Obstacle avoidance method for surveying unmanned aerial vehicle

Abstract

The invention relates to an obstacle avoidance method for surveying an unmanned aerial vehicle, which is applied to the technical field of unmanned aerial vehicles, and comprises an unmanned aerial vehicle body, a fixed radar, a steering radar, an air duct, a movable frame, a sail piece and a bowstring rib, the exterior of the steering radar is fixedly connected with steering angles, and the two steering angles are fixedly connected with the two ends of the bowstring rib respectively; airflow wind generated in the flying process of the unmanned aerial vehicle body penetrates through the air channel, the airflow wind entering the air channel blows the sail pieces, the movable frame slides towards the air outlet end of the air channel, accordingly, the bowstring rib is used for pulling the two steering radars to rotate, and induction areas of the steering radars deflect towards the advancing direction of the unmanned aerial vehicle body; the steering radar is used for providing more obstacle information in the flight direction for the unmanned aerial vehicle body, the obstacle information detection accuracy is effectively improved, the unmanned aerial vehicle body flying at a high speed can conveniently make more accurate automatic obstacle avoidance operation, and therefore the flight safety capacity of the unmanned aerial vehicle body is effectively improved.

Description

Technical Field

[0001] The present invention relates to an obstacle avoidance method for an unmanned aerial vehicle, and in particular to an obstacle avoidance method for a surveying unmanned aerial vehicle, which is applied in the technical field of unmanned aerial vehicles. Background Art

[0002] Survey drones, also known as mapping drones or drone mapping systems, are tools that use drone technology to collect geospatial data. They are usually equipped with high-resolution cameras, laser scanners, infrared sensors, and other sensors to obtain detailed information about terrain, landforms, buildings, and other objects. Survey drones are widely used in land planning, urban planning, agriculture, forestry, disaster monitoring, archaeology, and other fields. In order to improve the flight safety capabilities of drones, drones need to detect the external environment to facilitate automatic obstacle avoidance.

[0003] The specification of Chinese invention patent CN202211536126.1 discloses "An automatic obstacle avoidance drone and automatic obstacle avoidance method", wherein the drone includes a drone body, and the drone body is provided with a radar, a camera body, a ranging sensor, and a controller; the radar, the camera body, and the ranging sensor monitor environmental data and upload the environmental data to the controller; the controller is used to receive the environmental data, and the specification of Chinese invention patent CN202211157332.1 discloses "A laser radar device for drone ranging and obstacle avoidance". When the body has a certain wind resistance during flight, the windward plate is used to collect the force of the wind resistance, so that the first adjustment axis swings in the opposite direction of the flight direction of the body around the ball head, thereby driving the second adjustment axis to move synchronously, and the movement of the second adjustment axis drives the third adjustment axis to swing in the opposite direction around the ball head of the second adjustment axis, so that the swing direction of the third adjustment axis is consistent with the flight direction of the body.

[0004] In order to improve the detection effect of the external environment of the existing drones, multiple radar systems are installed on the drones, and each radar system is responsible for obstacle detection in one direction of the drone. However, the drone has different external environment data requirements in different directions at different flight speeds. The main obstacle data requirement is for the flight direction of the drone. However, the existing drone obstacle avoidance methods are mostly independently controlled for each radar detection system, and cannot be adjusted according to the flight status of the drone, resulting in the environmental data obtained by radar detection being inaccurate, and high-speed flying drones cannot make more accurate automatic obstacle avoidance operations. Summary of the invention

[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the existing obstacle avoidance methods of UAVs are mostly independently controlled for each radar detection system and cannot be adjusted according to the flight status of the UAV, resulting in the environmental data obtained by radar detection being inaccurate, and high-speed flying UAVs cannot perform more accurate automatic obstacle avoidance operations.

[0006] In order to solve the above problems, the present invention provides an obstacle avoidance method for a surveying UAV, and the specific operation steps are as follows:

[0007] Step 1: Prepare the drone before takeoff, calibrate and debug the radar system on the drone, and ensure that the front, back, left, and right sides of the drone are within the radar detection range. During the flight, the drone uses the radar system to detect obstacles in front, back, left, and right sides of the drone, and automatically avoids obstacles based on the detection information.

[0008] Step 2: When the drone is flying at high speed, the radar system adjusts according to the wind speed generated by the flight. The radars on the left and right sides of the drone are deflected toward the flight direction of the drone, enhancing the obstacle detection capability in the flight direction of the drone, and enabling the high-speed drone to perform more accurate automatic obstacle avoidance operations;

[0009] Step 3: When the drone switches from high-speed flight to low-speed flight, the wind speed generated by the flight decreases, and the radars on the left and right directions of the drone resume detection in the left and right directions, restoring the drone's all-round obstacle detection capability;

[0010] The drone in step 1 includes a drone body, and the radar system includes a fixed radar fixed to the front and rear ends of the drone body, a steering radar rotatably installed at the left and right ends of the drone body, and an air duct fixedly installed at the bottom of the drone body;

[0011] A movable frame is slidably connected inside the air duct, one end of the movable frame is fixedly connected to a sail sheet, the sail sheet corresponds to the wind inlet end of the air duct, a bowstring rib is fixedly penetrated through the middle of the other end of the movable frame, a steering angle is fixedly connected to the outside of the steering radar, and the two steering angles are fixedly connected to the two ends of the bowstring rib respectively.

[0012] In the above-mentioned obstacle avoidance method for surveying UAVs, the airflow generated during the flight of the UAV body is used to drive the sail sheet, so that the movable frame can slide while the bowstring muscles are used to pull the two steering radars to rotate. The sensing area of ​​the steering radar is deflected toward the forward direction of the UAV body, providing the UAV body with more obstacle information in the flight direction, so that the high-speed flying UAV body can make more accurate automatic obstacle avoidance operations.

[0013] As a further improvement of the present application, rotation grooves are provided on both ends of the drone body, and a rotating shaft is fixedly connected to the top of the steering radar. The rotating shaft is rotatably connected to the rotating groove, and the rotating shaft is rotated in the rotating groove to effectively improve the rotation ability of the steering radar.

[0014] As a further improvement of the present application, the external fixed sleeve of the rotating shaft is provided with a torsion spring, one end of which is fixedly connected to the inner wall of the rotating groove. The torsion of the torsion spring is used to realize the rotational recovery of the rotating shaft, that is, the steering radar automatically returns to detecting the left and right directions of the drone.

[0015] As a further improvement of the present application, exhaust grooves are provided on both the left and right ends of the air outlet end of the air duct, the sail sheet is bent in a V-shape, the tip of the sail sheet corresponds to the air inlet end of the air duct, and the two ends of the sail sheet correspond to two exhaust grooves respectively. When the air flow blows towards the sail sheet, the air flow is flown left and right by the sail sheet, and finally discharged outward from the exhaust groove.

[0016] As another improvement of the present application, the sail sheet is made of an elastic plastic sheet, and both ends of the sail sheet are fixedly connected with reinforcing shafts, and the reinforcing shafts are used to strengthen the left and right ends of the sail sheet, effectively avoiding wrinkles at both ends of the sail sheet.

[0017] As another improvement supplement of the present application, the middle part of the movable frame is rotatably connected to a retracting shaft, and a retracting belt is fixedly connected between the reinforcing shaft and the retracting shaft. The retracting belt is wound on the surface of the retracting shaft, and the retracting shaft controls the opening and closing amplitude of the sail sheet by rewinding the retracting belt, thereby adjusting the contact effect of the sail sheet with the airflow and regulating the airflow wind speed requirement that can drive the movable frame to move.

[0018] As another improvement supplement to the present application, an electric push rod is fixedly connected to the bottom of the rear end of the UAV body, and the output end of the electric push rod is fixedly connected to a linkage frame. The top and bottom of the linkage frame are fixedly connected to pushing cross bars. The top and bottom of the retracting shaft correspond horizontally to the two pushing cross bars respectively. The electric push rod is used to push the linkage frame, and then the pushing cross bar on the linkage frame is used to push the retracting shaft, so as to realize the reverse movement of the movable frame and realize the blocking of the wind duct by the sail blades. By preventing the flow of airflow, the purpose of improving the braking of the UAV is achieved, which facilitates the deceleration operation of the UAV.

[0019] As another improvement of the present application, the top and bottom of the folding and unfolding shaft are rotatably connected to the shaft seat, which pushes the cross bar to contact and correspond with the shaft seat, the shaft seat is slidably connected to the movable frame, and the end of the shaft seat close to the sail sheet is fixedly connected to a mortgage spring, and the position of the shaft seat is buffered by the elastic force of the mortgage spring, which makes it easy to release the closing restriction of the sail sheet by the folding shaft and realize the restoration of the sail sheet to the unfolded state, effectively improving the sail sheet's resistance to airflow, thereby effectively improving the braking effect of the drone.

[0020] As another improvement supplement of the present application, the left and right ends of the push cross bar are fixedly connected with outward expansion plates, which are arranged at an angle and are in contact with the reinforcing shaft. The outward expansion plates are used to contact the reinforcing shaft to effectively improve the effect of maintaining the unfolded state of the sail sheet.

[0021] In summary, the present invention allows the airflow generated during the flight of the drone body to pass through the wind duct, and the airflow entering the wind duct blows the sails to realize the sliding of the movable frame toward the wind outlet end of the wind duct, thereby utilizing the bowstring tendons to pull the two steering radars to rotate, and the sensing area of ​​the steering radar is deflected toward the forward direction of the drone body. The steering radar is utilized to provide the drone body with more obstacle information in the flight direction, and effectively improves the accuracy of obstacle information detection, so that the high-speed flying drone body can perform more accurate automatic obstacle avoidance operations, thereby effectively improving the flight safety capability of the drone body. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional structural diagram of the first embodiment of the present application;

[0023] Figure 2 This is a flowchart of the steps of the first implementation method of this application;

[0024] Figure 3 This is a demonstration diagram of radar detection of a drone flying at a low speed in the first embodiment of the present application;

[0025] Figure 4 This is a demonstration diagram of radar detection of a drone during high-speed flight in the first embodiment of the present application;

[0026] Figure 5 This is a bottom-up stereoscopic structural diagram of the first embodiment of the present application;

[0027] Figure 6 This is a plan view of the air duct of the first embodiment of the present application;

[0028] Figure 7 This is a three-dimensional structural diagram of the movable frame and bowstring tendons of the first embodiment of the present application;

[0029] Figure 8 This is a demonstration diagram of airflow entering the air duct according to the first embodiment of the present application;

[0030] Fig. 9 This is a three-dimensional structural diagram of the rotating groove and the rotating shaft of the first embodiment of the present application;

[0031] Fig.10 This is a three-dimensional structural diagram of a movable frame according to a second embodiment of the present application;

[0032] Fig.11 A top view of the retractable shaft and retractable belt according to the second embodiment of the present application;

[0033] Fig.12 This is a demonstration diagram of the electric push rod pushing the linkage frame in the second embodiment of the present application;

[0034] Fig.13 This is a demonstration diagram of the second embodiment of the present application, in which the cross bar is pushed to push the retractable shaft.

[0035] Description of the numbers in the figure:

[0036] 1. UAV body; 101. Fixed radar; 102. Steering radar; 103. Rotating slot; 104. Rotating shaft; 105. Torsion spring; 2. Air duct; 201. Movable frame; 202. Sail sheet; 203. Bowstring; 204. Steering angle; 205. Exhaust slot; 206. Reinforced shaft; 3. Retractable shaft; 301. Retractable belt; 302. Shaft seat; 303. Mortgage spring; 4. Electric push rod; 401. Linkage frame; 402. Push cross bar; 403. External expansion sheet. DETAILED DESCRIPTION

[0037] Two implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0038] The first implementation method:

[0039] Figures 1 to 6 FIG. 1 shows an obstacle avoidance method for a surveying UAV, and the specific operation steps are as follows:

[0040] Step 1: Prepare the drone before takeoff, calibrate and debug the radar system on the drone, and ensure that the front, back, left, and right sides of the drone are within the radar detection range. During the flight, the drone uses the radar system to detect obstacles in front, back, left, and right sides of the drone, and automatically avoids obstacles based on the detection information.

[0041] Step 2: When the drone is flying at high speed, the radar system adjusts according to the wind speed generated by the flight. The radars on the left and right sides of the drone are deflected toward the flight direction of the drone, enhancing the obstacle detection capability in the flight direction of the drone, and enabling the high-speed drone to perform more accurate automatic obstacle avoidance operations;

[0042] Step 3: When the drone switches from high-speed flight to low-speed flight, the wind speed generated by the flight decreases, and the radars on the left and right directions of the drone resume detection in the left and right directions, restoring the drone's all-round obstacle detection capability;

[0043] The drone in step 1 includes a drone body 1, and the radar system includes a fixed radar 101 fixed to the front and rear ends of the drone body 1, a steering radar 102 rotatably installed at the left and right ends of the drone body 1, and an air duct 2 fixedly installed at the bottom of the drone body 1;

[0044] The interior of the air duct 2 is slidably connected with a movable frame 201, one end of the movable frame 201 is fixedly connected with a sail sheet 202, the sail sheet 202 corresponds to the air inlet end of the air duct 2, the other end of the movable frame 201 is fixedly penetrated by a bowstring rib 203, the outside of the steering radar 102 is fixedly connected with a steering angle 204, and the two steering angles 204 are respectively fixedly connected to the two ends of the bowstring rib 203;

[0045] During the flight of the drone body 1, the fixed radar 101 and the steering radar 102 are used to detect obstacles in the front, back, left and right of the drone body 1, and automatic obstacle avoidance operations are performed according to the detection information. When the drone body 1 is flying at high speed, the wind generated quickly passes through the wind duct 2 at the bottom of the drone body 1, and the wind is used to blow the sail sheet 202, so that the movable frame 201 slides, and the bowstring tendons 203 are used to pull the two steering radars 102 to rotate, that is, the sensing area of ​​the steering radar 102 is deflected toward the forward direction of the drone body 1. After the deflection, the steering radar 102 strengthens the obstacle detection in the forward direction of the drone body 1, and the flight of the drone is improved. The faster the speed, the greater the airflow inside the wind duct 2, the greater the wind force on the sail sheet 202, the longer the sliding displacement of the movable frame 201, and the greater the rotation amplitude of the steering radar 102 in the forward direction of the drone body 1. For a high-speed flying drone, the obstacle information in front of the drone is more important, while the demand for information in the direction of the drone's tail will be reduced, providing the drone body 1 with more front obstacle information, and enabling the high-speed flying drone body 1 to make more accurate automatic obstacle avoidance operations. In order to reduce interference between radar systems, the fixed radar 101 uses a laser radar system, and the steering radar 102 uses a millimeter wave radar system.

[0046] Figures 6 to 9 As shown, both left and right ends of the drone body 1 are provided with a rotation slot 103, and the top of the steering radar 102 is fixedly connected with a rotation shaft 104, which is rotatably connected to the rotation slot 103. The rotation shaft 104 is rotated in the rotation slot 103 to effectively improve the rotation ability of the steering radar 102. The outer fixed sleeve of the rotation shaft 104 is provided with a torsion spring 105, and one end of the torsion spring 105 is fixedly connected to the inner wall of the rotation slot 103. The torsion of the torsion spring 105 is used to realize the rotation recovery of the rotation shaft 104, that is, the steering radar 102 automatically returns to the detection of the left and right directions of the drone;

[0047] The bowstring tendon 203 pulls the steering angle 204 on the steering radar 102 to realize the rotational movement of the steering radar 102. The rotation axis 104 is rotated in the rotation slot 103 to effectively improve the rotation ability of the steering radar 102. When the tension of the bowstring tendon 203 is reduced, the torsion of the torsion spring 105 is used to realize the rotation recovery of the rotation axis 104, that is, the steering radar 102 automatically returns to the detection of the left and right directions of the UAV, corresponding to the state when the UAV is decelerating and the state when the UAV is turning.

[0048] The second implementation method:

[0049] Compared with the first embodiment, the main new additions are the retractable shaft 3 and the linkage frame 401. The specific new structures are as follows, and the remaining structures are consistent with the first embodiment.

[0050] Figure 8 , Fig.10 and Fig.11 As shown, both left and right ends of the air outlet end of the air duct 2 are provided with exhaust slots 205, the sail sheet 202 is bent in a V-shape, the tip of the sail sheet 202 corresponds to the air inlet end of the air duct 2, and both ends of the sail sheet 202 correspond to two exhaust slots 205, when the airflow blows toward the sail sheet 202, the airflow is flown left and right by the sail sheet 202, and finally discharged outward from the exhaust slots 205, the sail sheet 202 is made of an elastic plastic sheet, and both ends of the sail sheet 202 are fixedly connected with a reinforcing shaft 206, and the sail sheet 202 is reinforced with a reinforcing shaft 206. The strong shaft 206 strengthens the left and right ends of the sail sheet 202, effectively preventing wrinkles from appearing on the two ends of the sail sheet 202. The middle part of the movable frame 201 is rotatably connected with the retracting shaft 3. A retracting belt 301 is fixedly connected between the strengthening shaft 206 and the retracting shaft 3. The retracting belt 301 is wound on the surface of the retracting shaft 3. The retracting shaft 3 controls the opening and closing amplitude of the sail sheet 202 by retracting the retracting belt 301, thereby adjusting the contact effect of the sail sheet 202 with the airflow, and regulating the airflow wind speed requirement that can drive the movable frame 201 to move.

[0051] After the airflow generated by the flight of the drone enters the wind duct 2, the airflow blows toward the sail sheet 202, and the V-shaped state of the sail sheet 202 divides the airflow into two streams, and finally when the sail sheet 202 moves to the exhaust slot 205, the two airflows are discharged from the two exhaust slots 205 respectively, and the retracting shaft 3 is rotated to reel in the retracting belt 301, so that the retracting belt 301 pulls the reinforcing shafts 206 at both ends of the sail sheet 202, so that the V-shaped sail sheet 202 is closed, and the contact area between the sail sheet 202 and the airflow is reduced, so that only the airflow with a higher wind speed can push the sail sheet 202, that is, the flight speed of the drone needs to be faster, so as to adapt to drones with different flight speeds.

[0052] Figures 10 to 13As shown, the rear end bottom of the drone body 1 is fixedly connected with an electric push rod 4, the output end of the electric push rod 4 is fixedly connected with a linkage frame 401, the top and bottom of the linkage frame 401 are fixedly connected with a pushing cross bar 402, the top and bottom of the retracting shaft 3 are respectively horizontally corresponding to the two pushing cross bars 402, the electric push rod 4 is used to push the linkage frame 401, and then the pushing cross bar 402 on the linkage frame 401 is used to push the retracting shaft 3, so as to realize the reverse movement of the movable frame 201, and realize the wind sail sheet 202 blocking the wind duct 2, so as to achieve the purpose of improving the braking of the drone by preventing the flow of airflow, and facilitate the deceleration operation of the drone, when the electric push rod 4 is not started, there is an appropriate distance between the pushing cross bar 402 and the retracting shaft 3, so that the movable frame 201 is affected by the wind and drives the retracting shaft 3 to move backward, and the top and The bottom is rotatably connected with an axle seat 302, and the push cross bar 402 is in contact with the axle seat 302. The axle seat 302 is slidably connected with the movable frame 201, and the end of the axle seat 302 close to the wind sail sheet 202 is fixedly connected with a mortgage spring 303. The elastic force of the mortgage spring 303 is used to achieve position buffering of the axle seat 302, which is convenient for releasing the closing restriction of the wind sail sheet 202 by the retracting shaft 3, so that the wind sail sheet 202 is restored to the unfolded state, effectively improving the wind sail sheet 202 from blocking the airflow, thereby effectively improving the braking effect of the drone, and the left and right ends of the push cross bar 402 are fixedly connected with the outer expansion piece 403, the outer expansion piece 403 is inclined, and the outer expansion piece 403 is in contact with the reinforcing shaft 206, and the outer expansion piece 403 is used to contact the reinforcing shaft 206, so as to effectively improve the effect of maintaining the unfolded state of the wind sail sheet 202;

[0053] When the high-speed UAV needs to slow down, the electric push rod 4 extends and moves, pushing the linkage frame 401 to move toward the movable frame 201, and using the pushing cross bar 402 on the linkage frame 401 to push the shaft seat 302 on the retractable shaft 3, so that the retractable shaft 3 is moved in the direction of the sail sheet 202, thereby loosening the retractable belt 301, and then releasing the closing restriction on the sail sheet 202, that is, the sail sheet 202 is opened and restored by its own elastic force, and then the opened sail sheet 202 is pushed into the air duct 2, so that the air duct 2 is blocked, and the purpose of improving the braking of the UAV is achieved by blocking the flow of airflow, facilitating the deceleration operation of the UAV, and effectively improving the braking effect of the UAV.

[0054] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An obstacle avoidance method for a surveying drone, characterized in that: The specific steps are as follows: Step 1: Prepare the drone before takeoff, calibrate and debug the radar system on the drone, and ensure that the front, back, left, and right sides of the drone are within the radar detection range. During the flight, the drone uses the radar system to detect obstacles in front, back, left, and right sides of the drone, and automatically avoids obstacles based on the detection information. Step 2: When the drone is flying at high speed, the radar system adjusts according to the wind speed generated by the flight. The radars on the left and right sides of the drone are deflected toward the flight direction of the drone, enhancing the obstacle detection capability in the flight direction of the drone, and enabling the high-speed drone to perform more accurate automatic obstacle avoidance operations; Step 3: When the drone switches from high-speed flight to low-speed flight, the wind speed generated by the flight decreases, and the radars on the left and right directions of the drone resume detection in the left and right directions, restoring the drone's all-round obstacle detection capability; The drone in step 1 comprises a drone body (1), and the radar system comprises a fixed radar (101) fixed to the front and rear ends of the drone body (1), a steering radar (102) rotatably mounted on the left and right ends of the drone body (1), and an air duct (2) fixedly mounted on the bottom of the drone body (1); The interior of the wind duct (2) is slidably connected to a movable frame (201), one end of the movable frame (201) is fixedly connected to a sail sheet (202), the sail sheet (202) corresponds to the wind inlet end of the wind duct (2), a bowstring rib (203) is fixedly penetrated through the middle of the other end of the movable frame (201), the exterior of the steering radar (102) is fixedly connected to a steering angle (204), and the two steering angles (204) are respectively fixedly connected to the two ends of the bowstring rib (203).

2. The obstacle avoidance method for a surveying drone according to claim 1, characterized in that: The left and right ends of the drone body (1) are both provided with rotation slots (103); the top of the steering radar (102) is fixedly connected with a rotation shaft (104); and the rotation shaft (104) is rotationally connected to the rotation slot (103).

3. The obstacle avoidance method for a surveying drone according to claim 2, characterized in that: The external fixed sleeve of the rotating shaft (104) is provided with a torsion spring (105), and one end of the torsion spring (105) is fixedly connected to the inner wall of the rotating groove (103).

4. The obstacle avoidance method for a surveying drone according to claim 1, characterized in that: Exhaust slots (205) are provided at both left and right ends of the air outlet end of the air duct (2); the wind sail piece (202) is bent in a V-shape, the tip of the wind sail piece (202) faces the air inlet end of the air duct (2), and the two ends of the wind sail piece (202) correspond to two exhaust slots (205) respectively.

5. The obstacle avoidance method for a surveying UAV according to claim 4, characterized in that: The wind sail sheet (202) is made of an elastic plastic sheet, and both ends of the wind sail sheet (202) are fixedly connected with a reinforcement shaft (206).

6. The obstacle avoidance method for a surveying drone according to claim 5, characterized in that: The middle part of the movable frame (201) is rotatably connected to a retractable shaft (3), a retractable belt (301) is fixedly connected between the reinforcing shaft (206) and the retractable shaft (3), and the retractable belt (301) is wound on the surface of the retractable shaft (3).

7. The obstacle avoidance method for a surveying UAV according to claim 6, characterized in that: The rear end bottom of the drone body (1) is fixedly connected to an electric push rod (4), the output end of the electric push rod (4) is fixedly connected to a linkage frame (401), the top and bottom of the linkage frame (401) are both fixedly connected to a push cross bar (402), and the top and bottom of the retractable shaft (3) correspond horizontally to the two push cross bars (402), respectively.

8. The obstacle avoidance method for a surveying UAV according to claim 7, characterized in that: The top and bottom of the retractable shaft (3) are both rotatably connected to a shaft seat (302), the pushing cross bar (402) is in contact and correspondence with the shaft seat (302), the shaft seat (302) is slidably connected to the movable frame (201), and one end of the shaft seat (302) close to the sail sheet (202) is fixedly connected to a mortgage spring (303).

9. The obstacle avoidance method for a surveying UAV according to claim 7, characterized in that: The left and right ends of the pushing cross bar (402) are both fixedly connected with outward expansion plates (403), the outward expansion plates (403) are arranged in an inclined manner, and the outward expansion plates (403) are in contact with and correspond to the reinforcing shaft (206).

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