Automatic obstacle avoidance control system for forest flight of unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle forest flight automatic obstacle avoidance control system, which comprises a main body mechanism, the main body mechanism comprises a shell I, the bottom end of the shell I is fixedly connected with a shell II, the top of the shell I is provided with a placement cabin, and the inner wall of the placement cabin is slidably connected with a battery; first limiting blocks are fixedly connected to the two sides of the first shell, a first mounting plate is fixedly connected to the inner wall of the first shell, a second mounting plate is fixedly connected to the inner wall of the first shell, an adjusting block is fixedly connected to the inner wall of the rear side of the first shell, and an obstacle avoidance and damage prevention mechanism is arranged in the main body mechanism. According to the automatic obstacle avoidance control system for forest flight of the unmanned aerial vehicle, the buffer unit can play a role in buffering when the device collides with an obstacle, the front side wings can be kept cooperative, the device is not prone to unbalance, and the weight reduction unit can detach a battery to reduce most of the weight of the device when the device is seriously collided, so that the impact force borne by the device is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to an automatic obstacle avoidance control system for unmanned aerial vehicles flying in forests. Background Art

[0002] With the increasing pressure of global climate change and ecological environment, the protection of forest resources has become particularly important. Traditional forestry management methods face many challenges, such as wide geographical coverage, complex terrain, high labor costs and low efficiency. The introduction of drones has greatly improved these problems, especially in providing more efficient and accurate services in forest resource surveys, environmental monitoring, fire warning, etc.

[0003] The emergence of automatic obstacle avoidance control system technology for drones flying in forests has made the investigation and monitoring of forest resources easier, but the forest terrain is complex, and there are usually areas with many branches and obstacles, so collisions are inevitable. When an accident occurs, the drone will often fall directly and be damaged by the strong impact force.

[0004] Combining the above problems, it can be found that the existing automatic obstacle avoidance control systems for UAVs flying in forests on the market are difficult to avoid the above problems at the same time when in use, and even if they can be solved, they need to be solved through external tools, which makes it impossible to achieve the desired effect. Therefore, an automatic obstacle avoidance control system for UAVs flying in forests is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic obstacle avoidance control system for unmanned aerial vehicle flying in forests to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest, comprising a main body mechanism, the main body mechanism comprising a shell 1, the bottom end of the shell 1 is fixedly connected to a shell 2, a placement cabin is provided at the top of the shell 1, a battery is slidably connected to the inner wall of the placement cabin, a limited block 1 is fixedly connected to both sides of the shell 1, a mounting plate 1 is fixedly connected to the inner wall of the shell 1, a mounting plate 2 is fixedly connected to the inner wall of the shell 1, an adjustment block is fixedly connected to the inner wall of the rear side of the shell 1, and an obstacle avoidance and damage prevention mechanism is arranged inside the main body mechanism;

[0007] The obstacle avoidance and damage prevention mechanism includes a buffer unit, which is arranged inside the housing 1. The buffer unit can play a buffering role when the device hits an obstacle and can keep the front wing coordinated with the other device to prevent it from losing balance.

[0008] The obstacle avoidance and damage prevention mechanism includes a weight reduction unit, which is arranged inside the housing 1. The weight reduction unit can remove the battery to reduce most of the weight of the device when the device is severely impacted, so as to reduce the impact force on the device when it falls;

[0009] The obstacle avoidance and damage prevention mechanism also includes an obstacle avoidance unit, which is arranged inside the second shell. The second shell can enable the device to achieve a certain degree of obstacle avoidance effect when moving.

[0010] Preferably, the buffer unit includes wing two, the outer side of wing two is fixedly connected to a motor, the output end of the motor is fixedly connected to a propeller, the inner surface of wing two is fixedly connected to a gear block, the inner inner wall of wing two is rotatably connected to a rotating rod two, the surface of the gear block is meshed with a gear one, the inner wall of the gear one is rotatably connected to a rotating rod one, a slider one is provided on the inner side of the gear one, the inner wall of the slider one is slidably connected to a slide rail one, the rear surface of the slide rail one is slidably connected to a spring one, the rear side of the slide rail one is fixedly connected to a mounting frame four, and the front side of the slide rail one is fixedly connected to a bracket.

[0011] Through the above technical solution, when wing two touches an obstacle, it will rotate backward, and the gear block fixedly connected to it will be driven to rotate through wing two. When the gear block rotates, it will drive gear one meshing with it to rotate. The rotation of gear one will drive slider one to slide backward on slide rail one to compress spring one, thereby buffering the collision and coordinating with gear one on the other side to rotate, thereby driving wing two on the other side to have the same angle offset. The internal circuit of the motor is existing technology.

[0012] Preferably, the bottom end of the rotating rod one is fixedly connected to the mounting plate two, the bottom end of the rotating rod two is fixedly connected to the mounting plate one, the bottom end of the mounting frame four is fixedly connected to the mounting plate one, and the bottom end of the bracket is fixedly connected to the mounting plate one.

[0013] Preferably, two groups of rotating rods 2 are provided, and the two groups of rotating rods 2 are respectively arranged on the front and rear sides of the top of the mounting plate 2, the surface of the rotating rod 2 is rotatably connected to the wing 1, the inner surface of the wing 1 is fixedly connected to the buffer frame, the inner wall of the buffer frame is hingedly connected to the buffer rod, the rear side of the buffer rod is slidably connected to the buffer base, the inner wall of the buffer base is fixedly connected to the spring 2, and the rear side of the buffer base is hingedly connected to the adjustment block.

[0014] Through the above technical solution, wing one will drive the buffer frame to rotate when a collision occurs, and the buffer frame will drive the buffer rod hinged to it to retract backward, and the buffer base that is slidably connected to the buffer rod is internally fixedly connected with spring two, which will produce a certain degree of buffering effect on wing one.

[0015] Preferably, the weight reduction unit includes a stop block, the front side of the stop block is fixedly connected to a sliding frame, the top end of the sliding frame is slidably connected to a slide rail 2, the front side of the slide rail 2 is fixedly connected to a mounting frame 5, the bottom end of the sliding frame is slidably connected to a slide rail 3, the rear side of the slide rail 3 is fixedly connected to the mounting block, the surface of the slide rail 3 is slidably connected to a spring 3, the front side of the sliding frame is fixedly connected to a slider 2, the front side of the slider 2 is fixedly connected to a clamping head, a limited position turntable is provided on the front side of the clamping head, the inner wall of the limited position turntable is rotatably connected to a rotating rod 3, the front side of the limited position turntable is fixedly connected to a sliding rod, the surface of the sliding rod is slidably connected to the limited position block 2, the front side of the limited position turntable is slidably connected to a control rod, and both sides of the control rod are slidably connected to the limited position block 3.

[0016] Through the above technical solution, when a strong impact occurs during flight in the forest, wing two will drive slider one to slide forward. When it slides to a certain length, the connecting rod below it will drive the control rod to slide forward and push open the limit rotor. The limit rotor rotates to both sides to release the clamping head stuck on the inside of it. When the clamping head is released, it will be quickly displaced backward by the elastic force of spring three, driving the sliding frame fixedly connected to it, and causing it to drive the rear resistance block to knock the battery placed in the cabin out of the device, thereby reducing the weight of the drone.

[0017] Preferably, the bottom end of the limit block three is fixedly connected to the mounting plate one, the bottom end of the limit block two is fixedly connected to the mounting plate one, the bottom end of the mounting frame five is fixedly connected to the mounting plate one, the bottom end of the mounting block is fixedly connected to the mounting plate one, and the front side of the slide rail three is fixedly connected to the mounting frame five.

[0018] Preferably, the rear side of the sliding frame passes through the placement cabin and is fixedly connected to the stop block, the top end of the control rod is fixedly connected to a connecting rod, and the top end of the connecting rod is fixedly connected to a sliding block.

[0019] Preferably, the inner wall of the outer shell 2 is fixedly connected with the mounting frame 1, the inner wall of the outer shell 2 is fixedly connected with the limiting groove, and the bottom end of the outer shell 2 is fixedly connected with the buffer pad.

[0020] Through the above technical solution, the buffer pad ensures safety during falling.

[0021] Preferably, the obstacle avoidance unit includes a camera, a gimbal is provided on the rear side of the camera, an obstacle avoidance probe is provided on the rear side of the gimbal, a mounting frame 2 is fixedly connected to the inner side of the obstacle avoidance probe, a mounting frame 3 is provided on the rear side of the mounting frame 2, a mainboard is fixedly connected to the top of the mounting frame 3, and an optical flow downward-looking probe is provided on the rear side of the mounting frame 3.

[0022] Through the above technical scheme, obstacles can be avoided to a certain extent by setting up cameras and obstacle avoidance probes. When it falls, the optical flow downward-looking probe set on the lower side controls the smoothness of the fall and the judgment of obstacles below. The internal circuits of the camera, obstacle avoidance probe and optical flow downward-looking probe are existing technologies.

[0023] Preferably, both sides of the pan-tilt head are fixedly connected to the second housing, the bottom end of the second mounting frame is fixedly connected to the first mounting frame, the bottom end of the third mounting frame is fixedly connected to the first mounting frame, and the surface of the optical flow downward viewing probe is fixedly connected to the limit groove.

[0024] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0025] First, when the present invention flies in the forest, it usually encounters obstacles such as branches. When it touches the obstacle, wing 2 will rotate backward, and the tooth block fixedly connected to it will be driven to rotate through wing 2. When the tooth block rotates, it will drive gear 1 meshing with it to rotate. The rotation of gear 1 will drive slider 1 to slide backward on slide rail 1 to compress spring 1, buffer the collision, and cooperate with gear 1 on the other side to rotate, driving wing 2 on the other side to have the same angle deviation, and wing 1 arranged on the rear side of the device will drive the buffer frame to rotate when a collision occurs, and the buffer frame drives the buffer rod hinged to it to retract backward, and the buffer base slidably connected to the buffer rod is internally fixed with spring 2, which will produce a certain degree of buffering effect on wing 1, so that the front wing 2 of the device that is susceptible to impact is buffered when a collision occurs, and the wings 2 on both sides are offset at the same angle to avoid damage to the wings due to excessive rigidity, and at the same time adjust the wings 2 on both sides so that they are not easily lost balance due to collision.

[0026] Second, when a strong impact occurs during flight in the forest, the present invention will cause the wing two to drive the slider one to slide forward. When it slides to a certain length, the connecting rod below it will drive the control rod to slide forward and push open the limit turntable. The limit turntable rotates to both sides to release the clamping head stuck on the inner side thereof. When the clamping head is released, it will be rapidly displaced backward by the elastic force of the spring three, driving the sliding frame fixedly connected thereto, and driving the rear side block to knock the battery placed in the cabin out of the device, so that the drone can be reduced in weight. When it is subjected to a strong impact, the battery that occupies most of its weight will be knocked away to reduce the impact received during falling.

[0027] Third, when the present invention is in use, obstacles can be avoided to a certain extent through the cameras and obstacle avoidance probes. When it falls, the optical flow downward probe arranged on the lower side can be used to control the smoothness of the fall and the judgment of obstacles below, and a buffer pad is arranged at the bottom of the shell to ensure safety during falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the lower side of the overall structure of the present invention;

[0030] Figure 3 It is a top schematic diagram of the overall structure of the present invention;

[0031] Figure 4 This is a schematic diagram of the internal structure of the second housing of the present invention;

[0032] Figure 5 This is a schematic diagram of the internal structure of the housing of the present invention;

[0033] Figure 6 It is a partial structural schematic diagram of the present invention;

[0034] Figure 7 It is an overall schematic diagram of the weight loss unit of the present invention;

[0035] Figure 8 This is a schematic diagram of a buffer unit of the present invention;

[0036] Fig. 9 It is a partial schematic diagram of the weight loss unit of the present invention;

[0037] Fig.10 It is an exploded view of part of the structure of the present invention.

[0038] Among them: 1. Main body; 2. Obstacle avoidance and damage prevention mechanism; 11. Shell 1; 1101. Limit block 1; 1102. Mounting plate 1; 1103. Mounting plate 2; 1104. Adjustment block; 1105. Storage cabin; 12. Shell 2; 1201. Buffer pad; 1202. Mounting frame 1; 1203. Limit slot; 13. Battery; 20. Obstacle avoidance unit; 2001. Camera; 2002. Gimbal; 2003. Obstacle avoidance probe; 2004. Optical flow downward probe; 2005. Mounting frame 2; 2006. Mounting frame 3; 2007. Main board; 30. Buffer unit; 3001. Wing 1; 3002. Motor; 3003. Propeller; 3004. Wing 2; 3005. Gear 1; 3006. Slider 1; 3007, spring one; 3008, mounting frame four; 3009, slide rail one; 3010, bracket; 3011, buffer frame; 3012, buffer rod; 3013, buffer base; 3014, rotating rod one; 3015, rotating rod two; 3016, spring two; 3099, tooth block; 40, weight reduction unit; 4001, stop block; 4002, sliding frame; 4003, slide rail two; 4004, mounting block; 4005, slide rail three; 4006, mounting frame five; 4007, spring three; 4008, slider two; 4009, clamp; 4010, limit swivel; 4011, rotating rod three; 4012, sliding rod; 4013, limit block two; 4014, control rod; 4015, limit block three. DETAILED DESCRIPTION

[0039] 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.

[0040] The present invention provides the following technical solutions:

[0041] Embodiment 1

[0042] See also Figure 1-10 The present invention provides a technical solution: an automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest, comprising a main body mechanism 1, the main body mechanism 1 comprising a shell 11, the bottom end of the shell 11 is fixedly connected to a shell 2 12, a placement compartment 1105 is provided at the top of the shell 11, a battery 13 is slidably connected to the inner wall of the placement compartment 1105, limited blocks 1101 are fixedly connected to both sides of the shell 11, a mounting plate 1102 is fixedly connected to the inner wall of the shell 11, a mounting plate 2 1103 is fixedly connected to the inner wall of the shell 11, an adjustment block 1104 is fixedly connected to the inner wall of the rear side of the shell 11, and an obstacle avoidance and damage prevention mechanism 2 is arranged inside the main body mechanism 1;

[0043] The obstacle avoidance and damage prevention mechanism 2 includes a buffer unit 30, which is arranged inside the housing 11. The buffer unit 30 can play a buffering role when the device hits an obstacle and can keep the front wing coordinated with other devices to prevent them from being unbalanced.

[0044] As a further limitation of the obstacle avoidance and damage prevention mechanism 2 of the present invention, the buffer unit 30 includes a wing 2 3004, the outer side of the wing 2 3004 is fixedly connected to the motor 3002, the output end of the motor 3002 is fixedly connected to the propeller 3003, the inner surface of the wing 2 3004 is fixedly connected to a gear block 3099, the inner inner wall of the inner side of the wing 2 3004 is rotatably connected to a rotating rod 2 3015, the surface of the gear block 3099 is meshed with a gear 1 3005, the inner wall of the gear 1 3005 is rotatably connected to the rotating rod 1 3014, a slider 1 3006 is provided on the inner side of the gear 1 3005, the inner wall of the slider 1 3006 is slidably connected to a slide rail 1 3009, the rear surface of the slide rail 1 3009 is slidably connected to a spring 1 3007, the rear side of the slide rail 1 3009 is fixedly connected to a mounting frame 4 3008, and the front side of the slide rail 1 3009 is fixedly connected to a bracket 3010;

[0045] The bottom end of the rotating rod 1 3014 is fixedly connected to the second mounting plate 1103, the bottom end of the rotating rod 2 3015 is fixedly connected to the first mounting plate 1102, the bottom end of the mounting frame 4 3008 is fixedly connected to the first mounting plate 1102, and the bottom end of the bracket 3010 is fixedly connected to the first mounting plate 1102;

[0046] There are two groups of rotating rods 3015, which are respectively arranged on the front and rear sides of the top of the mounting plate 1103. The surface of the rotating rod 3015 is rotatably connected to the wing 3001, and the inner surface of the wing 3001 is fixedly connected to the buffer frame 3011. The inner wall of the buffer frame 3011 is hingedly connected to the buffer rod 3012. The rear side of the buffer rod 3012 is slidably connected to the buffer base 3013. The inner wall of the buffer base 3013 is fixedly connected to the spring 2 3016, and the rear side of the buffer base 3013 is hingedly connected to the adjustment block 1104.

[0047] The specific implementation of this embodiment is as follows: when flying in the forest, obstacles such as branches are usually encountered. When the obstacle is touched, the wing 2 3004 will rotate backwards, and the tooth block 3099 fixedly connected to the wing 2 3004 will be driven to rotate. When the tooth block 3099 rotates, the gear 1 3005 meshing with it will be driven to rotate. The rotation of the gear 1 3005 will drive the slider 1 3006 to slide backward on the slide rail 1 3009 to compress the spring 1 3007, so as to buffer the collision, and cooperate with the gear 1 3005 on the other side to rotate, so as to drive the wing 2 3004 on the other side to deviate at the same angle, and the gear 1 3005 on the other side will rotate. The wing 1 3001 at the rear side will drive the buffer frame 3011 to rotate when a collision occurs, and the buffer frame 3011 drives the buffer rod 3012 hinged thereto to retract backwards, and the buffer base 3013 slidably connected to the buffer rod 3012 is internally fixedly connected with a spring 2 3016, which will produce a certain degree of buffering effect on the wing 1 3001, so that the front wing 2 3004 of the device that is susceptible to impact is buffered when a collision occurs, and the wings 2 3004 on both sides are offset at the same angle to avoid damage to the wings due to excessive rigidity, and at the same time adjust the wings 2 3004 on both sides so that they are not easily lost balance due to collision.

[0048] Embodiment 2

[0049] See also Figure 1-10 The present invention provides a technical solution: an automatic obstacle avoidance control system for a UAV flying in the forest. The present invention makes corresponding improvements to the technical problems mentioned in the background technology. The obstacle avoidance and damage prevention mechanism 2 includes a weight reduction unit 40. The weight reduction unit 40 is arranged inside the shell 11. The weight reduction unit 40 can remove the battery 13 to reduce most of the weight of the device when the device is severely impacted, so as to reduce the impact force on the device when it falls.

[0050] As a further limitation of the obstacle avoidance and damage prevention mechanism 2 of the present invention, the weight reduction unit 40 includes a stop block 4001, the front side of the stop block 4001 is fixedly connected to a sliding frame 4002, the top of the sliding frame 4002 is slidably connected to a slide rail 2 4003, the front side of the slide rail 2 4003 is fixedly connected to a mounting frame 5 4006, the bottom end of the sliding frame 4002 is slidably connected to a slide rail 3 4005, the rear side of the slide rail 3 4005 is fixedly connected to a mounting block 4004, the surface of the slide rail 3 4005 is slidably connected to a spring 3 4007, and the sliding frame 4002 is The front side is fixedly connected with a slider 2 4008, the front side of the slider 2 4008 is fixedly connected with a clamping head 4009, the front side of the clamping head 4009 is provided with a limited position rotating head 4010, the inner wall of the limited position rotating head 4010 is rotatably connected with a rotating rod 3 4011, the front side of the limited position rotating head 4010 is fixedly connected with a sliding rod 4012, the surface of the sliding rod 4012 is slidably connected with a limited position block 2 4013, the front side of the limited position rotating head 4010 is slidably connected with a control rod 4014, and both sides of the control rod 4014 are slidably connected with limited position blocks 3 4015;

[0051] The bottom end of the limit block 3 4015 is fixedly connected to the mounting plate 1 102, the bottom end of the limit block 2 4013 is fixedly connected to the mounting plate 1 102, the bottom end of the mounting frame 5 4006 is fixedly connected to the mounting plate 1 102, the bottom end of the mounting block 4004 is fixedly connected to the mounting plate 1 102, and the front side of the slide rail 3 4005 is fixedly connected to the mounting frame 5 4006;

[0052] The rear side of the sliding frame 4002 passes through the placement cabin 1105 and is fixedly connected to the stop block 4001. The top end of the control rod 4014 is fixedly connected to a connecting rod, and the top end of the connecting rod is fixedly connected to the sliding block 1 3006.

[0053] The specific implementation of this embodiment is as follows: when a strong impact occurs during flight in the forest, wing two 3004 will drive slider one 3006 to slide forward. When it slides to a certain length, the connecting rod below it will drive the control rod 4014 to slide forward and push open the limit turntable 4010. The limit turntable 4010 rotates to both sides to release the clamping head 4009 stuck on the inner side thereof. When the clamping head 4009 is released, it will be rapidly displaced backward by the elastic force of spring three 4007, driving the sliding frame 4002 fixedly connected thereto, and driving the rear side block 4001 to knock the battery 13 in the placement compartment 1105 out of the device, thereby reducing the weight of the drone. When it is subjected to a strong impact, the battery 13 that occupies most of its weight will be knocked away to reduce the impact received during falling.

[0054] Embodiment 3

[0055] See also Figure 1-10The present invention provides a technical solution: an automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest. The present invention makes corresponding improvements to the technical problems mentioned in the background technology. The obstacle avoidance and damage prevention mechanism 2 also includes an obstacle avoidance unit 20. The obstacle avoidance unit 20 is arranged inside the outer shell 12. The outer shell 12 can enable the device to achieve a certain degree of obstacle avoidance effect when moving.

[0056] As a further limitation of the obstacle avoidance and damage prevention mechanism 2 of the present invention, the inner wall of the second shell 12 is fixedly connected with a mounting frame 1202, the inner wall of the second shell 12 is fixedly connected with a limiting groove 1203, and the bottom end of the second shell 12 is fixedly connected with a buffer pad 1201;

[0057] The obstacle avoidance unit 20 includes a camera 2001, a pan / tilt 2002 is arranged at the rear side of the camera 2001, an obstacle avoidance probe 2003 is arranged at the rear side of the pan / tilt 2002, a mounting frame 2005 is fixedly connected to the inner side of the obstacle avoidance probe 2003, a mounting frame 3 2006 is arranged at the rear side of the mounting frame 2005, a main board 2007 is fixedly connected to the top of the mounting frame 3 2006, and an optical flow downward looking probe 2004 is arranged at the rear side of the mounting frame 3 2006;

[0058] Both sides of the pan-tilt head 2002 are fixedly connected to the second housing 12, the bottom end of the second mounting frame 2005 is fixedly connected to the first mounting frame 1202, the bottom end of the third mounting frame 2006 is fixedly connected to the first mounting frame 1202, and the surface of the optical flow downward looking probe 2004 is fixedly connected to the limiting groove 1203.

[0059] The specific implementation of this embodiment is as follows: obstacles can be avoided to a certain extent through the camera 2001 and the obstacle avoidance probe 2003. When it falls, the optical flow downward probe 2004 arranged on the lower side controls the smoothness of the fall and the judgment of the obstacles below, and a buffer pad 1201 is arranged at the bottom of the shell to ensure safety during falling.

[0060] When in use, when flying in the forest, obstacles such as branches are usually encountered. When touching the obstacle, wing 2 3004 will rotate backwards, and the tooth block 3099 fixedly connected to it will be driven to rotate through wing 2 3004. When the tooth block 3099 rotates, it will drive the gear 1 3005 meshing with it to rotate. The rotation of gear 1 3005 will drive slider 1 3006 to slide backward on slide rail 1 3009 to compress spring 1 3007, so as to buffer the collision, and cooperate with the gear 1 3005 on the other side to rotate, so as to drive wing 2 3004 on the other side to rotate accordingly. The wing 1 3001 arranged at the rear side of the device will drive the buffer frame 3011 to rotate when a collision occurs, and the buffer frame 3011 drives the buffer rod 3012 hinged thereto to shrink backwards, and the buffer base 3013 slidably connected to the buffer rod 3012 is internally fixedly connected with a spring 2 3016, which will produce a certain degree of buffering effect on the wing 1 3001, so that the front wing 2 3004 of the device that is easily impacted is buffered when a collision occurs, and the wings 2 3004 on both sides are offset at the same angle to avoid the collision caused by excessive rigidity. The wing 3004 on both sides is adjusted so that it is not easy to lose balance due to collision. When a strong collision occurs during flying in the forest, the wing 3004 will drive the slider 3006 to slide forward. When it slides to a certain length, the connecting rod below it will drive the control rod 4014 to slide forward and push open the limit rotating head 4010. The limit rotating head 4010 rotates to both sides to release the clamping head 4009 stuck on the inner side thereof. When the clamping head 4009 is released, it will be quickly displaced backward by the elastic force of the spring 3 4007, driving the sliding frame 4002 fixedly connected thereto. The rear block 4001 can be driven by the rear resistance block 4001 to knock the battery 13 in the placement compartment 1105 out of the device, so that the drone can reduce its weight. When it is hit strongly, the battery 13 which occupies most of its weight can be knocked away to reduce the impact when it falls. When in use, the camera 2001 and obstacle avoidance probe 2003 can be used to avoid obstacles to a certain extent. When it falls, the optical flow downward probe 2004 set on the lower side can be used to control the smoothness of the fall and the judgment of the obstacles below. In addition, a buffer pad 1201 is set at the bottom of the shell to ensure its safety when falling.

[0061] Although the 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 thereof, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic obstacle avoidance control system for a UAV flying in the forest, comprising a main body (1), characterized in that: The main body mechanism (1) comprises a shell one (11), the bottom end of the shell one (11) is fixedly connected to a shell two (12), the top of the shell one (11) is provided with a storage compartment (1105), the inner wall of the storage compartment (1105) is slidably connected to a battery (13), both sides of the shell one (11) are fixedly connected to a limit block one (1101), the inner wall of the shell one (11) is fixedly connected to a mounting plate one (1102), the inner wall of the shell one (11) is fixedly connected to a mounting plate two (1103), the rear inner wall of the shell one (11) is fixedly connected to an adjustment block (1104), and an obstacle avoidance and damage prevention mechanism (2) is provided inside the main body mechanism (1); The obstacle avoidance and damage prevention mechanism (2) comprises a buffer unit (30), which is arranged inside the first housing (11). The buffer unit (30) can play a buffering role when the device hits an obstacle and can keep the front wing coordinated with other devices to prevent them from losing balance. The obstacle avoidance and damage prevention mechanism (2) comprises a weight reduction unit (40), wherein the weight reduction unit (40) is arranged inside the housing (11), and the weight reduction unit (40) can remove the battery (13) to reduce most of the weight of the device when the device is severely impacted, so as to reduce the impact force on the device when it falls; The obstacle avoidance and damage prevention mechanism (2) further comprises an obstacle avoidance unit (20), wherein the obstacle avoidance unit (20) is arranged inside the second housing (12), and the second housing (12) enables the device to achieve a certain degree of obstacle avoidance effect when moving.

2. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 1 is characterized by: The buffer unit (30) comprises a second wing (3004), the outer side of the second wing (3004) is fixedly connected to a motor (3002), the output end of the motor (3002) is fixedly connected to a propeller (3003), the inner surface of the second wing (3004) is fixedly connected to a gear block (3099), the inner wall of the inner side of the second wing (3004) is rotatably connected to a second rotating rod (3015), the surface of the gear block (3099) is meshed with a gear 1 (3005), and the gear The inner wall of gear one (3005) is rotatably connected to a rotating rod one (3014), the inner side of the gear one (3005) is provided with a slider one (3006), the inner wall of the slider one (3006) is slidably connected to a slide rail one (3009), the rear surface of the slide rail one (3009) is slidably connected to a spring one (3007), the rear side of the slide rail one (3009) is fixedly connected to a mounting frame four (3008), and the front side of the slide rail one (3009) is fixedly connected to a bracket (3010).

3. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 2 is characterized by: The bottom end of the rotating rod 1 (3014) is fixedly connected to the mounting plate 2 (1103), the bottom end of the rotating rod 2 (3015) is fixedly connected to the mounting plate 1 (1102), the bottom end of the mounting frame 4 (3008) is fixedly connected to the mounting plate 1 (1102), and the bottom end of the bracket (3010) is fixedly connected to the mounting plate 1 (1102).

4. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 2 is characterized by: The rotating rod 2 (3015) is provided with two groups, and the two groups of rotating rod 2 (3015) are respectively provided at the front and rear sides of the top of the mounting plate 2 (1103), the surface of the rotating rod 2 (3015) is rotatably connected to the wing 1 (3001), the inner surface of the wing 1 (3001) is fixedly connected to the buffer frame (3011), the inner wall of the buffer frame (3011) is hingedly connected to the buffer rod (3012), the rear side of the buffer rod (3012) is slidably connected to the buffer base (3013), the inner wall of the buffer base (3013) is fixedly connected to the spring 2 (3016), and the rear side of the buffer base (3013) is hingedly connected to the adjustment block (1104).

5. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 1 is characterized by: The weight reduction unit (40) comprises a stop block (4001), the front side of the stop block (4001) is fixedly connected to a sliding frame (4002), the top end of the sliding frame (4002) is slidably connected to a second slide rail (4003), the front side of the second slide rail (4003) is fixedly connected to a mounting frame five (4006), the bottom end of the sliding frame (4002) is slidably connected to a third slide rail (4005), the rear side of the third slide rail (4005) is fixedly connected to a mounting block (4004), the surface of the third slide rail (4005) is slidably connected to a spring three (4007), the front side of the sliding frame (4002) is fixedly connected to a sliding frame five (4006), Block 2 (4008), the front side of the slider 2 (4008) is fixedly connected with a clamping head (4009), the front side of the clamping head (4009) is provided with a limit rotating head (4010), the inner wall of the limit rotating head (4010) is rotatably connected with a rotating rod 3 (4011), the front side of the limit rotating head (4010) is fixedly connected with a sliding rod (4012), the surface of the sliding rod (4012) is slidably connected to the limit block 2 (4013), the front side of the limit rotating head (4010) is slidably connected with a control rod (4014), and the two sides of the control rod (4014) are slidably connected to the limit block 3 (4015).

6. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 5 is characterized by: The bottom end of the limit block three (4015) is fixedly connected to the mounting plate one (1102), the bottom end of the limit block two (4013) is fixedly connected to the mounting plate one (1102), the bottom end of the mounting frame five (4006) is fixedly connected to the mounting plate one (1102), the bottom end of the mounting block (4004) is fixedly connected to the mounting plate one (1102), and the front side of the slide rail three (4005) is fixedly connected to the mounting frame five (4006).

7. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 5 is characterized by: The rear side of the sliding frame (4002) passes through the placement cabin (1105) and is fixedly connected to the stop block (4001), and the top end of the control rod (4014) is fixedly connected to a connecting rod, and the top end of the connecting rod is fixedly connected to the sliding block 1 (3006).

8. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in forests according to claim 1 is characterized by: The inner wall of the second shell (12) is fixedly connected to a mounting frame (1202), the inner wall of the second shell (12) is fixedly connected to a limiting groove (1203), and the bottom end of the second shell (12) is fixedly connected to a buffer pad (1201).

9. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 1 is characterized by: The obstacle avoidance unit (20) comprises a camera (2001), a pan / tilt platform (2002) is arranged at the rear side of the camera (2001), an obstacle avoidance probe (2003) is arranged at the rear side of the pan / tilt platform (2002), a mounting frame 2 (2005) is fixedly connected to the inner side of the obstacle avoidance probe (2003), a mounting frame 3 (2006) is arranged at the rear side of the mounting frame 2 (2005), a main board (2007) is fixedly connected to the top of the mounting frame 3 (2006), and an optical flow downward-looking probe (2004) is arranged at the rear side of the mounting frame 3 (2006).

10. The automatic obstacle avoidance control system for unmanned aerial vehicle flying in the forest according to claim 9, characterized in that: The two sides of the pan-tilt head (2002) are fixedly connected to the second housing (12), the bottom end of the second mounting frame (2005) is fixedly connected to the first mounting frame (1202), the bottom end of the third mounting frame (206) is fixedly connected to the first mounting frame (1202), and the surface of the optical flow downward-looking probe (2004) is fixedly connected to the limiting groove (1203).

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