A low-altitude inspection drone with obstacle avoidance function and method

Abstract

The present invention discloses a low-altitude inspection drone and method with obstacle avoidance function, and the present invention relates to the technical field of drones. The low-altitude inspection drone and method with obstacle avoidance function include a drone body equipped with a universal shaft, a sensing element installed on the drone body for detecting obstacles, one end of the universal shaft is connected to a centralized box for providing support for the sensing element, and the centralized box is provided with a balancing component for maintaining the balance of the sensing element, a compensation component for assisting the operation of the balancing component, and an auxiliary component for enhancing the obstacle avoidance ability of the drone body, and the balancing component includes: a bottom plate fixed at the bottom of the centralized box to apply a downward force to the centralized box; even if the drone is tilted or rotated, the sensor can cover the area that may have been a blind spot, thereby improving the comprehensive perception of the surrounding environment, avoiding temporary failure or misjudgment caused by posture changes, and reducing the risk of collision caused by incorrect sensor posture.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a low-altitude inspection unmanned aerial vehicle with an obstacle avoidance function and a method thereof. Background Art

[0002] Unmanned aircraft, referred to as "drones", are unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or operated completely or intermittently autonomously by on-board computers. Existing drones usually use sensors to collect information about the surrounding environment, measure distances, and make corresponding action instructions to achieve the purpose of obstacle avoidance. Especially when performing low-altitude inspection tasks, it is necessary to adapt to more complex flight conditions. Especially when conducting agricultural or forestry inspections, dynamic obstacles are prone to appear. The current drone sensors are usually directly installed on the drone body. When performing the first obstacle avoidance, the sensor's sensing area will change synchronously. During the avoidance process, if dynamic obstacles from other directions appear, it is not easy to avoid them in time;

[0003] For example, a drone with an obstacle avoidance function disclosed by announcement number CN207607649U can improve the data collection accuracy of the ultrasonic sensor with the help of a vibration membrane and a vibration needle, but it cannot detect dynamic obstacles in other directions in the first time. A drone with an obstacle avoidance function disclosed by announcement number CN118025522A can adjust the light input angle of the visual sensor, but it is easy to encounter shadow areas during low-altitude inspections. The mottled light and shadow will affect the performance of the sensor, resulting in the inability to avoid dynamic obstacles in time. Therefore, a low-altitude inspection drone and method with an obstacle avoidance function are proposed. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a low-altitude inspection UAV with obstacle avoidance function and a method thereof, which solves the problems raised in the background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a low-altitude inspection drone with obstacle avoidance function, comprising a drone body equipped with a universal shaft, a sensing element installed on the drone body for detecting obstacles, one end of the universal shaft is connected to a central box for providing support for the sensing element, a balancing component for maintaining the balance of the sensing element, a compensation component for assisting the operation of the balancing component, and an auxiliary component for enhancing the obstacle avoidance capability of the drone body, wherein the balancing component includes:

[0006] A bottom plate, fixed to the bottom of the centralizing box to exert a downward force on the centralizing box;

[0007] A fixed rope, fixed to the bottom of the base plate to transmit power;

[0008] The weight ring is fixed at the bottom of the fixed rope to apply a downward force to the fixed rope;

[0009] The support rod is fixed to the bottom of the drone body to provide support for some parts of the balance assembly.

[0010] Preferably, the balancing component also includes:

[0011] A sliding sleeve is fixed at the bottom of the support rod to limit the moving direction of the counterweight ring;

[0012] A sliding rod is slidably arranged in the sliding sleeve to assist in limiting the moving direction of the counterweight ring;

[0013] The guide rod is fixed at the bottom of the sliding rod, and one end of the guide rod is slidably inserted into the sliding sleeve to limit the moving direction of the sliding rod;

[0014] The movable shaft is fixed on the sliding rod to assist in limiting the moving direction of the counterweight ring.

[0015] Preferably, the balancing component also includes:

[0016] A movable sleeve, movably arranged outside the movable shaft to assist in limiting the moving direction of the counterweight ring;

[0017] A movable rod is slidably arranged in the movable sleeve to limit the moving direction of the movable sleeve;

[0018] A connecting shaft is movably mounted on one end of the movable rod to limit the rotation direction of the movable rod;

[0019] A fixing plate is fixed to one end of the connecting shaft to provide support for the connecting shaft, and the top of the fixing rod is fixed to the bottom of the counterweight ring;

[0020] A positioning rod is fixed at the bottom of the supporting rod, a moving rod is fixed on the top of the positioning rod, a piston plate is fixed at one end of the moving rod, a fixing sleeve is slidably passed through the moving rod, an auxiliary rod is slidably passed through the fixing sleeve, and the bottom of the auxiliary rod is magnetically connected to the counterweight ring.

[0021] Preferably, the compensation component includes:

[0022] The gear is located between the drone body and the central box and provides power for the compensation component to operate under the drive of the drone body;

[0023] The gear ring meshes with the gear to transmit the power required for the operation of the compensation component;

[0024] The rotating shaft is fixedly arranged in the gear to provide power to the gear and transmit the power required for the operation of the compensation component. The rotating shaft is installed at the bottom of the drone body through a mounting plate.

[0025] Preferably, the compensation component also includes:

[0026] A toggle plate is fixed to one end of the rotating shaft to transmit the power required for the operation of the compensation component;

[0027] A driven plate is abutted against one end of the toggle plate to transmit the power required for the operation of the compensation component, and the ends of the driven plate and the toggle plate close to each other are both provided with inclined surfaces for sliding adaptation;

[0028] The limit rod is slidably arranged in the driven plate to guide and limit the driven plate. One end of the limit rod is fixed to the bottom of the drone body. A spring is fixed between the limit rod and the driven plate to reset the driven plate.

[0029] Preferably, the compensation component also includes:

[0030] A reinforcing element, fixed on the support rod, to expand the detection range of the sensing element;

[0031] A control switch, fixed to the bottom of the drone body through a mounting rod, controls the opening and closing of the enhancement element;

[0032] A magnet, fixed on the rotating shaft;

[0033] The magnetic ring is fixed on the top of the centralizing box and is magnetically connected to the magnet.

[0034] Preferably, the auxiliary components include:

[0035] The lens is fixed on the support rod to focus the light;

[0036] The refraction plate is located between the drone body and the focusing box to refract the converged light;

[0037] The combined piece is located between the drone body and the centralizing box and receives the refracted light to generate deformation.

[0038] Preferably, the auxiliary component also includes:

[0039] A push rod abuts against the combined piece and moves with the deformation of the combined piece;

[0040] Spring three is fixed on the push rod to provide elastic force for resetting the push rod.

[0041] The present invention also provides a low-altitude inspection drone and method with obstacle avoidance function, comprising the following steps:

[0042] S1. Install the balancing component, compensation component and auxiliary component on the drone body;

[0043] S2. Perform low-altitude inspections using the drone itself;

[0044] S3: When an obstacle appears, the drone body is controlled to avoid it after the sensor detects the obstacle;

[0045] S4: During the avoidance process, the balance component and the compensation component work together to maintain the balance of the sensing element. At the same time, the auxiliary component is adaptively started according to the environment in which the drone is located to enhance the obstacle avoidance capability of the drone.

[0046] S5. After the inspection is completed, control the drone to fly back.

[0047] Preferably, the start-up time of the compensation component is between 1-2S.

[0048] The present invention provides a low-altitude inspection drone and method with obstacle avoidance function. Compared with the prior art, it has the following beneficial effects:

[0049] (1) The low-altitude inspection UAV and method with obstacle avoidance function senses obstacles in the route of the UAV body through sensing elements. When an obstacle is sensed, the obstacle avoidance program is triggered to make the UAV body fly sideways, upward or downward to avoid the obstacle; the centralized box on which the sensing element is installed can maintain a balanced state to the greatest extent, which can effectively reduce the impact of the jitter and vibration caused by the tilt or rotation of the UAV on the sensor. Especially in the case of rapid maneuvers or emergency obstacle avoidance, maintaining balance helps to avoid collision or damage of internal components caused by sudden acceleration, thereby providing more stable and accurate data. Especially for cameras and other optical sensors, keeping the level can ensure that the image will not be tilted or distorted unnecessarily due to changes in the posture of the UAV. When all sensors are in a relatively fixed posture, the data processing algorithm can use a unified reference coordinate system, which simplifies the process of data fusion and interpretation.

[0050] (2) The low-altitude inspection UAV and method with obstacle avoidance function can cover areas that may have been blind spots even if the UAV tilts or rotates, thereby improving the overall perception of the surrounding environment, avoiding temporary failure or misjudgment due to attitude changes or sudden approaching dynamic obstacles, and reducing the risk of collision due to incorrect sensor attitude. This is particularly important when performing tasks in dense obstacle environments. For example, when conducting forest inspections in a forest environment with dense trees and complex terrain, the UAV can expand the sensing area through enhanced components to improve the detection accuracy of obstacles such as branches, wires, and flying birds, thereby avoiding the situation in which a bird suddenly flies by without being detected during the obstacle avoidance process, resulting in a bird strike accident, thereby ensuring safe flight.

[0051] (3) The low-altitude inspection UAV and method with obstacle avoidance function can effectively reduce the probability of misjudgment caused by light changes when the UAV body enters the light-dark junction, especially in the transition area from light to dark or from dark to light, thereby enhancing the reliability of the obstacle avoidance system and improving the response speed and accuracy of the obstacle avoidance system, especially in rapid maneuvers or emergency obstacle avoidance situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 Another perspective view of the overall structure of the present invention;

[0054] Figure 3 It is a partial structural diagram of the balancing component of the present invention;

[0055] Figure 4 It is a combined state diagram of the sliding rod of the present invention;

[0056] Figure 5 The figure is an exploded state diagram of the sliding rod of the present invention;

[0057] Figure 6 It is a disassembled state diagram of the movable sleeve of the present invention;

[0058] Figure 7 It is a partial structural diagram of the compensation component of the present invention;

[0059] Figure 8 It is a disassembled state diagram of the limit rod of the present invention;

[0060] Fig. 9 It is the overall structural diagram of the fixing sleeve of the present invention;

[0061] Fig.10 It is a cross-sectional structural diagram of the fixing sleeve of the present invention;

[0062] Fig.11 It is a schematic diagram of the position of the balancing component of the present invention;

[0063] Fig.12 It is a schematic diagram of the position of the combined sheet of the present invention;

[0064] Fig.13 It is a partial structural diagram of the auxiliary components of the present invention.

[0065] In the figure: 1. UAV body; 2. Universal joint; 21. Centralizing box; 22. Sensing element; 221. Reinforcement element; 23. Bottom plate; 24. Fixing rope; 25. Counterweight ring; 26. Support rod; 27. Sliding sleeve; 28. Sliding rod; 281. Guide rod; 282. Active shaft; 29. ​​Active sleeve; 210. Active rod; 211. Connecting shaft; 212. Fixed plate; 3. Gear; 31. Gear ring; 32. Rotating shaft; 33. Toggle plate; 34. Follower plate; 35. Limiting rod; 351. Spring one; 36. Control switch; 37. Magnet; 38. Magnetic ring; 4. Positioning rod; 41. Moving rod; 42. Piston plate; 43. Spring two; 44. Fixing sleeve; 45. Auxiliary rod; 5. Lens; 51. Refraction plate; 52. Combination plate; 53. Push rod; 54. Spring three. DETAILED DESCRIPTION

[0066] 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.

[0067] See also Figures 1 to 13 , the present invention provides the following technical solutions:

[0068] Embodiment 1: A low-altitude inspection drone with obstacle avoidance function, comprising a drone body 1 equipped with a universal shaft 2, a sensing element 22 mounted on the drone body 1 for detecting obstacles, one end of the universal shaft 2 is connected to a central box 21 for providing support for the sensing element 22, a balancing assembly for maintaining the balance of the sensing element 22 is arranged outside the central box 21, and the balancing assembly comprises: a bottom plate 23, a fixing rope 24, a counterweight ring 25, a support rod 26, a sliding sleeve 27, a sliding rod 28, a guide rod 281, a movable shaft 282, a movable sleeve 29, a movable rod 210, a connecting shaft 211, and a fixing plate 212;

[0069] The top of the bottom plate 23 is fixedly mounted on the bottom of the centralizing box 21 to exert a downward force on the centralizing box 21;

[0070] One end of the fixing rope 24 is fixedly mounted on the bottom of the bottom plate 23 to transmit power;

[0071] The top of the weight ring 25 is fixed to the bottom of the fixed rope 24 to apply a downward force to the fixed rope 24;

[0072] The top of the support rod 26 is fixedly mounted on the bottom of the drone body 1 to provide support for some parts of the balance assembly;

[0073] The top of the sliding sleeve 27 is fixedly mounted on the bottom of the support rod 26 to limit the moving direction of the counterweight ring 25;

[0074] One end of the sliding rod 28 is slidably inserted into the sliding sleeve 27 to assist in limiting the moving direction of the counterweight ring 25;

[0075] One end of the guide rod 281 is fixedly mounted on the bottom of the sliding rod 28, and one end of the guide rod 281 is slidably inserted into the sliding sleeve 27 to limit the moving direction of the sliding rod 28;

[0076] One end of the movable shaft 282 is fixedly mounted on the sliding rod 28 to assist in limiting the moving direction of the counterweight ring 25;

[0077] The inner wall of the movable sleeve 29 is movably arranged on the outside of the movable shaft 282 through the bearing to assist in limiting the moving direction of the counterweight ring 25;

[0078] One end of the movable rod 210 is slidably inserted into the movable sleeve 29 to limit the moving direction of the movable sleeve 29;

[0079] One end of the connecting shaft 211 is movably mounted on one end of the movable rod 210 through a bearing to limit the rotation direction of the movable rod 210;

[0080] The side wall of the fixing plate 212 is fixedly mounted on one end of the connecting shaft 211 to provide support for the connecting shaft 211, and the top of the fixing plate 212 is fixedly mounted on the bottom of the counterweight ring 25;

[0081] In another embodiment different from the above-mentioned embodiment, the balancing assembly further includes: a positioning rod 4, a moving rod 41, a piston plate 42, a second spring 43, a fixing sleeve 44, and an auxiliary rod 45;

[0082] The top of the positioning rod 4 is fixedly installed on the bottom of the support rod 26, and a moving rod 41 is fixedly installed on the top of the positioning rod 4, and a piston plate 42 is fixedly installed on one end of the moving rod 41. One end of the moving rod 41 is slidably inserted into a fixed sleeve 44, and an auxiliary rod 45 is slidably inserted into the fixed sleeve 44. A piston plate 42 is also fixedly installed on the top of the auxiliary rod 45. The two piston plates 42 are connected and sealed, so that the movement of one of the piston plates 42 can push the other piston plate 42 to move through the air. A spring 43 for assisting the piston plate 42 to reset is respectively installed between the two piston plates 42 and the fixed sleeve 44, and the bottom of the auxiliary rod 45 is magnetically connected to the counterweight ring 25.

[0083] When in use, the obstacles in the route of the drone body 1 are sensed by the sensing element 22. When an obstacle is sensed, the obstacle avoidance program is triggered, so that the drone body 1 flies sideways, upward or downward to avoid the obstacle;

[0084] In the process of avoiding obstacles, the maneuvering action of the drone body 1 will cause the fuselage to tilt briefly. In the process of tilting, the counterweight ring 25 applies a downward force to the fixing rope 24, so that the fixing rope 24 applies a downward force to the bottom plate 23, so that the bottom plate 23 can apply a downward force to the centralizing box 21. The upper half of the universal shaft 2 is driven to rotate by the tilt of the drone body 1, and the centralizing box 21 keeps the lower half of the universal shaft 2 motionless under the action of the counterweight ring 25, so that the sensing element 22 installed on the centralizing box 21 always remains in a horizontal state, so that the sensing element 22 will not have an angle deviation, and the situation that the detection blind area is not enlarged due to the tilt of the fuselage, the effectiveness of the obstacle avoidance system is reduced, and the risk of collision is increased;

[0085] The drone body 1 provides support force to the support rod 26, the support rod 26 provides support force to the sliding sleeve 27, the sliding sleeve 27 and the sliding rod 28 are slidably matched, the sliding rod 28 provides support force to the guide rod 281, the guide rod 281 and the sliding sleeve 27 are slidably matched, so that the guide rod 281 can only move linearly along the sliding sleeve 27, so that the sliding rod 28 can also only move linearly along the sliding sleeve 27 when moving. At the same time, the sliding rod 28 provides support force to the movable shaft 282, and the movable shaft 282 and the sliding sleeve 27 are slidably matched. The movable sleeves 29 can rotate with each other, and the movable sleeves 29 and the movable rod 210 are slidably matched, so that when the movable rod 210 moves, it can only move linearly along the movable sleeve 29, and the movable rod 210 provides a supporting force for the connecting shaft 211, the fixed plate 212 provides a supporting force for the connecting shaft 211, and the counterweight ring 25 provides a supporting force for the fixed plate 212, so that the movable rod 210 can rotate with the movable shaft 282 as the axis, and can also move linearly along the movable sleeve 29 and can rotate with the movable shaft 282 as the axis;

[0086] When the drone body 1 avoids obstacles with the help of maneuvers, the drone body 1 tilts to one side, so that the support rod 26 on that side makes a corresponding movement synchronously, so that the support rod 26 on that side drives the sliding sleeve 27 on that side to move, and the sliding sleeve 27 and the sliding rod 28 are slidably matched, so that the sliding rod 28 and the sliding sleeve 27 are separated from each other, and the movable rod 210 and the movable sleeve 29 are slidably matched, so that the movable rod 210 and the movable sleeve 29 are separated from each other, and at the same time, the movable sleeve 29 turns over with the movable shaft 282 as the axis, and applies a lateral support force to the counterweight ring 25, so that the counterweight ring 25 can be kept directly below the bottom plate 23 under the action of gravity and exert a downward pulling force on the bottom plate 23, while not affecting the inclination of the body;

[0087] When the drone body 1 tilts to one side, the positioning rod 4 is driven to move by the support rod 26 on that side, and the moving rod 41 is driven to make a corresponding movement by the positioning rod 4, so that the moving rod 41 drives the piston plate 42 to move, and the sliding cooperation between the moving rod 41 and the fixing sleeve 44 makes the moving rod 41 drive the piston plate 42 to move only in a straight line, and the piston plate 42 squeezes the air inside the fixing sleeve 44 to move, so that the air pushes the piston plate 42 on the other side to move in the opposite direction, so that the piston plate 42 on the other side drives the auxiliary rod 45 to move, and the auxiliary rod 45 and the moving direction of the moving rod 41 are opposite, and the auxiliary rod 45 in one direction applies a squeezing force to the counterweight ring 25, and the auxiliary rod 45 in the opposite direction applies an upward lifting force to the counterweight ring 25, so that the counterweight ring 25 is kept balanced as a whole, and the balance degree of the centralizing box 21 is improved when the drone body 1 makes a maneuver to avoid obstacles.

[0088] Embodiment 2, the technical solution of this embodiment is different from that of embodiment 1 in that: a compensation component for assisting the operation of the balancing component is arranged outside the central box 21, and the compensation component includes: an enhancement element 221, a gear 3, a gear ring 31, a rotating shaft 32, a toggle plate 33, a driven plate 34, a limit rod 35, a spring 351, a control switch 36, a magnet 37, and a magnetic ring 38. The number of compensation components can be set as needed;

[0089] The gear 3 is located between the drone body 1 and the central box 21 and provides power for the compensation component to operate under the drive of the drone body 1;

[0090] The gear ring 31 is meshed and connected to the gear 3 to transmit the power required for the operation of the compensation component;

[0091] One end of the rotating shaft 32 is fixedly installed in the gear 3 to provide power to the gear 3 and transmit the power required for the operation of the compensation component. The outer wall of the rotating shaft 32 is movably installed in the mounting plate through a bearing. One end of the mounting plate is fixedly installed at the bottom of the drone body 1. One end of the toggle plate 33 is fixedly installed at one end of the rotating shaft 32 to transmit the power required for the operation of the compensation component.

[0092] One end of the driven plate 34 abuts against one end of the toggle plate 33 to transmit the power required for the operation of the compensation component, and the ends of the driven plate 34 and the toggle plate 33 close to each other are both provided with a slidably adapted inclined surface;

[0093] One end of the limit rod 35 is slidably inserted into the driven plate 34 to guide and limit the driven plate 34. One end of the limit rod 35 is fixed to the bottom of the drone body 1. A spring 351 is fixedly installed between the limit rod 35 and the driven plate 34 to reset the driven plate 34.

[0094] The number of the driven plate 34, the limiting rod 35, and the spring 1 351 in a single group is two, and the two driven plates 34, the limiting rod 35, and the spring 1 351 are symmetrically distributed at both ends of the rotating shaft 32;

[0095] The outer wall of the reinforcing element 221 is fixedly mounted on the support rod 26 to expand the detection range of the sensing element 22;

[0096] A mounting rod is fixedly installed on the top of the control switch 36, and the top of the mounting rod is fixedly installed on the bottom of the drone body 1 to control the opening and closing of the enhancement element 221;

[0097] One end of the magnet 37 is fixed to the side wall of the rotating shaft 32;

[0098] One end of the magnetic ring 38 is fixedly mounted on the top of the central box 21 , and the magnetic ring 38 is magnetically connected to the magnet 37 , exerting a certain resistance on the rotating shaft 32 , so that the gear 3 and the gear ring 31 will not rotate due to the influence of wind during the flight of the drone body 1 .

[0099] When in use, during the process of obstacle avoidance by the drone body 1, the drone body 1 tilts at an angle. Due to the action of the universal joint 2, an angle deviation occurs between the central box 21 and the drone body 1. At this time, the drone body 1 drives the rotating shaft 32 to move through the mounting plate, and the rotating shaft 32 drives the gear 3 to move. The gear 3 is meshed with the gear ring 31, so that the gear 3 can also rotate around the rotating shaft 32 as the axis during the movement. The gear 3 drives the rotating shaft 32 to rotate synchronously, and the rotating shaft 32 drives the toggle plate 33 to move. The toggle plate 33 and the driven plate 34 slide together, so that the toggle plate 33 squeezes the driven plate 34 to move, and the driven plate 34 and the limit rod 35 slides together to make the driven plate 34 move in a straight line along the limit rod 35, and the control switch 36 is squeezed by the driven plate 34 to make the control switch 36 control the reinforcing element 221 to start, and the reinforcing element 221 assists the sensing element 22 to jointly detect obstacles on the forward route of the drone body 1, so as to avoid the situation that the flight path changes in a small range after the angle of the drone body 1 is deflected, while the angle of the sensing element 22 remains in the original horizontal state, and the sensing ability of some areas within a short distance is reduced, resulting in that if an obstacle appears again during the obstacle avoidance process, it is not easy to detect it in time, resulting in the continuous reduction of the obstacle avoidance ability of the drone body 1.

[0100] Embodiment 3, the technical solution of this embodiment is different from that of embodiment 2, including: an auxiliary component for enhancing the obstacle avoidance capability of the drone body 1 is arranged outside the central box 21, and the auxiliary component includes: a lens 5, a refraction plate 51, a combination sheet 52, a push rod 53, and a spring 54. The number of auxiliary components can be set as needed;

[0101] The outer wall of the lens 5 is fixedly mounted on the support rod 26 to converge the light, and the lens 5 is specifically a Fresnel lens;

[0102] The refraction plate 51 is located between the drone body 1 and the concentrating box 21 to refract and converge the light. A positioning plate is fixedly installed on the side wall of one of the refraction plates 51 that is adapted to the compensation component. One end of the positioning plate is fixedly installed on the side wall of the rotating shaft 32. The other refraction plates 51 are directly fixedly installed on the bottom of the drone body 1 through the positioning plates.

[0103] The assembly sheet 52 is located between the drone body 1 and the centralizing box 21 and receives the refracted light to generate deformation. The assembly sheet 52 is composed of two metal sheets with different and large thermal expansion coefficients. One of the assembly sheets 52 is installed under one of the driven plates 34.

[0104] One end of the push rod 53 slides against the assembly plate 52 and moves with the deformation of the assembly plate 52. One end of one push rod 53 slides through the driven plate 34.

[0105] The other several assembly pieces 52 are directly fixed on the L-shaped rod, one end of the L-shaped rod is fixedly mounted on the bottom of the drone body 1, and one end of the other several push rods 53 is slidably inserted into the corresponding L-shaped rod;

[0106] One end of the spring three 54 is fixed on the push rod 53 to provide elastic force for the push rod 53 to reset, and the other end of the spring three 54 is fixedly mounted on the driven plate 34 or the L-shaped rod.

[0107] When in use, the light in the forward direction of the drone body 1 is converged by the lens 5 and irradiated on the refraction plate 51. The converged light is refracted to the combination sheet 52 by the refraction plate 51. The thermal expansion coefficients of the two metals of the combination sheet 52 are set differently, so that the combination sheet 52 is bent to the side with a lower thermal expansion coefficient. When there is a shadow on the travel route of the drone body 1, the light will be reduced. After being refracted to the combination sheet 52 by the refraction plate 51, the temperature of the combination sheet 52 is reduced, so that the combination sheet 52 as a whole is bent to the side with a higher thermal expansion coefficient. At this time, the bent combination sheet 52 will squeeze the push rod 53 to move. The push rod 53 and the driven plate 34 are slidably matched, so that the push rod 53 can only move in a straight line. The control switch 36 is squeezed by the push rod 53 to start the control switch 36. The reinforcing element 221 is controlled to start by the control switch 36 until it moves to the area with sufficient light again. After the temperature is restored, the combination sheet 52 is bent to the side with a higher thermal expansion coefficient again, so that the push rod 53 no longer obtains thrust and is reset under the action of the spring three 54.

[0108] Practical application examples

[0109] Urban inspection: In urban environments with tall buildings, drones need to accurately identify key facilities such as traffic signs and utility poles under different lighting conditions, such as building shadows and direct sunlight.

[0110] Forest inspection: In a densely populated forest, the mottled light and shadows formed by light passing through the treetops can affect the performance of the sensor. Enhanced components can help drones maintain stable object recognition capabilities under complex lighting conditions.

[0111] Agricultural inspection: For crop health assessment in farmland, drones can obtain consistent and high-quality spectral images in the morning, noon and evening at different time periods, helping farmers understand field conditions more accurately.

[0112] The embodiment of the present invention also provides a low-altitude inspection drone with obstacle avoidance function and a method, comprising the following steps:

[0113] S1, installing the balancing component, the compensating component and the auxiliary component on the drone body 1;

[0114] S2, performing low-altitude inspection operations through the drone body 1;

[0115] S3, when an obstacle appears, the drone body 1 is controlled to avoid it after the sensor element 22 detects the obstacle;

[0116] S4, during the avoidance process, the balance component and the compensation component work together to maintain the balance of the sensing element 22, wherein the start-up time of the compensation component is between 1-2S, and at the same time, the auxiliary component is adaptively started according to the environment in which the drone body 1 is located, so as to enhance the obstacle avoidance capability of the drone body 1;

[0117] S5. After the inspection is finished, the drone body 1 is controlled to fly back.

[0118] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0119] 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.

[0120] 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 low-altitude inspection drone with obstacle avoidance function, comprising a drone body (1) equipped with a universal joint (2), and a sensing element (22) mounted on the drone body (1) for detecting obstacles, characterized in that: One end of the universal shaft (2) is connected to a central box (21) for supporting the sensing element (22). The central box (21) is provided with a balancing component for maintaining the balance of the sensing element (22), a compensation component for assisting the operation of the balancing component, and an auxiliary component for enhancing the obstacle avoidance capability of the drone body (1). The balancing component includes: A bottom plate (23) is fixed to the bottom of the centralizing box (21) to exert a downward force on the centralizing box (21); A fixed rope (24) is fixed to the bottom of the base plate (23) to transmit power; A counterweight ring (25) is fixed to the bottom of the fixing rope (24) to apply a downward force to the fixing rope (24); The support rod (26) is fixed to the bottom of the drone body (1) to provide support for some parts of the balancing assembly.

2. The low-altitude inspection drone with obstacle avoidance function according to claim 1, characterized in that: The balancing component also includes: A sliding sleeve (27) is fixed to the bottom of the support rod (26) to limit the moving direction of the counterweight ring (25); A sliding rod (28) is slidably arranged in the sliding sleeve (27) to assist in limiting the moving direction of the counterweight ring (25); A guide rod (281) is fixed at the bottom of the sliding rod (28), one end of which is slidably inserted into the sliding sleeve (27) to limit the moving direction of the sliding rod (28); The movable shaft (282) is fixed on the sliding rod (28) to assist in limiting the moving direction of the counterweight ring (25).

3. The low-altitude inspection drone with obstacle avoidance function according to claim 2, characterized in that: The balancing component also includes: A movable sleeve (29) movably arranged on the outside of the movable shaft (282) to assist in limiting the moving direction of the counterweight ring (25); A movable rod (210) is slidably arranged in the movable sleeve (29) to limit the moving direction of the movable sleeve (29); A connecting shaft (211) is movably mounted on one end of the movable rod (210) to limit the rotation direction of the movable rod (210); A fixing plate (212) is fixed to one end of the connecting shaft (211) to provide support for the connecting shaft (211), and the top of the fixing plate (212) is fixed to the bottom of the counterweight ring (25); A positioning rod (4) is fixed at the bottom of the support rod (26); a moving rod (41) is fixed at the top of the positioning rod (4); a piston plate (42) is fixed at one end of the moving rod (41); a fixing sleeve (44) is slidably inserted through the moving rod (41); an auxiliary rod (45) is slidably inserted through the fixing sleeve (44); and the bottom of the auxiliary rod (45) is magnetically connected to the counterweight ring (25).

4. The low-altitude inspection drone with obstacle avoidance function according to claim 1, characterized in that: The compensation component includes: The gear (3) is located between the drone body (1) and the central box (21) and provides power for the compensation component to operate under the drive of the drone body (1); A gear ring (31) meshed with the gear (3) to transmit power required for the operation of the compensation component; The rotating shaft (32) is fixedly arranged in the gear (3) to provide power to the gear (3) and transmit power required for the operation of the compensation component. The rotating shaft (32) is installed at the bottom of the drone body (1) through a mounting plate.

5. The low-altitude inspection drone with obstacle avoidance function according to claim 4, characterized in that: The compensation component also includes: A toggle plate (33) is fixed to one end of the rotating shaft (32) to transmit the power required for the operation of the compensation component; A driven plate (34) is abutted against one end of the toggle plate (33) to transmit the power required for the operation of the compensation component, and the ends of the driven plate (34) and the toggle plate (33) close to each other are both provided with slidably adapted inclined surfaces; A limit rod (35) is slidably inserted into the driven plate (34) to guide and limit the driven plate (34); one end of the limit rod (35) is fixed to the bottom of the drone body (1); and a spring (351) is fixed between the limit rod (35) and the driven plate (34) to reset the driven plate (34).

6. The low-altitude inspection drone with obstacle avoidance function according to claim 5, characterized in that: The compensation component also includes: A reinforcing element (221) is fixed on the support rod (26) to expand the detection range of the sensing element (22); A control switch (36) is fixed to the bottom of the drone body (1) via a mounting rod to control the opening and closing of the enhancement element (221); A magnet (37) fixed on the rotating shaft (32); The magnetic ring (38) is fixed on the top of the centralizing box (21) and is magnetically connected to the magnet (37).

7. The low-altitude inspection drone with obstacle avoidance function according to claim 1, characterized in that: The auxiliary components include: A lens (5) is fixed on the support rod (26) to focus light; A refraction plate (51) is located between the drone body (1) and the concentrator box (21) to refract the converged light; The assembly sheet (52) is located between the drone body (1) and the concentration box (21) and receives the refracted light to generate deformation.

8. The low-altitude inspection drone with obstacle avoidance function according to claim 7, characterized in that: The auxiliary components also include: A push rod (53) abuts against the assembly sheet (52) and moves along with the deformation of the assembly sheet (52); Spring three (54) is fixed on the push rod (53) to provide elastic force for the push rod (53) to reset.

9. A low-altitude inspection drone and method with obstacle avoidance function applicable to any one of claims 1-8, characterized in that: The following steps are involved: S1, installing a balancing component, a compensating component and an auxiliary component on the drone body (1); S2, performing low-altitude inspection operations using the drone body (1); S3, when an obstacle appears, after the sensor element (22) detects the obstacle, the drone body (1) is controlled to avoid it; S4, during the avoidance process, the balance component and the compensation component work together to maintain the balance of the sensing element (22), and at the same time, the auxiliary component is adaptively started to operate according to the environment in which the drone body (1) is located, so as to enhance the obstacle avoidance capability of the drone body (1); S5. After the inspection is finished, the drone body (1) is controlled to fly back.

10. A low-altitude inspection drone and method with obstacle avoidance function according to claim 9, characterized in that: The startup time of the compensation component is between 1 and 2 seconds.

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