Obstacle detection device for unmanned aerial vehicle and method of use thereof

Abstract

The application discloses an obstacle detection device for a unmanned aerial vehicle and a use method thereof, which comprises a unmanned aerial vehicle body, a detection assembly is mounted on the surface of the unmanned aerial vehicle body, the detection assembly comprises a visual camera and a visual sensor, the detection assembly is used for detecting and identifying obstacles, and an adjusting mechanism is also mounted on the surface of the unmanned aerial vehicle body. The adjusting mechanism can provide support and adjustment for the visual camera and the visual sensor, the mounting seat, 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, the connecting plate, the supporting plate and the movable plate are used for providing support for the visual camera, and 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 improved, and the flexibility of use of the detection assembly is effectively improved.

Description

TECHNICAL FIELD

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

[0002] The unmanned aerial vehicle is also called unmanned aerial vehicle, which is a kind of low-altitude flying vehicle without direct human operation. The unmanned aerial vehicle can be used for various purposes, including shooting, monitoring, mapping, logistics, etc. The unmanned aerial vehicle needs to be equipped with an obstacle detection device when in use, which helps the unmanned aerial vehicle to identify and avoid obstacles around, and ensures safe flight.

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

[0004] The prior art effectively solves the problem that the detection range of the obstacle detection device for unmanned aerial vehicles is small, and safety hazards are prone to occur during use, has the advantage that the obstacles in the surrounding directions can be detected, but the obstacle detection device for unmanned aerial vehicles needs to be formed by combining multiple sensors, and the detection range is low, thereby reducing the flexibility of use. SUMMARY

[0005] The present application aims to provide an obstacle detection device for unmanned aerial vehicles and a use method thereof, which has the advantages of multi-angle and omnidirectional detection, solves the problem that the obstacle detection device for unmanned aerial vehicles needs to be formed by combining multiple sensors, and the detection range is low, thereby reducing the flexibility of use.

[0006] In order to achieve the above object, the present application provides the following technical scheme: An obstacle detection device for unmanned aerial vehicle, comprising an unmanned aerial vehicle body, a detection assembly is mounted on the surface of the unmanned aerial vehicle body, the detection assembly comprises a visual camera and a visual sensor, the detection assembly is used for obstacle detection and identification, an adjusting mechanism is also mounted on the surface of the unmanned aerial vehicle body, the adjusting 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 mounted on the top of the unmanned aerial vehicle body, the first motor, the first bevel gear, the second bevel gear and the transmission rod are all mounted 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 used for providing support and adjusting the visual sensor, the connecting plate, the supporting plate and the movable plate are mounted on the bottom of the unmanned aerial vehicle body, the second motor, the driving gear, the driven gear, the connecting rod and the supporting rod are mounted in the inner cavity of the supporting plate, 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, the output ends of the visual camera and the visual sensor are connected with the input end of the unmanned aerial vehicle body control mainboard, the input ends of the first motor and the second motor are connected with the output end of the unmanned aerial vehicle body control mainboard, and the unmanned aerial vehicle body is wirelessly connected with an external control remote controller through 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 with the second bevel gear, and the other end of the transmission rod penetrates to the outside of the mounting seat and is fixedly connected with the visual sensor.

[0008] Preferably, the first motor is fixedly connected with the inner wall of the mounting seat, the output shaft of the first motor is in transmission connection with the first bevel gear, the first bevel gear is in meshing connection with the second bevel gear, and the second bevel gear is movably connected with the inner wall of the mounting seat through a bearing.

[0009] Preferably, the connecting plate is threadedly connected with the bottom of the unmanned aerial vehicle body through bolts, the visual camera is threadedly connected with the movable plate through bolts, and one end of the connecting plate away from the unmanned aerial vehicle body is fixedly connected with the supporting plate.

[0010] Preferably, one end of the connecting rod is fixedly connected with the driven gear, the other end of the connecting rod penetrates to the outside of the supporting plate and is in transmission connection with the movable plate, one end of the supporting rod is fixedly connected with the driven gear, and the other end of the supporting rod is movably connected with the inner wall of the supporting plate through a bearing.

[0011] Preferably, the second motor is fixedly connected with the inner wall of the supporting plate, the output shaft of the second motor is in transmission connection with the driving gear, and the driving gear is in meshing connection with the driven gear.

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

[0013] A, first, the mounting seat is installed in the clamping groove on the top of the unmanned aerial vehicle body, the visual camera is fixed on the surface of the movable plate through bolts, then the connecting plate is fixed on the bottom of the unmanned aerial vehicle body through bolts, and then the unmanned aerial vehicle body is wirelessly connected with the external remote controller through radio signals, so that the unmanned aerial vehicle body can be controlled to fly and work;

[0014] B, in the process of flying, the adjustment mechanism can control the visual camera and the visual sensor to follow the flight changes of the unmanned aerial vehicle body for adjustment through the cooperation of the attitude sensor, the output shaft of the first motor drives the first bevel gear to rotate, the first bevel gear drives the second bevel gear to rotate when rotating, and the second bevel gear drives the visual sensor to rotate through the transmission rod when rotating, so that the detection direction of the visual sensor can be adjusted, and the visual sensor can detect and identify the obstacles around the unmanned aerial vehicle body;

[0015] C, in the process of descending, the output shaft of the second motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate when rotating, and the driven gear drives the connecting rod to rotate when rotating, so that the movable plate can be flipped downward, and thus the visual camera can be flipped downward, so that the detection angle of the visual camera can be adjusted, and the visual camera can detect and identify the obstacles on the ground, and in the process of flying, the visual camera can detect and identify the obstacles in the flight path of the unmanned aerial vehicle body.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows:

[0017] 1、The visual camera and the visual sensor are arranged, which can detect and identify obstacles when the unmanned aerial vehicle body flies, so as to prevent the unmanned aerial vehicle body from colliding in the process of flying, and thus the safety of the unmanned aerial vehicle body flying is effectively improved.

[0018] 2、The adjustment mechanism is arranged, which can provide support and adjustment for the visual camera and the visual sensor, 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, and 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, so as to improve the detection range of the detection assembly and effectively improve the flexibility of the detection assembly. BRIEF DESCRIPTION OF DRAWINGS

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

[0020] Figure 2 Figure 4 is a structure schematic diagram of the separation state of the unmanned aerial vehicle body and the adjusting mechanism of the present application;

[0021] Figure 3 Figure 5 is a structure schematic diagram of the separation state of the adjusting mechanism of the present application;

[0022] Figure 4 Figure 6 is a structure schematic diagram of the separation state of the visual sensor and the adjusting mechanism of the present application.

[0023] In the figure: 1, unmanned aerial vehicle body; 2, detection assembly; 21, visual camera; 22, visual sensor; 3, adjusting 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 technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] The unmanned aerial vehicle body 1, detection assembly 2, visual camera 21, visual sensor 22, adjusting 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 components of the present application are all general standard parts or components known to those skilled in the art, and their structures and principles can be known by technical personnel through technical manuals or through conventional experimental methods.

[0026] Embodiment 1

[0027] As Figures 1-4As shown, it is the first embodiment of the present application, which provides an obstacle detection device for unmanned aerial vehicle, including unmanned aerial vehicle body 1, the surface of unmanned aerial vehicle body 1 is mounted with detection assembly 2, detection assembly 2 includes visual camera 21 and visual sensor 22, detection assembly 2 is used for obstacle detection and identification, the surface of unmanned aerial vehicle body 1 is also mounted with adjusting mechanism 3, adjusting mechanism 3 includes 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, mounting seat 301 is installed on the top of unmanned aerial vehicle body 1, first motor 305, first bevel gear 306, second bevel gear 307 and transmission rod 308 are all installed in the inner cavity of mounting seat 301, mounting seat 301, first motor 305, first bevel gear 306, second bevel gear 307 and transmission rod 308 are used for providing support and adjusting for visual sensor 22, connecting plate 302, support plate 303 and movable plate 304 are installed on the bottom of unmanned aerial vehicle body 1, second motor 309, driving gear 310, driven gear 311, connecting rod 312 and support rod 313 are installed in the inner cavity of support plate 303, connecting plate 302, support plate 303 and movable plate 304 are used for providing support for visual camera 21, second motor 309, driving gear 310, driven gear 311, connecting rod 312 and support rod 313 are used for adjusting the detection angle of visual sensor 22, the output ends of visual camera 21 and visual sensor 22 are connected with the input end of unmanned aerial vehicle body 1 control mainboard, the input ends of first motor 305 and second motor 309 are connected with the output end of unmanned aerial vehicle body 1 control mainboard, unmanned aerial vehicle body 1 is wirelessly connected with external control remote controller through radio signal.

[0028] As Figures 1-4As shown, the inside of the unmanned aerial vehicle body 1 is also provided with a posture sensor, a control mainboard and a power module. The posture sensor can cooperate with the adjusting mechanism 3 to enable the visual camera 21 and the visual sensor 22 to follow the flight changes of the unmanned aerial vehicle body 1 to adjust, and the angle is adjusted through a real-time control algorithm. The detection assembly 2 adopts a neural network algorithm to identify obstacles. First, the mounting seat 301 is installed in the clamping groove at the top of the unmanned aerial vehicle body 1, and the visual camera 21 is fixed on the surface of the movable plate 304 through bolts. Then, the connecting plate 302 is fixed on the bottom of the unmanned aerial vehicle body 1 through bolts. Then, the unmanned aerial vehicle body 1 is wirelessly connected with an external remote controller through radio signals, so as to control the unmanned aerial vehicle body 1 to fly. In the process of flying, the adjusting mechanism 3 can control the visual camera 21 and the visual sensor 22 to follow the flight changes of the unmanned aerial vehicle body 1 to adjust through the cooperation of the posture 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, the second bevel gear 307 is driven to rotate. When the second bevel gear 307 rotates, the visual sensor 22 is driven to rotate through the transmission rod 308, so as to adjust the detection direction of the visual sensor 22, and enable the visual sensor 22 to detect and identify the obstacles around the unmanned aerial vehicle body 1. In the process of descending, the output shaft of the second motor 309 rotates to drive the driving gear 310 to rotate. When the driving gear 310 rotates, the driven gear 311 is driven to rotate. When the driven gear 311 rotates, the connecting rod 312 is driven to rotate. When the connecting rod 312 rotates, the movable plate 304 is flipped downward, so as to flip the visual camera 21 downward, thereby adjusting the detection angle of the visual camera 21, and enabling the visual camera 21 to detect and identify the obstacles on the ground. In the process of flying, the visual camera 21 detects and identifies the obstacles in the flight path of the unmanned aerial vehicle body 1.

[0029] Embodiment 2

[0030] With reference to Figure 2 and 4 This is the second embodiment of the present application, which is based on the previous embodiment.

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

[0032] The first motor 305 is fixedly connected with the inner wall of the mounting seat 301. The output shaft of the first motor 305 is in transmission connection with the first bevel gear 306. The first bevel gear 306 is in meshing connection with the second bevel gear 307. The second bevel gear 307 is movably connected with the inner wall of the mounting seat 301 through a bearing.

[0033] AsFigure 2 and 4 As shown, the output shaft of the first motor 305 rotates, driving 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 vision sensor 22 to rotate through the transmission rod 308, thereby adjusting the detection direction of the vision sensor 22 so that the vision sensor 22 can detect and identify obstacles around the drone body 1. The mounting base 301 is connected to the groove on the top of the drone body 1 by a snap fastener, which can be easily disassembled and stored.

[0034] Example 3

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

[0036] In this embodiment, the connecting plate 302 is threadedly connected to the bottom of the UAV body 1 by bolts, the vision camera 21 is threadedly connected to the movable plate 304 by bolts, and the end of the connecting plate 302 away from the UAV 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 extends through to the outside of the support plate 303 and is connected to the movable plate 304 in a transmission manner. 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. The output shaft of the second motor 309 is connected to the drive gear 310 for transmission. The drive gear 310 meshes with the driven gear 311.

[0039] like Figure 2 and 3 As shown, the vision camera 21 is fixed to the surface of the movable plate 304 by bolts. During the descent, the output shaft of the second motor 309 rotates, driving the drive gear 310 to rotate. When the drive 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, thereby enabling the vision camera 21 to flip downward. This allows the detection angle of the vision camera 21 to be adjusted so that it can detect and identify obstacles on the ground. During flight, the vision camera 21 detects and identifies obstacles within the flight path of the UAV body 1.

[0040] A method for using an obstacle detection device for unmanned aerial vehicles (UAVs) includes the following steps:

[0041] A, first install the mounting seat 301 in the card slot on the top of the unmanned aerial vehicle body 1, fix the visual camera 21 on the surface of the movable plate 304 through bolts, then fix the connecting plate 302 on the bottom of the unmanned aerial vehicle body 1 through bolts, then wirelessly connect the unmanned aerial vehicle body 1 with the external remote controller through radio signals, so as to control the unmanned aerial vehicle body 1 to fly;

[0042] B, in the process of flying, the adjustment mechanism 3 can control the visual camera 21 and the visual sensor 22 to follow the flight changes of the unmanned aerial vehicle body 1 to adjust 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, the first bevel gear 306 rotates to drive the second bevel gear 307 to rotate, the second bevel gear 307 rotates to drive the visual sensor 22 to rotate through the transmission rod 308, so as to adjust the detection direction of the visual sensor 22, so that the visual sensor 22 can detect and identify the obstacles around the unmanned aerial vehicle body 1;

[0043] C, in the process of descending, the output shaft of the second motor 309 rotates to drive the driving gear 310 to rotate, the driving gear 310 rotates to drive the driven gear 311 to rotate, the driven gear 311 rotates to drive the connecting rod 312 to rotate, the connecting rod 312 rotates to drive the movable plate 304 to flip down, so as to make the visual camera 21 flip down, so as to adjust the detection angle of the visual camera 21, so that it can detect and identify the obstacles on the ground, in the process of flying, the visual camera 21 detects and identifies the obstacles in the flight path of the unmanned aerial vehicle body 1.

[0044] The standard parts used in the present application can be purchased from the market, and can be ordered according to the description and drawings, and the specific connection mode of each part adopts the conventional means of bolts, rivets, welding and the like in the prior art, the mechanical, parts and equipment adopt the conventional type in the prior art, the control mode is automatically controlled through the controller, the control circuit of the controller can be realized by simple programming of the person skilled in the art, which belongs to the common knowledge in the art, and the present application is mainly used to protect the mechanical device, so the control mode and circuit connection are not explained in detail.

[0045] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it is intended to be limited only by the words recited in the appended claims. The scope of the present application shall be limited only by the claims.

[0046] While the embodiments of the application have been shown and described herein, it is to be understood that the application is not limited to these embodiments. Rather, numerous modifications are possible without departing from the spirit and scope of the present application as delineated by the claims and their equivalents.

Claims

1. An obstacle detection device for a drone, comprising a drone body (1), characterized in that: The surface of the unmanned aerial vehicle body (1) is provided with a detection assembly (2), the detection assembly (2) comprises a visual camera (21) and a visual sensor (22), the detection assembly (2) is used for obstacle detection and identification, the surface of the unmanned aerial vehicle body (1) is also provided with an adjusting mechanism (3), the adjusting mechanism (3) comprises a mounting seat (301), a connecting plate (302), a supporting 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 unmanned aerial vehicle 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), 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 used for supporting and adjusting the visual sensor (22), the connecting plate (302), the supporting plate (303) and the movable plate (304) are mounted on the bottom of the unmanned aerial vehicle body (1), the second motor (309), the driving gear (310), the driven gear (311), the connecting rod (312) and the supporting rod (313) are mounted in the inner cavity of the supporting plate (303), the connecting plate (302), the supporting plate (303) and the movable plate (304) are used for supporting the visual camera (21), and the second motor (309), the driving gear (310), the driven gear (311), the connecting rod (312) and the supporting rod (313) are used for adjusting the detection angle of the visual sensor (22), output ends of the visual camera (21) and the visual sensor (22) are connected with the input end of the control mainboard of the unmanned aerial vehicle body (1), and the input ends of the first motor (305) and the second motor (309) are connected with the output end of the control mainboard of the unmanned aerial vehicle body (1). The device uses the method, which comprises the following steps: A, first, the mounting seat (301) is mounted in the clamping groove on the top of the unmanned aerial vehicle body (1), the visual camera (21) is fixed on the surface of the movable plate (304) through bolts, then the connecting plate (302) is fixed on the bottom of the unmanned aerial vehicle body (1) through bolts, and finally the unmanned aerial vehicle body (1) is wirelessly connected with the external remote controller through radio signals, so that the unmanned aerial vehicle body (1) can be controlled to fly. B. During flight, the attitude sensor enables the adjustment mechanism (3) to control the visual camera (21) and visual sensor (22) to adjust according to the flight changes of the UAV body (1). The output shaft of the first motor (305) rotates, driving 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 UAV body (1). C. During the descent, the output shaft of the second motor (309) rotates, driving the active gear (310) to rotate. When the active 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, thereby enabling the vision camera (21) to flip downward. This allows the detection angle of the vision camera (21) to be adjusted so that it can detect and identify obstacles on the ground. During the flight, the vision camera (21) detects and identifies obstacles in the flight path of the UAV body (1). 2.The obstacle detection device for a UAV of claim 1, wherein: The vision sensor (22) is located on 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) extends through to the outside of the mounting base (301) and is fixedly connected to the vision sensor (22). 3.The obstacle detection device for a UAV of claim 1, wherein: The first motor (305) is fixedly connected to the inner wall of the mounting base (301). The output shaft of the first motor (305) is connected to the first bevel gear (306) for transmission. The first bevel gear (306) meshes with the second bevel gear (307). The second bevel gear (307) is movably connected to the inner wall of the mounting base (301) through a bearing. 4.The obstacle detection device for a UAV of claim 1, wherein: The connecting plate (302) is threadedly connected to the bottom of the UAV body (1) by bolts, the vision camera (21) is threadedly connected to the movable plate (304) by bolts, and the end of the connecting plate (302) away from the UAV body (1) is fixedly connected to the support plate (303). 5.The obstacle detection device for a UAV of claim 1, wherein: One end of the connecting rod (312) is fixedly connected to the driven gear (311), and the other end of the connecting rod (312) extends through to the outside of the support plate (303) and is connected to the movable plate (304) in a transmission manner. 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. 6.The obstacle detection device for a UAV of claim 1, wherein: 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 connected to the drive gear (310) for transmission. The drive gear (310) meshes with the driven gear (311).

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