Obstacle detection device for unmanned aerial vehicle and use method thereof

Abstract

The invention discloses an obstacle detection device for an unmanned aerial vehicle and a use method thereof, the obstacle detection device comprises an unmanned aerial vehicle body, a detection assembly is installed on the surface of the unmanned aerial vehicle body, the detection assembly comprises a visual camera and a visual sensor, and the detection assembly is used for detecting and identifying an obstacle. An adjusting mechanism is further mounted on the surface of the unmanned aerial vehicle body. By arranging the adjusting mechanism, the effect of providing support and adjustment for the visual camera and the visual sensor is achieved, the mounting base, the first motor, the first bevel gear, the second bevel gear and the transmission rod are used for providing support and adjustment for the visual sensor, and the connecting plate, the supporting plate and the movable plate are used for providing support for the visual camera; the second motor, the driving gear, the driven gear, the connecting rod and the supporting rod are used for adjusting the detection angle of the visual sensor, so that the detection range of the detection assembly is widened, and the use flexibility of the detection assembly is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle detection equipment for unmanned aerial vehicles, and in particular to an obstacle detection device for unmanned aerial vehicles and a use method thereof. Background Art

[0002] Drones, also known as unmanned aerial vehicles, are aircraft that can fly at low altitudes without direct human control. Drones can be used for a variety of purposes, including filming, monitoring, mapping, logistics, etc. Drones need to be equipped with obstacle detection equipment when in use to help them identify and avoid surrounding obstacles to ensure safe flight.

[0003] According to the Chinese patent application No.: 201510565953.7, an obstacle detection device for a drone and a detection method thereof are disclosed, wherein the detection device includes a driving device, a distance measuring device, an angle measuring device and a control device, the driving device, the distance measuring device and the angle measuring device are respectively connected to the control device, the driving device is connected to the distance measuring device, the distance measuring device includes a distance sensor, the angle measuring device includes an angle sensor, and the control device includes a control board; the detection method of the obstacle detection device for a drone uses a rotating distance sensor to detect and calculate the distance between the obstacle and the drone, uses an angle sensor to determine the rotation angle of the distance sensor, uses a control board to match the above distance data and the rotation angle data, and finally obtains the position information of the obstacle, which can realize the detection of obstacles in all directions around, avoid the collision between the drone and the obstacle, and reduce the probability of accidents of the drone;

[0004] The existing technology effectively solves the problem that the detection range of the drone obstacle detection device is small and safety hazards may occur during use. It has the advantage of being able to detect obstacles in the surrounding directions. However, this type of drone obstacle detection device needs to be formed by a combination of multiple sensors, and the detection range is low, which reduces the flexibility of use. Summary of the invention

[0005] The purpose of the present invention is to provide an obstacle detection device for a drone and a method of using the same, which has the advantages of being able to detect from multiple angles and in all directions, and solves the problem that the obstacle detection device for a drone needs to be formed by a combination of multiple sensors and has a low detection range, thereby reducing the flexibility of use.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an obstacle detection device for a drone, comprising a drone body, a detection component is installed on the surface of the drone body, the detection component comprises a visual camera and a visual sensor, the detection component is used to detect and identify obstacles, an adjustment mechanism is also installed on the surface of the drone body, the adjustment mechanism comprises a mounting seat, a connecting plate, a supporting plate, a movable plate, a first motor, a first bevel gear, a second bevel gear, a transmission rod, a second motor, a driving gear, a driven gear, a connecting rod and a supporting rod, the mounting seat is installed on the top of the drone body, the first motor, the first bevel gear, the second bevel gear and the transmission rod are all installed in the inner cavity of the mounting seat, the mounting seat, the first motor, the first bevel gear, the second bevel gear and the transmission rod are all installed in the inner cavity of the mounting seat, the mounting seat, the first motor, the first The bevel gear, the second bevel gear and the transmission rod are used to provide support and adjustment for the visual sensor. The connecting plate, the support plate and the movable plate are installed at the bottom of the drone body. The second motor, the driving gear, the driven gear, the connecting rod and the support rod are installed in the inner cavity of the support plate. The connecting plate, the support plate and the movable plate are used to provide support for the visual camera. The second motor, the driving gear, the driven gear, the connecting rod and the support rod are used to adjust the detection angle of the visual sensor. The output ends of the visual camera and the visual sensor are connected to the input ends of the drone body control motherboard. The input ends of the first motor and the second motor are connected to the output ends of the drone body control motherboard. The drone body is wirelessly connected to the external control remote control via radio signals.

[0007] Preferably, the visual sensor is located on the top of the mounting seat, one end of the transmission rod is fixedly connected to the second bevel gear, and the other end of the transmission rod passes through the outside of the mounting seat and is fixedly connected to the visual sensor.

[0008] Preferably, the first motor is fixedly connected to the inner wall of the mounting seat, the output shaft of the first motor is drivingly connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is movably connected to the inner wall of the mounting seat via a bearing.

[0009] Preferably, the connecting plate is threadedly connected to the bottom of the drone body via bolts, the visual camera is threadedly connected to the movable plate via bolts, and one end of the connecting plate away from the drone body is fixedly connected to the support plate.

[0010] Preferably, one end of the connecting rod is fixedly connected to the driven gear, and the other end of the connecting rod passes through the outside of the support plate and is transmission-connected to the movable plate. One end of the support rod is fixedly connected to the driven gear, and the other end of the support rod is movably connected to the inner wall of the support plate through a bearing.

[0011] Preferably, the second motor is fixedly connected to the inner wall of the support plate, the output shaft of the second motor is drivingly connected to a driving gear, and the driving gear is meshed with a driven gear.

[0012] Preferably, the method of use comprises the following steps:

[0013] A. First, install the mounting base in the slot on the top of the drone body, fix the visual camera to the surface of the movable plate with bolts, and then fix the connecting plate to the bottom of the drone body with bolts. Then, wirelessly connect the drone body to the external remote control through radio signals, so that the drone body can be controlled to perform flight operations.

[0014] B. During the flight, the adjustment mechanism can control the visual camera and the visual sensor to follow the flight changes of the drone body through the cooperation of the attitude sensor. The output shaft of the first motor rotates to drive the first bevel gear to rotate. When the first bevel gear rotates, it drives the second bevel gear to rotate. When the second bevel gear rotates, it drives the visual sensor to rotate through the transmission rod, so that the detection direction of the visual sensor can be adjusted, so that the visual sensor can detect and identify obstacles around the drone body.

[0015] C. During the descent process, the output shaft of the second motor rotates to drive the driving gear to rotate, and the driving gear rotates to drive the driven gear to rotate, and the driven gear rotates to drive the connecting rod to rotate, and the connecting rod rotates to drive the movable plate to flip downward, so that the visual camera can flip downward, so that the detection angle of the visual camera can be adjusted, so that it can detect and identify obstacles on the ground. During the flight, the visual camera detects and identifies obstacles in the flight path of the drone body.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention, by providing a visual camera and a visual sensor, can detect and identify obstacles when the drone body is flying, thereby preventing the drone body from colliding during the flight, thereby effectively improving the safety of the drone body's flight.

[0018] 2. The present invention achieves the effect of providing support and adjustment for the visual camera and the visual sensor by setting an adjustment mechanism. The mounting seat, the first motor, the first bevel gear, the second bevel gear and the transmission rod are used to provide support and adjustment for the visual sensor. The connecting plate, the support plate and the movable plate are used to provide support for the visual camera. The second motor, the driving gear, the driven gear, the connecting rod and the support rod are used to adjust the detection angle of the visual sensor, thereby improving the detection range of the detection component and effectively improving the flexibility of the use of the detection component. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the UAV body and the adjustment mechanism in the separated state of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the separated state of the regulating mechanism of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of the vision sensor and the adjustment mechanism in the separated state according to the present invention.

[0023] In the figure: 1. UAV body; 2. Detection component; 21. Visual camera; 22. Visual sensor; 3. Adjustment mechanism; 301. Mounting seat; 302. Connecting plate; 303. Support plate; 304. Movable plate; 305. First motor; 306. First bevel gear; 307. Second bevel gear; 308. Transmission rod; 309. Second motor; 310. Driving gear; 311. Driven gear; 312. Connecting rod; 313. Support rod. DETAILED DESCRIPTION

[0024] 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.

[0025] The drone body 1, detection component 2, visual camera 21, visual sensor 22, adjustment mechanism 3, mounting seat 301, connecting plate 302, support plate 303, movable plate 304, first motor 305, first bevel gear 306, second bevel gear 307, transmission rod 308, second motor 309, driving gear 310, driven gear 311, connecting rod 312 and support rod 313 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.

[0026] Example 1

[0027] like Figure 1-4As shown in the figure, it is the first embodiment of the present invention, which provides an obstacle detection device for a drone, including a drone body 1, a detection component 2 is installed on the surface of the drone body 1, the detection component 2 includes a visual camera 21 and a visual sensor 22, and the detection component 2 is used to detect and identify obstacles. The surface of the drone body 1 is also installed with an adjustment mechanism 3, the adjustment mechanism 3 includes a mounting seat 301, a connecting plate 302, a support plate 303, a movable plate 304, a first motor 305, a first bevel gear 306, a second bevel gear 307, a transmission rod 308, a second motor 309, a driving gear 310, a driven gear 311, a connecting rod 312 and a support rod 313, the mounting seat 301 is installed on the top of the drone body 1, the first motor 305, the first bevel gear 306, the second bevel gear 307 and the transmission rod 308 are all installed in the inner cavity of the mounting seat 301, and the mounting seat 301, the first motor 305, the first bevel gear 306, the second bevel gear 307 and the transmission rod 308 are installed in the inner cavity of the mounting seat 301. The wheel 306, the second bevel gear 307 and the transmission rod 308 are used to provide support and adjustment for the visual sensor 22. The connecting plate 302, the support plate 303 and the movable plate 304 are installed at the bottom of the drone body 1. The second motor 309, the driving gear 310, the driven gear 311, the connecting rod 312 and the support rod 313 are installed in the inner cavity of the support plate 303. The connecting plate 302, the support plate 303 and the movable plate 304 are used to provide support for the visual camera 21. The second motor 309, the driving gear 310, the driven gear 311, the connecting rod 312 and the support rod 313 are used to adjust the detection angle of the visual sensor 22. The output ends of the visual camera 21 and the visual sensor 22 are connected to the input ends of the control mainboard of the drone body 1. The input ends of the first motor 305 and the second motor 309 are connected to the output ends of the control mainboard of the drone body 1. The drone body 1 is wirelessly connected to the external control remote controller through radio signals.

[0028] like Figure 1-4As shown, the interior of the drone body 1 is also equipped with a posture sensor, a control main board and a power module. The posture sensor can cooperate with the adjustment mechanism 3 to make the visual camera 21 and the visual sensor 22 follow the flight changes of the drone body 1 to adjust, and the angle is adjusted by the real-time control algorithm. The detection component 2 uses a neural network algorithm to identify obstacles. First, the mounting seat 301 is installed in the card slot on the top of the drone body 1, and the visual camera 21 is fixed to the surface of the movable plate 304 by bolts, and then the connecting plate 302 is fixed to the bottom of the drone body 1 by bolts, and then the drone body 1 is wirelessly connected to the external remote control through a radio signal, so that the drone body 1 can be controlled to perform flight operations. During the flight, the adjustment mechanism 3 can control the visual camera 21 and the visual sensor 22 to follow the flight changes of the drone body 1 through the cooperation of the posture sensor, and the output shaft of the first motor 305 rotates to drive The first bevel gear 306 rotates, and when the first bevel gear 306 rotates, it drives the second bevel gear 307 to rotate. When the second bevel gear 307 rotates, it drives the visual sensor 22 to rotate through the transmission rod 308, so that the detection direction of the visual sensor 22 can be adjusted, so that the visual sensor 22 can detect and identify obstacles around the drone body 1. During the descent, the output shaft of the second motor 309 rotates to drive the driving gear 310 to rotate. When the driving gear 310 rotates, it drives the driven gear 311 to rotate. When the driven gear 311 rotates, it drives the connecting rod 312 to rotate. When the connecting rod 312 rotates, it drives the movable plate 304 to flip downward, so that the visual camera 21 can flip downward, so that the detection angle of the visual camera 21 can be adjusted, so that it can detect and identify obstacles on the ground. During the flight, the visual camera 21 detects and identifies obstacles in the flight path of the drone body 1.

[0029] Example 2

[0030] Reference Figure 2 and 4 , which is the second embodiment of the present invention, and this embodiment is based on the previous embodiment.

[0031] In this embodiment, the visual sensor 22 is located at the top of the mounting base 301 , one end of the transmission rod 308 is fixedly connected to the second bevel gear 307 , and the other end of the transmission rod 308 passes through the outside of the mounting base 301 and is fixedly connected to the visual sensor 22 .

[0032] The first motor 305 is fixedly connected to the inner wall of the mounting seat 301 , the output shaft of the first motor 305 is transmission-connected to the first bevel gear 306 , the first bevel gear 306 is meshed with the second bevel gear 307 , and the second bevel gear 307 is movably connected to the inner wall of the mounting seat 301 via a bearing.

[0033] like Figure 2 and 4 As shown, the output shaft of the first motor 305 rotates to drive the first bevel gear 306 to rotate, and the first bevel gear 306 rotates to drive the second bevel gear 307 to rotate. When the second bevel gear 307 rotates, it drives the visual sensor 22 to rotate through the transmission rod 308, so that the detection direction of the visual sensor 22 can be adjusted, so that the visual sensor 22 can detect and identify obstacles around the drone body 1. The mounting seat 301 is connected to the groove on the top of the drone body 1 by a snap buckle, which can be easily disassembled and stored.

[0034] Example 3

[0035] Reference Figure 2 and 3 , which is the third embodiment of the present invention, and this embodiment is based on the previous two embodiments.

[0036] In this embodiment, the connecting plate 302 is threadedly connected to the bottom of the drone body 1 by bolts, the visual camera 21 is threadedly connected to the movable plate 304 by bolts, and the end of the connecting plate 302 away from the drone body 1 is fixedly connected to the support plate 303.

[0037] One end of the connecting rod 312 is fixedly connected to the driven gear 311, and the other end of the connecting rod 312 passes through the outside of the support plate 303 and is transmission-connected to the movable plate 304. One end of the support rod 313 is fixedly connected to the driven gear 311, and the other end of the support rod 313 is movably connected to the inner wall of the support plate 303 through a bearing.

[0038] The second motor 309 is fixedly connected to the inner wall of the support plate 303 , and the output shaft of the second motor 309 is transmission-connected to the driving gear 310 , and the driving gear 310 is meshed with the driven gear 311 .

[0039] like Figure 2 and 3 As shown, the visual camera 21 is fixed to the surface of the movable plate 304 by bolts. During the descent process, the output shaft of the second motor 309 rotates to drive the driving gear 310 to rotate. When the driving gear 310 rotates, it drives the driven gear 311 to rotate. When the driven gear 311 rotates, it drives the connecting rod 312 to rotate. The support rod 313 can provide support for the driven gear 311. When the connecting rod 312 rotates, it drives the movable plate 304 to flip downward, so that the visual camera 21 can flip downward, so that the detection angle of the visual camera 21 can be adjusted, so that it can detect and identify obstacles on the ground. During the flight, the visual camera 21 detects and identifies obstacles in the flight path of the drone body 1.

[0040] A method for using an obstacle detection device for a drone, the method comprising the following steps:

[0041] A. First, install the mounting seat 301 in the card slot on the top of the drone body 1, fix the visual camera 21 on the surface of the movable plate 304 by bolts, and then fix the connecting plate 302 to the bottom of the drone body 1 by bolts, and then wirelessly connect the drone body 1 to the external remote control through radio signals, so that the drone body 1 can be controlled to perform flight operations;

[0042] B. During the flight, the adjustment mechanism 3 can control the visual camera 21 and the visual sensor 22 to follow the flight changes of the drone body 1 through the cooperation of the attitude sensor. The output shaft of the first motor 305 rotates to drive the first bevel gear 306 to rotate. When the first bevel gear 306 rotates, it drives the second bevel gear 307 to rotate. When the second bevel gear 307 rotates, it drives the visual sensor 22 to rotate through the transmission rod 308, so that the detection direction of the visual sensor 22 can be adjusted, so that the visual sensor 22 can detect and identify obstacles around the drone body 1.

[0043] C. During the descent process, the output shaft of the second motor 309 rotates to drive the driving gear 310 to rotate. When the driving gear 310 rotates, it drives the driven gear 311 to rotate. When the driven gear 311 rotates, it drives the connecting rod 312 to rotate. When the connecting rod 312 rotates, it drives the movable plate 304 to flip downward, so that the visual camera 21 can flip downward, so that the detection angle of the visual camera 21 can be adjusted, so that it can detect and identify obstacles on the ground. During the flight, the visual camera 21 detects and identifies obstacles in the flight path of the drone body 1.

[0044] 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.

[0045] 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.

[0046] 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. An obstacle detection device for a drone, comprising a drone body (1), characterized in that: A detection component (2) is installed on the surface of the drone body (1), and the detection component (2) includes a visual camera (21) and a visual sensor (22). The detection component (2) is used to detect and identify obstacles. An adjustment mechanism (3) is also installed on the surface of the drone body (1), and the adjustment mechanism (3) includes a mounting seat (301), a connecting plate (302), a support plate (303), a movable plate (304), a first motor (305), a first bevel gear (306), a second bevel gear (307), a transmission rod ( 308), a second motor (309), a driving gear (310), a driven gear (311), a connecting rod (312) and a supporting rod (313), the mounting seat (301) is mounted on the top of the drone body (1), the first motor (305), the first bevel gear (306), the second bevel gear (307) and the transmission rod (308) are all mounted in the inner cavity of the mounting seat (301), the mounting seat (301), the first motor (305), the first bevel gear (306), the second bevel gear (307) and the transmission rod (308) is used to provide support and adjustment for the visual sensor (22), the connecting plate (302), the supporting plate (303) and the movable plate (304) are installed at the bottom of the drone body (1), the second motor (309), the driving gear (310), the driven gear (311), the connecting rod (312) and the supporting rod (313) are installed in the inner cavity of the supporting plate (303), the connecting plate (302), the supporting plate (303) and the movable plate (304) are used to provide support for the visual camera (21), the second motor (309), a driving gear (310), a driven gear (311), a connecting rod (312) and a supporting rod (313) are used to adjust the detection angle of the visual sensor (22); the output ends of the visual camera (21) and the visual sensor (22) are connected to the input ends of the control motherboard of the drone body (1); the input ends of the first motor (305) and the second motor (309) are connected to the output ends of the control motherboard of the drone body (1); and the drone body (1) is wirelessly connected to an external control remote controller via a radio signal.

2. The obstacle detection device for a drone according to claim 1, characterized in that: The visual sensor (22) is located at the top of the mounting seat (301), one end of the transmission rod (308) is fixedly connected to the second bevel gear (307), and the other end of the transmission rod (308) passes through the outside of the mounting seat (301) and is fixedly connected to the visual sensor (22).

3. The obstacle detection device for a drone according to claim 1, characterized in that: The first motor (305) is fixedly connected to the inner wall of the mounting seat (301); the output shaft of the first motor (305) is transmission-connected to the first bevel gear (306); the first bevel gear (306) is meshed with the second bevel gear (307); and the second bevel gear (307) is movably connected to the inner wall of the mounting seat (301) via a bearing.

4. The obstacle detection device for a drone according to claim 1, characterized in that: The connecting plate (302) is threadedly connected to the bottom of the drone body (1) via bolts, the visual camera (21) is threadedly connected to the movable plate (304) via bolts, and one end of the connecting plate (302) away from the drone body (1) is fixedly connected to the support plate (303).

5. The obstacle detection device for a drone according to claim 1, characterized in that: One end of the connecting rod (312) is fixedly connected to the driven gear (311), and the other end of the connecting rod (312) passes through the outside of the support plate (303) and is transmission-connected to the movable plate (304). One end of the support rod (313) is fixedly connected to the driven gear (311), and the other end of the support rod (313) is movably connected to the inner wall of the support plate (303) via a bearing.

6. The obstacle detection device for a drone according to claim 1, characterized in that: The second motor (309) is fixedly connected to the inner wall of the support plate (303); the output shaft of the second motor (309) is transmission-connected to the driving gear (310); and the driving gear (310) is meshed with the driven gear (311).

7. The method for using the obstacle detection device for a drone according to any one of claims 1 to 6, characterized in that: The method of use includes the following steps: A. First, the mounting seat (301) is installed in the slot on the top of the drone body (1), and the visual camera (21) is fixed to the surface of the movable plate (304) by bolts, and then the connecting plate (302) is fixed to the bottom of the drone body (1) by bolts, and then the drone body (1) is wirelessly connected to the external remote controller by radio signals, so that the drone body (1) can be controlled to perform flight operations; B. During the flight, the adjustment mechanism (3) can control the visual camera (21) and the visual sensor (22) to follow the flight changes of the drone body (1) through the cooperation of the attitude sensor. The output shaft of the first motor (305) rotates to drive the first bevel gear (306) to rotate. When the first bevel gear (306) rotates, it drives the second bevel gear (307) to rotate. When the second bevel gear (307) rotates, it drives the visual sensor (22) to rotate through the transmission rod (308), thereby adjusting the detection direction of the visual sensor (22), so that the visual sensor (22) can detect and identify obstacles around the drone body (1); C. During the descent process, the output shaft of the second motor (309) rotates to drive the driving gear (310) to rotate. When the driving gear (310) rotates, it drives the driven gear (311) to rotate. When the driven gear (311) rotates, it drives the connecting rod (312) to rotate. When the connecting rod (312) rotates, it drives the movable plate (304) to flip downward, so that the visual camera (21) can be flipped downward, so that the detection angle of the visual camera (21) can be adjusted, so that it can detect and identify obstacles on the ground. During the flight, the visual camera (21) detects and identifies obstacles in the flight path of the drone body (1).

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