Unmanned aerial vehicle anti-collision device based on visual sensor and use method of unmanned aerial vehicle anti-collision device

Abstract

The invention discloses an unmanned aerial vehicle anti-collision device based on a visual sensor, and relates to the technical field of unmanned aerial vehicle anti-collision, the unmanned aerial vehicle anti-collision device comprises an unmanned aerial vehicle body, a camera is arranged at the bottom of the unmanned aerial vehicle body, supporting legs are fixedly connected to the periphery of the bottom of the unmanned aerial vehicle body, and a bottom plate is arranged at the bottoms of the supporting legs; an anti-collision mechanism is arranged between the supporting legs and the bottom plate. According to the unmanned aerial vehicle, the supporting legs are arranged for supporting the unmanned aerial vehicle body, the contact area between the supporting legs and the ground can be increased by arranging the bottom plate, the impact force generated by falling can be buffered by arranging the anti-collision mechanism when the unmanned aerial vehicle body falls, and the vibration amplitude of the unmanned aerial vehicle body is reduced; and meanwhile, when the impact force is too large, the contact area between the bottom plate and the ground can be automatically increased, so that the situation that the unmanned aerial vehicle body topples over during falling is prevented, and the safety of the unmanned aerial vehicle body in the falling process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) collision avoidance, and in particular to a UAV collision avoidance device based on a visual sensor and a use method thereof. Background Art

[0002] Visual sensor drones, commonly called visual drones or visual navigation drones, are drones equipped with visual sensors, which can include cameras, lidars, depth sensors, etc. These drones use visual sensors to obtain environmental information and perform flight control and mission execution based on this information;

[0003] According to the application number: 202321418233.4, a UAV flight anti-collision device is disclosed, including a UAV main body, wherein an anti-collision mechanism is arranged below the UAV main body; the anti-collision mechanism includes two groups of buffer springs, the bottom ends of the two groups of buffer springs are fixedly installed with a protective plate, the upper surface of the protective plate is fixedly installed with a connecting column, the bottom surface of the UAV main body is respectively fixedly installed with a pressure sensor and a controller, an air storage box is fixedly installed on the back of the UAV main body, an air bag is fixedly installed on the bottom surface of the UAV main body, the bottom surface of the air storage box is fixedly connected with a delivery pipe, and the outer surface of the delivery pipe is fixedly installed with an electromagnetic valve. This comparative case achieves the purpose of anti-collision when the UAV main body lands by providing a UAV main body, a buffer spring, a protective plate, a connecting column, a pressure sensor, a controller, an air storage box, an air bag, a delivery pipe and an electromagnetic valve, thereby reducing the damage to the UAV main body;

[0004] The existing technology has well solved the problem that when a drone lands on the ground, a large impact force will be generated at the moment of contact with the ground, which is easy to cause certain damage to the drone and thus reduce the service life of the drone. However, since the impact is cushioned by an inflated airbag, the airbag is more complicated to organize after inflation, and it can only cushion the impact. When the impact force is too large, the drone may topple over, causing its fuselage to collide with the ground, causing damage to the drone. Summary of the invention

[0005] The purpose of the present invention is to provide a UAV anti-collision device based on a visual sensor and a method of using the same, which has the advantages of anti-collision and anti-dumping, and solves the problem that when the impact force is too large, the UAV may dump, causing its fuselage to collide with the ground and cause damage to the UAV.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A UAV anti-collision device based on a visual sensor comprises a UAV body, a camera is arranged at the bottom of the UAV body, legs are fixedly connected around the bottom of the UAV body, a bottom plate is arranged at the bottom of the legs, an anti-collision mechanism is arranged between the legs and the bottom plate, the anti-collision mechanism comprises a positioning column, the positioning column is located at the front end and the rear end of the top of the bottom plate, and is fixedly connected to the top of the bottom plate, the top of the positioning column extends to the inner cavity of the leg, and is slidably connected to the inner cavity of the leg, a damper is fixedly connected to the top of the inner cavity of the leg, a connecting block is fixedly connected to the bottom of the damper piston, the top of the positioning column is fixedly connected to the bottom of the connecting block, a compression spring is sleeved on the surface of the positioning column, the top and bottom of the compression spring are fixedly connected to the bottom of the leg and the top of the bottom plate respectively, and a receiving groove is opened at the front end and the rear end of the inner cavity of the bottom plate, and the inner cavity of the receiving groove is provided with a support plate.

[0007] Preferably, the inner cavity of the support plate is movably connected to a support column via a bearing, the top and bottom of the support column are movably connected to the inner wall of the accommodating groove via a bearing, an electric push rod is fixedly connected to one side of the center of the inner cavity of the accommodating groove, the output end of the electric push rod is fixedly connected to a fixed block, both sides of the fixed block are fixedly connected to racks, one side of the support plate is fixedly connected to a tooth block, and the tooth block and the rack are meshing.

[0008] Preferably, auxiliary grooves are provided on both sides of the inner cavity of the accommodating groove, one end of the rack extends to the inner cavity of the auxiliary groove and is slidably connected to the inner cavity of the auxiliary groove, a sliding groove is provided on one side of the inner cavity of the leg, one side of the connecting block extends to the inner cavity of the sliding groove and is slidably connected to the inner cavity of the sliding groove.

[0009] Preferably, a control switch is provided at the top of the inner cavity of the slide slot, and the output end of the control switch is electrically connected to the input end of the electric push rod.

[0010] Preferably, movable grooves are provided at the front and rear ends of the top of the base plate, the inner cavity of the movable groove is slidably connected with a fixed plate, the inner cavity of the movable groove and the side where the two fixed plates are close to each other is slidably connected with a slider, the top of the slider is movably connected with an adjustment plate via a rotating shaft, the end of the adjustment plate away from the slider is movably connected to one side of the leg via a rotating shaft, and a tension spring is fixedly connected between the fixed plate and the slider.

[0011] Preferably, both sides of the inner cavity of the movable groove are fixedly connected to limiting columns, the limiting columns penetrate the fixed plate and the slider, and are slidably connected to the inner cavity of the movable groove, a limiting groove is opened at the bottom of the inner cavity of the movable groove, the bottom of the slider is fixedly connected to a limiting block, the bottom of the limiting block extends to the inner cavity of the limiting groove and is slidably connected to the inner cavity of the limiting groove, the top of the fixed block is fixedly connected with a connecting column, one end of the connecting column extends to the inner cavity of the limiting groove and is fixedly connected to the limiting block.

[0012] Preferably, the method of use is as follows:

[0013] A. When the drone body descends and contacts the ground, the impact force will cause the outrigger to move downward on the surface of the positioning column. During the downward movement of the outrigger, the compression spring will be squeezed and deformed. At the same time, since the outrigger moves downward on the surface of the positioning column, the angle of the adjustment plate will be deflected, and the slider will be pushed to slide in the inner cavity of the movable groove. When sliding, the slider can stretch the tension spring and deform the tension spring. The reset elastic force of the positioning column and the tension spring can cooperate with the damper for buffering, thereby reducing the vibration amplitude of the entire device and achieving the purpose of shock absorption.

[0014] B. When the vibration amplitude is too large, the piston of the damper contracts excessively, which can drive the connecting block to slide in the inner cavity of the slide groove, so that the connecting block squeezes the control switch. After the control switch is squeezed, the electric push rod can be started to shrink its output end. After the output end of the electric push rod shrinks, it can cooperate with the fixed block to drive the rack to move. Since the rack and the gear block are meshed, the support plate can be driven to rotate around the support column while the rack moves, so that it can be rotated out of the inner cavity of the accommodating groove until it becomes a horizontal vertical state. At this time, the contact area between the bottom plate and the ground can be increased, thereby preventing the drone body from tipping over due to excessive amplitude. At the same time, when the fixed block moves, it can cooperate with the limit block and the connecting column to pull the fixed plate to make it slide in the inner cavity of the movable groove. When the fixed plate slides, it can further stretch the tension spring to increase its elastic potential energy, thereby better buffering the vibration.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention provides outriggers for supporting the drone body, and provides a bottom plate to increase the contact area between the outriggers and the ground, thereby further improving the stability of the drone body when it falls. The anti-collision mechanism can buffer the impact force generated by the fall of the drone body, reduce its vibration amplitude, and further reduce the damage caused by the impact force to the internal components of the drone body. At the same time, when the impact force is too large, the contact area between the bottom plate and the ground can be automatically increased, thereby preventing the drone body from tipping over when it falls, thereby improving the safety of the drone body during the descent. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the main plane structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the connection structure between the supporting legs and the bottom plate of the present invention;

[0019] Figure 3 It is a schematic diagram of a partial cross-sectional structure of the bottom plate of the present invention when viewed from above;

[0020] Figure 4 It is a schematic diagram of the connection structure of the electric push rod, the fixed block and the rack of the present invention;

[0021] Figure 5 It is a schematic diagram of a partial side cross-sectional structure of a support leg of the present invention.

[0022] In the figure: 1. UAV body; 2. Camera; 3. Outrigger; 4. Bottom plate; 5. Anti-collision mechanism; 501. Positioning column; 502. Damper; 503. Connecting block; 504. Compression spring; 505. Accommodating groove; 506. Support plate; 507. Support column; 508. Electric push rod; 509. Fixed block; 510. Rack; 511. Gear block; 512. Auxiliary groove; 513. Slide; 514. Control switch; 6. Movable groove; 7. Fixed plate; 8. Slider; 9. Adjustment plate; 10. Tension spring; 11. Limit column; 12. Limit groove; 13. Limit block; 14. Connecting column. DETAILED DESCRIPTION

[0023] 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.

[0024] The drone body 1, camera 2, outrigger 3, bottom plate 4, anti-collision mechanism 5, positioning column 501, damper 502, connecting block 503, compression spring 504, accommodating groove 505, support plate 506, support column 507, electric push rod 508, fixing block 509, rack 510, gear block 511, auxiliary groove 512, slide groove 513, control switch 514, movable groove 6, fixing plate 7, slider 8, adjustment plate 9, tension spring 10, limiting column 11, limiting groove 12, limiting block 13, and connecting column 14 of the present invention are all universal standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods.

[0025] Example 1

[0026] like Figure 1-5 As shown in the figure, it is the first embodiment of the present invention, which provides a UAV anti-collision device based on a visual sensor and a method of using the same, including a UAV body 1, a camera 2 is arranged at the bottom of the UAV body 1, legs 3 are fixedly connected to the four sides of the bottom of the UAV body 1, a bottom plate 4 is arranged at the bottom of the legs 3, an anti-collision mechanism 5 is arranged between the legs 3 and the bottom plate 4, and the anti-collision mechanism 5 includes a positioning column 501, the positioning column 501 is located at the front and rear ends of the top of the bottom plate 4, and is fixedly connected to the top of the bottom plate 4, and the top of the positioning column 501 extends to The inner cavity of the leg 3 is slidably connected with the inner cavity of the leg 3, the top of the inner cavity of the leg 3 is fixedly connected with a damper 502, the bottom of the piston of the damper 502 is fixedly connected with a connecting block 503, the top of the positioning column 501 is fixedly connected with the bottom of the connecting block 503, the surface of the positioning column 501 is sleeved with a compression spring 504, the top and bottom of the compression spring 504 are respectively fixedly connected to the bottom of the leg 3 and the top of the bottom plate 4, the front and rear ends of the inner cavity of the bottom plate 4 are provided with a receiving groove 505, and the inner cavity of the receiving groove 505 is provided with a support plate 506.

[0027] like Figure 1-5 As shown, the legs 3 are used to support the drone body 1, and the bottom plate 4 can increase the contact area between the legs 3 and the ground, thereby further improving the stability of the drone body 1 when it falls. The anti-collision mechanism 5 can buffer the impact force generated by the fall when the drone body 1 falls, reduce its vibration amplitude, and thus reduce the damage caused by the impact force to the internal components of the drone body 1. At the same time, when the impact force is too large, it can automatically increase the contact area between the bottom plate 4 and the ground, thereby preventing the drone body 1 from tipping over when it falls, thereby improving the safety of the drone body 1 during the descent.

[0028] Example 2

[0029] Reference Figure 2-5 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0030] In this embodiment, the inner cavity of the support plate 506 is movably connected to the support column 507 through a bearing, and the top and bottom of the support column 507 are movably connected to the inner wall of the accommodating groove 505 through a bearing, and an electric push rod 508 is fixedly connected to one side of the center of the inner cavity of the accommodating groove 505, and the output end of the electric push rod 508 is fixedly connected to a fixed block 509, and both sides of the fixed block 509 are fixedly connected to a rack 510, and one side of the support plate 506 is fixedly connected to a tooth block 511, and the tooth block 511 is meshed with the rack 510.

[0031] Auxiliary grooves 512 are provided on both sides of the inner cavity of the accommodating groove 505, one end of the rack 510 extends to the inner cavity of the auxiliary groove 512 and is slidably connected to the inner cavity of the auxiliary groove 512, a sliding groove 513 is provided on one side of the inner cavity of the support leg 3, one side of the connecting block 503 extends to the inner cavity of the sliding groove 513 and is slidably connected to the inner cavity of the sliding groove 513.

[0032] A control switch 514 is provided at the top of the inner cavity of the slide slot 513 , and the output end of the control switch 514 is electrically connected to the input end of the electric push rod 508 .

[0033] like Figure 2-5 As shown, during the process of the drone body 1 descending and contacting the ground, the impact force will cause the support leg 3 to move downward on the surface of the positioning column 501. During the downward movement, the support leg 3 will squeeze the compression spring 504 and cause the compression spring 504 to deform. At the same time, since the support leg 3 moves downward on the surface of the positioning column 501, the angle of the adjustment plate 9 will be deflected, and the slider 8 will be pushed to slide in the inner cavity of the movable groove 6. When sliding, the slider 8 can stretch the tension spring 10 and cause the tension spring 10 to deform. The reset elastic force of the positioning column 501 and the tension spring 10 can cooperate with the damper 502 for buffering, thereby reducing the vibration amplitude of the entire device and achieving the purpose of shock absorption.

[0034] Example 3

[0035] Reference Figure 1-5 , which is the third embodiment of the present invention, and this embodiment is based on the previous two embodiments.

[0036] In this embodiment, a movable groove 6 is provided at the front and rear ends of the top of the base plate 4, and the inner cavity of the movable groove 6 is slidably connected with a fixed plate 7. The inner cavity of the movable groove 6 and the side where the two fixed plates 7 are close to each other are slidably connected with a slider 8. The top of the slider 8 is movably connected with an adjustment plate 9 through a rotating shaft, and the end of the adjustment plate 9 away from the slider 8 is movably connected to the side of the leg 3 through a rotating shaft, and a tension spring 10 is fixedly connected between the fixed plate 7 and the slider 8.

[0037] Limiting columns 11 are fixedly connected to both sides of the inner cavity of the movable groove 6. The limiting columns 11 penetrate the fixed plate 7 and the slider 8 and are slidably connected to their inner cavities. A limiting groove 12 is provided at the bottom of the inner cavity of the movable groove 6. A limiting block 13 is fixedly connected to the bottom of the slider 8. The bottom of the limiting block 13 extends to the inner cavity of the limiting groove 12 and is slidably connected to the inner cavity of the limiting groove 12. A connecting column 14 is fixedly connected to the top of the fixed block 509. One end of the connecting column 14 extends to the inner cavity of the limiting groove 12 and is fixedly connected to the limiting block 13.

[0038] like Figure 1-5As shown, when the vibration amplitude is too large, the piston of the damper 502 contracts excessively, which can drive the connecting block 503 to slide in the inner cavity of the slide groove 513, so that the connecting block 503 squeezes the control switch 514. After the control switch 514 is squeezed, the electric push rod 508 can be started to shrink its output end. After the output end of the electric push rod 508 shrinks, it can cooperate with the fixed block 509 to drive the rack 510 to move. Since the rack 510 and the tooth block 511 are engaged, the support plate 50 can be driven while the rack 510 moves. 6 rotates around the support column 507 so that it rotates out of the inner cavity of the accommodating groove 505 until it becomes a horizontal vertical state. At this time, the contact area between the bottom plate 4 and the ground can be increased, thereby preventing the drone body 1 from tipping over due to excessive amplitude. At the same time, when the fixing block 509 moves, it can cooperate with the limit block 13 and the connecting column 14 to pull the fixing plate 7 to slide in the inner cavity of the movable groove 6. When the fixing plate 7 slides, it can further stretch the tension spring 10 to increase its elastic potential energy, thereby better buffering the vibration.

[0039] A method for using a UAV anti-collision device based on a visual sensor and a method for using the same, the method for using the device comprising the following steps:

[0040] When the drone body 1 descends and contacts the ground, the impact force will cause the supporting leg 3 to move downward on the surface of the positioning column 501. During the downward movement of the supporting leg 3, the compression spring 504 will be squeezed and the compression spring 504 will be deformed. At the same time, since the supporting leg 3 moves downward on the surface of the positioning column 501, the angle of the adjusting plate 9 will be deflected, and the slider 8 will be pushed to slide in the inner cavity of the movable groove 6. When sliding, the slider 8 can stretch the tension spring 10 and deform the tension spring 10. The reset elastic force of the positioning column 501 and the tension spring 10 can cooperate with the damper 502 for buffering, thereby reducing the vibration amplitude of the entire device and achieving the purpose of shock absorption. When the vibration amplitude is too large, the piston of the damper 502 contracts excessively, which can drive the connecting block 503 to slide in the inner cavity of the slide groove 513, so that the connecting block 503 squeezes the control switch 514. After the control switch 514 is squeezed, the electric push rod 508 can be started to shrink its output end. After the output end of the electric push rod 508 shrinks, it can cooperate with the fixed block 509 to drive the rack 510 to move. Since the rack 510 and the tooth block 511 are meshed, the rack 510 can drive the support plate 506 to rotate around the support column 507 while the rack 510 moves, so that it can be rotated out of the inner cavity of the accommodating groove 505 until it becomes a horizontal vertical state. At this time, the contact area between the bottom plate 4 and the ground can be increased, thereby preventing the drone body 1 from tipping over due to excessive amplitude. At the same time, when the fixed block 509 moves, it can cooperate with the limit block 13 and the connecting column 14 to pull the fixed plate 7 to make it slide in the inner cavity of the movable groove 6. When the fixed plate 7 slides, it can further stretch the tension spring 10 to increase its elastic potential energy, thereby better buffering the vibration.

[0041] The standard parts used in this application document can all be purchased from the market and can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented through simple programming by technicians in this field, which is common knowledge in the field. This application is mainly used to protect mechanical devices, so this application no longer explains the control method and circuit connection in detail.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A UAV anti-collision device based on a visual sensor, comprising a UAV body (1), characterized in that: A camera (2) is arranged at the bottom of the drone body (1); legs (3) are fixedly connected to the four sides of the bottom of the drone body (1); a bottom plate (4) is arranged at the bottom of the legs (3); an anti-collision mechanism (5) is arranged between the legs (3) and the bottom plate (4); the anti-collision mechanism (5) comprises a positioning column (501); the positioning column (501) is located at the front and rear ends of the top of the bottom plate (4) and is fixedly connected to the top of the bottom plate (4); the top of the positioning column (501) extends to the inner cavity of the leg (3) and is slidably connected to the inner cavity of the leg (3); the leg ( 3) A damper (502) is fixedly connected to the top of the inner cavity, a connecting block (503) is fixedly connected to the bottom of the piston of the damper (502), the top of the positioning column (501) is fixedly connected to the bottom of the connecting block (503), a compression spring (504) is sleeved on the surface of the positioning column (501), the top and bottom of the compression spring (504) are respectively fixedly connected to the bottom of the support leg (3) and the top of the bottom plate (4), the front end and the rear end of the inner cavity of the bottom plate (4) are both provided with a receiving groove (505), and the inner cavity of the receiving groove (505) is provided with a support plate (506).

2. The UAV collision avoidance device based on a visual sensor according to claim 1, characterized in that: The inner cavity of the support plate (506) is movably connected to a support column (507) via a bearing, and the top and bottom of the support column (507) are movably connected to the inner wall of the accommodating groove (505) via a bearing, and an electric push rod (508) is fixedly connected to one side of the center of the inner cavity of the accommodating groove (505), and the output end of the electric push rod (508) is fixedly connected to a fixed block (509), and both sides of the fixed block (509) are fixedly connected to a rack (510), and one side of the support plate (506) is fixedly connected to a tooth block (511), and the tooth block (511) and the rack (510) are meshed.

3. The UAV collision avoidance device based on a visual sensor according to claim 2 is characterized in that: Auxiliary grooves (512) are provided on both sides of the inner cavity of the accommodating groove (505), one end of the rack (510) extends to the inner cavity of the auxiliary groove (512) and is slidably connected to the inner cavity of the auxiliary groove (512), a sliding groove (513) is provided on one side of the inner cavity of the supporting leg (3), one side of the connecting block (503) extends to the inner cavity of the sliding groove (513) and is slidably connected to the inner cavity of the sliding groove (513).

4. The UAV collision avoidance device based on a visual sensor according to claim 3 is characterized in that: A control switch (514) is provided at the top of the inner cavity of the slide groove (513), and the output end of the control switch (514) is electrically connected to the input end of the electric push rod (508).

5. The UAV collision avoidance device based on a visual sensor according to claim 2, characterized in that: The front and rear ends of the top of the bottom plate (4) are both provided with movable grooves (6), the inner cavity of the movable groove (6) is slidably connected to a fixed plate (7), the inner cavity of the movable groove (6) and the side close to the two fixed plates (7) is slidably connected to a slider (8), the top of the slider (8) is movably connected to an adjustment plate (9) via a rotating shaft, the end of the adjustment plate (9) away from the slider (8) is movably connected to one side of the leg (3) via a rotating shaft, and a tension spring (10) is fixedly connected between the fixed plate (7) and the slider (8).

6. The UAV collision avoidance device based on a visual sensor according to claim 5, characterized in that: Both sides of the inner cavity of the movable groove (6) are fixedly connected to limiting columns (11), the limiting columns (11) penetrate the fixed plate (7) and the sliding block (8) and are slidably connected to the inner cavity thereof, a limiting groove (12) is provided at the bottom of the inner cavity of the movable groove (6), a limiting block (13) is fixedly connected to the bottom of the sliding block (8), the bottom of the limiting block (13) extends to the inner cavity of the limiting groove (12) and is slidably connected to the inner cavity of the limiting groove (12), and a connecting column (14) is fixedly connected to the top of the fixed block (509), one end of the connecting column (14) extends to the inner cavity of the limiting groove (12) and is fixedly connected to the limiting block (13).

7. The method for using the UAV collision avoidance device based on a visual sensor according to any one of claims 1 to 6, characterized in that: The steps for using it are as follows: A. When the drone body (1) descends and contacts the ground, the impact force causes the supporting leg (3) to move downward on the surface of the positioning column (501). When the supporting leg (3) moves downward, it squeezes the compression spring (504) and causes the compression spring (504) to deform. At the same time, since the supporting leg (3) moves downward on the surface of the positioning column (501), the angle of the adjustment plate (9) is deflected and the slider (8) is pushed to slide in the inner cavity of the movable groove (6). When the slider (8) slides, it can stretch the tension spring (10) and cause the tension spring (10) to deform. The restoring elastic force of the positioning column (501) and the tension spring (10) can cooperate with the damper (502) for buffering, thereby reducing the vibration amplitude of the entire device and achieving the purpose of shock absorption. B. When the vibration amplitude is too large, the piston of the damper (502) contracts excessively, which can drive the connecting block (503) to slide in the inner cavity of the slide groove (513), so that the connecting block (503) squeezes the control switch (514). After the control switch (514) is squeezed, the electric push rod (508) can be started to shrink its output end. After the output end of the electric push rod (508) shrinks, it can cooperate with the fixed block (509) to drive the rack (510) to move. Since the rack (510) and the tooth block (511) are meshed, the support plate (510) can be driven while the rack (510) moves. 506) rotates around the support column (507) so that it rotates out of the inner cavity of the accommodating groove (505) until it becomes a horizontal vertical state. At this time, the contact area between the bottom plate (4) and the ground can be increased, thereby preventing the drone body (1) from tipping over due to excessive amplitude. At the same time, when the fixed block (509) moves, it can cooperate with the limit block (13) and the connecting column (14) to pull the fixed plate (7) so that it slides in the inner cavity of the movable groove (6). When the fixed plate (7) slides, it can further stretch the tension spring (10) to increase its elastic potential energy, thereby better buffering the vibration.

Images