rod, and the driving rod and the inner rotating seat are fixedly connected by a plurality of supporting rods.

[0019] Further, as a preference, the posture adjustment component comprises

[0020] Two rotating arms are provided, and opposite ends of the two rotating arms are rotatably mounted on the inner liner by using rotating pins, and each rotating pin penetrates into the inner liner and is connected to a driven gear;

[0021] There are two push rods, one end of each of which is rotatably connected to the two rotating arms, and the other end of each of which is rotatably connected to the tilting seat;

[0022] A driving gear, which is arranged in the inner tank and meshes with the two driven gears for transmission, and the two driven gears are symmetrically arranged relative to the driving gear;

[0023] And a servo motor 1, which is fixed on the inner tank and drives the driving gear.

[0024] Further, as a preference, the upper rotor mechanism comprises an upper cylinder shell, a sealing seat, a rotary block and first rotary blades having the same number as the second rotary blades, wherein the sealing seat is fixedly pressed with the upper cylinder shell, and a plurality of the first rotary blades are arranged in a circular array on the side wall at the top of the sealing seat;

[0025] The rotary block is arranged in the upper cylinder shell and is fixedly connected between the sealing seat and the driving rod.

[0026] Further, preferably, the distance between each corresponding first rotor blade and the second rotor blade is greater than 1 / 2 of the length of the second rotor blade.

[0027] Further, preferably, the obstacle avoidance flight system includes

[0028] a battery module disposed in the aircraft body;

[0029] A signal module is installed on the aircraft body and is connected to the inspection camera and the laser rangefinder by signal;

[0030] A PLC main control module, which is connected to the terminal signal through the signal module, and the PLC main control module issues flight instructions to each obstacle avoidance rotor component through the sub-control module;

[0031] and a GPS locator, which can transmit positioning information to the terminal in real time;

[0032] Among them, the inspection camera, laser rangefinder, signal module, GPS locator and each obstacle avoidance rotor component are all powered by a battery module.

[0033] The present invention also provides a new energy UAV obstacle avoidance method for urban safe cruising, which comprises the following steps:

[0034] Step 1: The user sets the flight route, collects photographic data with the inspection camera on the aircraft, and generates point cloud and model data through subsequent data processing;

[0035] Step 2: During the flight, if the laser rangefinder detects an obstacle 50 to 80 meters ahead on the route, the terminal intelligent system promptly gives an avoidance command to move left or right. If it moves to the left, each obstacle avoidance rotor component adjusts its attitude to the left, and the rotation speed of the two obstacle avoidance rotor components on the right side increases, while the rotation speed of the two obstacle avoidance rotor components on the left side decreases. At this time, the lift on the right side of the drone is greater than the lift on the left side of the drone, causing the drone to quickly shift to the left until the obstacle is successfully avoided;

[0036] If it moves to the right, each obstacle avoidance rotor component will adjust its attitude to the right, and the rotation speed of the two obstacle avoidance rotor components on the right side will decrease, while the rotation speed of the two obstacle avoidance rotor components on the left side will increase. At this time, the lift on the left part of the drone is greater than the lift on the right part of the drone, causing the drone to quickly shift to the right until the obstacle is avoided successfully.

[0037] Step 3: After avoiding the obstacle, the obstacle avoidance rotor components work together to drive the drone back to the flight route and continue the inspection operation.

[0038] The present invention adopts the above technology and has the following beneficial effects compared with the existing technology: the device of the present invention is provided with an obstacle avoidance rotor component. When flying, if the laser rangefinder detects that there is an obstacle in front, the terminal intelligent system promptly gives an avoidance instruction to move left or right. If it moves to the left, each obstacle avoidance rotor component adjusts its attitude to the left, and the rotation speed of the two obstacle avoidance rotor components located on the right side is increased, while the rotation speed of the two obstacle avoidance rotor components located on the left side is reduced. At this time, the lift of the right part of the drone is greater than the lift of the left part of the drone, so that the drone quickly deviates to the left to complete the obstacle avoidance.

[0039] If it moves to the right, each obstacle avoidance rotor component will adjust its attitude to the right, and the rotation speed of the two obstacle avoidance rotor components on the right side will decrease, while the rotation speed of the two obstacle avoidance rotor components on the left side will increase. At this time, the lift on the left part of the drone is greater than the lift on the right part of the drone, causing the drone to quickly shift to the right to complete obstacle avoidance. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the three-dimensional structure of a new energy UAV obstacle avoidance device for safe urban cruising;

[0041] Figure 2 It is a schematic diagram of the front view structure of a new energy UAV obstacle avoidance device for safe urban cruising;

[0042] Figure 3 This is a schematic diagram of the structure of an obstacle avoidance rotor component in an obstacle avoidance device for a new energy UAV for safe urban cruising;

[0043] Figure 4 This is an internal schematic diagram of an obstacle avoidance rotor component in an obstacle avoidance device for a new energy UAV for safe urban cruising;

[0044] Figure 5 This is a schematic diagram of the connection between the internal rotation seat and the tilt seat in an obstacle avoidance device for a new energy UAV for safe urban cruising;

[0045] Figure 6 This is a system layout diagram of the obstacle avoidance flight system in a new energy UAV obstacle avoidance device for urban safety cruising.

[0046] In the figure: 1. Aircraft body; 3. Inspection camera; 5. Obstacle avoidance rotor component; 6. Signal module; 7. Laser rangefinder; 8. GPS locator; 51. Upper cylinder shell; 52. Sealing seat; 53. First rotor blade; 54. Second rotor blade; 55. Lower cylinder shell; 56. Rotary block; 57. Connecting rod; 58. Driving rod; 59. Wing ring; 60. Rotating arm; 61. Inner liner; 62. Fixing claw; 63. Sub-control module; 64. Servo motor 1; 65. Push rod; 66. Support rod; 67. Swivel; 68. Brushless motor; 69. Inner rotating seat; 70. Tilt seat. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Example: Please refer to the attached Figure 1-6 The present invention provides a technical solution: a new energy UAV obstacle avoidance device for urban safety cruising, comprising:

[0049] The aircraft body 1 has a gimbal fixedly mounted on its belly;

[0050] Inspection camera 3, which is mounted on a pan-tilt platform;

[0051] Obstacle avoidance rotor components 5, of which four are provided and are respectively mounted on four wing arms of the aircraft body 1;

[0052] A laser rangefinder 7, which is mounted on the top of the aircraft body 1;

[0053] And an obstacle avoidance flight system, which can issue flight instructions to each obstacle avoidance rotor component 5 and drive each obstacle avoidance rotor component 5 to adjust its attitude to cooperate with the laser rangefinder 7 to perform flight obstacle avoidance actions.

[0054] In this embodiment, the obstacle avoidance rotor component 5 is composed of an upper rotor mechanism and a lower rotor mechanism, wherein the lower rotor mechanism is fixed to the end of the wing arm of the aircraft body 1, and the lower rotor mechanism and the upper rotor mechanism are synchronously adjusted and rotated.

[0055] In this embodiment, the lower rotor mechanism includes

[0056] The lower cylinder shell 55 has an inner liner 61 disposed therein, and the inner liner 61 is fixed to the inner wall of the lower cylinder shell 55 by a plurality of fixing claws 62 thereon;

[0057] The tilting seat 70 is mounted on the lower cylinder shell 55 through the posture adjustment assembly. A special-shaped groove is provided on the inner bottom surface of the tilting seat 70, and a swivel 67 is provided in the special-shaped groove for matching and sliding.

[0058] The inner rotating seat 69 is disposed in the tilting seat 70 and is fixedly connected to the swivel 67 so that the inner rotating seat 69 is rotatably connected to the tilting seat 70;

[0059] The wing ring 59 is fixedly connected to the inner rotating seat 69 by the connecting rod 57, and the wing ring 59 is arranged parallel to the inner rotating seat 69;

[0060] And at least two second rotor blades 54 are provided and arranged in a circumferential array on the outer side wall of the wing ring 59 .

[0061] In this embodiment, a brushless motor 68 is fixedly installed in the tilting seat 70 , a driving end of the brushless motor 68 is fixedly connected to one end of a driving rod 58 , and the driving rod 58 and the inner rotating seat 69 are fixedly connected by a plurality of supporting rods 66 .

[0062] In this embodiment, the posture adjustment component includes

[0063] Two rotating arms 60 are provided, and opposite ends of the two rotating arms 60 are rotatably mounted on the inner liner 61 by using rotating pins, and each rotating pin penetrates into the inner liner and is connected to a driven gear;

[0064] There are two push rods 65, one end of each of which is rotatably connected to the two rotating arms 60, and the other end of each of which is rotatably connected to the tilting seat 70;

[0065] A driving gear is disposed in the inner liner 61 and meshes with two driven gears for transmission, and the two driven gears are symmetrically disposed relative to the driving gear;

[0066] And a servo motor 64, which is fixed on the inner liner 61 and drives the driving gear.

[0067] In this embodiment, the upper rotor mechanism comprises an upper cylinder shell 51, a sealing seat 52, a rotary block 56, and first rotary blades 53 having the same number as the second rotary blades 54, wherein the sealing seat 52 is fixedly pressed with the upper cylinder shell 51, and a plurality of first rotary blades 53 are arranged in a circular array on the side wall at the top of the sealing seat 52;

[0068] The rotary block 56 is disposed in the upper cylinder shell 51 and is fixedly connected between the sealing seat 52 and the driving rod 58 .

[0069] In this embodiment, the distance between each corresponding first rotor blade 53 and the second rotor blade 54 is greater than 1 / 2 of the length of the second rotor blade 54 .

[0070] In this embodiment, the obstacle avoidance flight system includes

[0071] A battery module, which is arranged in the aircraft body 1;

[0072] A signal module 6 is installed on the aircraft body 1 and is connected to the inspection camera 3 and the laser rangefinder 7 by signals;

[0073] A PLC main control module is connected to the terminal signal through a signal module 6, and the PLC main control module issues flight instructions to each obstacle avoidance rotor component 5 through a sub-control module;

[0074] and a GPS locator 8, which can transmit positioning information to the terminal in real time;

[0075] Among them, the inspection camera 3, the laser rangefinder 7, the signal module 6, the GPS locator 8 and each obstacle avoidance rotor component 5 are all powered by the battery module.

[0076] The present invention also provides a new energy UAV obstacle avoidance method for urban safe cruising, which comprises the following steps:

[0077] Step 1: The user sets the flight route, collects photographic data in combination with the inspection camera 3 carried by the aircraft body 1, and generates point cloud and model data through subsequent data processing;

[0078] It should be added that the rotation directions of the four obstacle avoidance rotor components 5 on the aircraft body 1 are set as follows: the two obstacle avoidance rotor components 5 located at the lower left and upper right rotate counterclockwise, and the two obstacle avoidance rotor components 5 located at the upper left and lower right rotate clockwise. The reaction forces (reverse torques) of the above two are offset, and the drone can remain stable and achieve smooth flight.

[0079] Step 2: During the flight, if the laser rangefinder 7 detects an obstacle 50 to 80 meters ahead on the route, the terminal intelligent system promptly gives an avoidance instruction to move left or right. If it moves to the left, each obstacle avoidance rotor component 5 adjusts its attitude to the left, and the rotation speed of the two obstacle avoidance rotor components 5 on the right side increases, while the rotation speed of the two obstacle avoidance rotor components 5 on the left side decreases. At this time, the lift on the right side of the drone is greater than the lift on the left side of the drone, causing the drone to quickly shift to the left until the obstacle is successfully avoided.

[0080] If moving to the right, each obstacle avoidance rotor component 5 will adjust its posture to tilt to the right, and the rotation speed of the two obstacle avoidance rotor components 5 on the right side will be reduced, while the rotation speed of the two obstacle avoidance rotor components 5 on the left side will be increased. At this time, the lift on the left part of the UAV is greater than the lift on the right part of the UAV, causing the UAV to quickly shift to the right until the obstacle is successfully avoided.

[0081] Step 3: After avoiding the obstacle, each obstacle avoidance rotor component 5 cooperates to drive the UAV back to the flight route and continue the inspection operation.

[0082] 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 new energy UAV obstacle avoidance device for safe urban cruising, characterized in that: It includes: An aircraft body (1) having a gimbal fixedly mounted on its belly; An inspection camera (3) mounted on the pan-tilt platform; Obstacle avoidance rotor components (5), which are provided in four numbers and are respectively mounted on four wing arms of the aircraft body (1); A laser rangefinder (7) mounted on the top of the aircraft body (1); And an obstacle avoidance flight system, which can issue flight instructions to each obstacle avoidance rotor component (5) and drive each obstacle avoidance rotor component (5) to adjust its attitude so as to cooperate with the laser rangefinder (7) to perform a flight obstacle avoidance action.

2. The obstacle avoidance device for a new energy drone for safe urban cruising according to claim 1 is characterized by: The obstacle avoidance rotor component (5) is composed of an upper rotor mechanism and a lower rotor mechanism, wherein the lower rotor mechanism is fixed to the end of the wing arm of the aircraft body (1), and the lower rotor mechanism and the upper rotor mechanism are synchronously adjusted in attitude and rotated.

3. The obstacle avoidance device for a new energy UAV for safe urban cruising according to claim 2 is characterized by: The lower rotor mechanism comprises A lower cylindrical shell (55) having an inner liner (61) disposed therein, wherein the inner liner (61) is fixed to the inner wall of the lower cylindrical shell (55) via a plurality of fixing claws (62) thereon; A tilting seat (70) is mounted on the lower cylinder shell (55) via a posture adjustment assembly, a special-shaped groove is provided on the inner bottom surface of the tilting seat (70), and a rotating ring (67) is provided in the special-shaped groove for matching and sliding. an inner rotating seat (69), which is arranged in the tilting seat (70) and is fixedly connected to the rotating ring (67), so that the inner rotating seat (69) and the tilting seat (70) are rotationally connected; A wing ring (59) is fixedly connected to the inner rotating seat (69) by a connecting rod (57), and the wing ring (59) and the inner rotating seat (69) are arranged in parallel; and second rotating blades (54), at least two of which are arranged in a circumferential array on the outer side wall of the wing ring (59).

4. The obstacle avoidance device for a new energy UAV for safe urban cruising according to claim 3 is characterized by: A brushless motor (68) is fixedly installed in the tilting seat (70), a driving end of the brushless motor (68) is fixedly connected to one end of a driving rod (58), and the driving rod (58) and the inner rotating seat (69) are fixedly connected by a plurality of supporting rods (66).

5. The obstacle avoidance device for a new energy UAV for safe urban cruising according to claim 4 is characterized by: The posture adjustment component includes Two rotating arms (60) are provided, and opposite ends of the two rotating arms (60) are rotatably mounted on the inner liner (61) by means of rotating pins, and each rotating pin penetrates into the inner liner and is connected to a driven gear; Two push rods (65) are provided, one end of the two push rods (65) is rotatably connected to the two rotating arms (60) respectively, and the other end of the two push rods (65) is rotatably connected to the tilting seat (70); A driving gear, which is arranged in the inner container (61) and meshes with the two driven gears for transmission, and the two driven gears are symmetrically arranged relative to the driving gear; And a servo motor (64) is fixed on the inner container (61) and drives the driving gear.

6. The obstacle avoidance device for a new energy UAV for safe urban cruising according to claim 5 is characterized by: The upper rotor mechanism comprises an upper cylinder shell (51), a sealing seat (52), a rotary block (56), and first rotary blades (53) having the same number as the second rotary blades (54), wherein the sealing seat (52) is fixedly pressed with the upper cylinder shell (51), and a plurality of the first rotary blades (53) are arranged in a circular array on the side wall of the top of the sealing seat (52); The rotary block (56) is disposed in the upper cylinder shell (51) and is fixedly connected between the sealing seat (52) and the driving rod (58).

7. The obstacle avoidance device for a new energy UAV for safe urban cruising according to claim 6 is characterized by: The distance between each corresponding first rotor blade (53) and the second rotor blade (54) is greater than 1 / 2 of the length of the second rotor blade (54).

8. The obstacle avoidance device for a new energy UAV for safe urban cruising according to claim 1 is characterized by: The obstacle avoidance flight system includes A battery module, which is arranged in the aircraft body (1); A signal module (6) is mounted on the aircraft body (1) and is signal-connected to the inspection camera (3) and the laser rangefinder (7); A PLC main control module, which is connected to the terminal signal through a signal module (6), and the PLC main control module issues a flight instruction to each obstacle avoidance rotor component (5) through a sub-control module; and a GPS locator (8), which can transmit positioning information to the terminal in real time; The inspection camera (3), the laser rangefinder (7), the signal module (6), the GPS locator (8) and each of the obstacle avoidance rotor components (5) are all powered by a battery module.

9. A new energy UAV obstacle avoidance method for safe urban cruising, characterized in that: It includes the following steps: Step 1: The user sets the flight route, collects photographic data with the inspection camera (3) mounted on the aircraft body (1), and generates point cloud and model data through subsequent data processing; Step 2: During the flight, if the laser rangefinder (7) detects that there is an obstacle 50 to 80 meters ahead on the route, the terminal intelligent system promptly gives an avoidance instruction to move left or right. If moving left, each obstacle avoidance rotor component (5) performs a posture adjustment to tilt left, and the rotation speed of the two obstacle avoidance rotor components (5) located on the right side increases, while the rotation speed of the two obstacle avoidance rotor components (5) located on the left side decreases. At this time, the lift of the right part of the drone is greater than the lift of the left part of the drone, causing the drone to quickly shift to the left until the obstacle is successfully avoided. When moving to the right, each obstacle avoidance rotor component (5) is adjusted to tilt to the right, and the rotation speeds of the two obstacle avoidance rotor components (5) located on the right side are reduced, while the rotation speeds of the two obstacle avoidance rotor components (5) located on the left side are increased. At this time, the lift force on the left side of the drone is greater than the lift force on the right side of the drone, causing the drone to quickly deviate to the right until the obstacle is successfully avoided. Step 3: After avoiding the obstacle, each obstacle avoidance rotor component (5) cooperates to drive the UAV back to the flight route and continue the inspection operation.

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