Anti-collision unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an anti-collision unmanned aerial vehicle which comprises a vehicle body, a supporting arm and a paddle and further comprises a fixing ring fixedly arranged at the tail end of the supporting arm, and the fixing ring is located outside the paddle. By arranging the anti-collision rubber ring, the arc-shaped flexible strain sheet and the anti-collision air bag, an effective protection system from low-speed collision to high-speed collision is formed, the anti-collision rubber ring buffers during low-speed collision, the arc-shaped flexible strain sheet triggers the anti-collision air bag to pop up to provide secondary protection during violent collision, and the damage risk of the unmanned aerial vehicle is greatly reduced; meanwhile, through cooperation of a photoresistor and an illumination intensity detection mechanism, the influence of illumination on the anti-collision rubber ring can be monitored in real time, aged parts can be conveniently replaced in time, and the protection performance is maintained; in addition, during collision, the balance mechanism can keep the fuselage horizontal, fuselage unbalance damage caused by collision is reduced, and safe and stable operation and normal operation of the unmanned aerial vehicle in a complex flight environment are powerfully guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an anti-collision unmanned aerial vehicle. Background Art

[0002] At present, drones are aircraft that can be controlled remotely or autonomously without the need for personnel on board. Currently, drones have been widely used in military, civil, commercial, and scientific research fields. Since drones use a multi-rotor structure, but the rotors are exposed, drones are prone to rotor collisions during flight, so anti-collision drones have appeared on the market. For example, the announcement number CN108974338B discloses an anti-collision drone.

[0003] Most of the existing anti-collision drones have anti-collision rings on the outer periphery of the wings to deal with potential collision threats. Usually, these anti-collision rings are made of common elastic rubber materials, which can reduce the impact force when colliding with small obstacles or low speeds to a certain extent. However, in the actual flight environment, when the drone encounters an emergency, such as a violent collision with a building, tree or other aircraft, the existing anti-collision rings are often difficult to withstand the strong impact energy. The buffer design of its material can only cope with a certain degree of collision force. Once it exceeds the limit, it will quickly deform or even break, and cannot effectively protect the drone; moreover, when the drone is flying at high altitude, it is exposed to high light intensity. Long-term sunlight exposure will accelerate the aging of the rubber anti-collision ring and reduce its buffering performance; in addition, the current design only relies on this single protective measure. When the anti-collision ring fails, the drone body will face the remaining impact force without any cover, which makes the drone extremely vulnerable to damage in the above complex situations, thereby causing certain economic losses and affecting the normal use of the drone and the development of related operations.

[0004] Therefore, an anti-collision UAV is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide an anti-collision UAV in view of the above problems.

[0006] To achieve the above object, the present invention adopts the following technical solution: an anti-collision drone, comprising a fuselage, a support arm and blades, and also comprising: A fixing ring, fixedly arranged at the end of the support arm, and located outside the blade, and an anti-collision rubber ring is fixedly arranged on the outer side wall of the fixing ring; An arc-shaped flexible strain sheet is detachably arranged inside the anti-collision rubber ring; An anti-collision airbag is arranged inside the fixing ring; A box body is fixedly arranged at the bottom of the fuselage, an inflation mechanism connected to the anti-collision airbag is arranged inside the box body, a first air outlet pipe passing through the fuselage and the inside of the support arm is arranged on the top of the inflation mechanism, and a second air outlet pipe connected to the anti-collision airbag is fixedly arranged at the upper end of the first air outlet pipe, and a first solenoid valve is arranged on the pipe wall of the second air outlet pipe; A balancing mechanism, disposed between the upper end of the first air outlet pipe and the support arm; A trigger mechanism is disposed on the inner wall of the box body and is used to trigger the inflation mechanism; A photoresistor is fixedly embedded in the top of the fuselage, and a light intensity detection mechanism is provided on the top of the trigger mechanism; A PLC controller is fixedly arranged on the outer side wall of the box body, and the arc-shaped flexible strain sheet, the inflation mechanism, the first solenoid valve, the balancing mechanism, the trigger mechanism, the photoresistor and the light intensity detection mechanism are all electrically connected to the PLC controller.

[0007] Preferably, the inflation mechanism includes a sodium azide container fixedly arranged inside the box body, a sodium azide layer is stored inside the sodium azide container, one end of the first air outlet pipe is fixedly connected to the top of the sodium azide container, an impact rod is slidably provided on the top of the sodium azide container, a permanent magnet block is fixedly provided on the upper end of the impact rod, an electromagnetic block is fixedly provided on the top inner wall of the box body and corresponding to the position of the permanent magnet block, slides are fixedly provided on both sides of the permanent magnet block, a sliding rod slidably connected to the two slides is fixedly provided on the top inner wall of the box body, and the rod wall of the sliding rod is provided with a spring fixedly connected to the slide board and the box body.

[0008] Preferably, an anti-shake elastic rubber sheet is fixed inside the sodium azide container and on the upper surface of the sodium azide layer, and silica gel particles are filled between the inner wall of the sodium azide container and the sodium azide layer.

[0009] Preferably, the balancing mechanism includes a third air outlet pipe fixedly arranged at the upper end of the first air outlet pipe, the tube wall of the third air outlet pipe passes through the interior of the fuselage and the support arm, and the end of the third air outlet pipe extends to the middle of the blade, and the tube wall of the third air outlet pipe is provided with a second solenoid valve.

[0010] Preferably, the trigger mechanism includes a shell fixedly arranged on the inner wall of the box body, an electromagnetic telescopic rod is fixedly arranged on the top inner wall of the shell, a touch plate is fixedly arranged on the lower end of the electromagnetic telescopic rod, and a trigger switch that can be arranged in contact with the touch plate is fixedly arranged on the inner side wall of the shell.

[0011] Preferably, the light intensity detection mechanism includes a lamp bead and a photoelectric switch fixedly arranged on the top of the sodium azide container, and the lamp bead and the photoelectric switch are located on both sides of the impact rod, the rod wall of the impact rod is provided with a plurality of evenly distributed light-through holes, and a pulse counter is fixedly arranged on the top of the sodium azide container.

[0012] Preferably, an arc-shaped installation groove is provided at the bottom of the anti-collision rubber ring, the arc-shaped flexible strain sheet is inserted into the inside of the arc-shaped installation groove, and a fixing sheet for limiting the arc-shaped flexible strain sheet is provided at the bottom of the anti-collision rubber ring by glue.

[0013] Preferably, an arc-shaped storage cavity is provided inside the fixing ring, the anti-collision airbag is arranged inside the arc-shaped storage cavity, an airbag ejection outlet is provided on one side of the arc-shaped storage cavity, and a protective cover with a weakening line is provided inside the airbag ejection outlet.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the anti-collision rubber ring, arc-shaped flexible strain sheet and anti-collision airbag, the anti-collision rubber ring can buffer the impact force with its own elasticity and protect the fuselage in the event of a low-speed collision. For example, when encountering a collision with small obstacles such as tree branches during daily flight, the anti-collision rubber ring can effectively reduce the impact of the collision on the fuselage; when a violent collision occurs, the anti-collision rubber ring first absorbs part of the impact force, and at the same time, the arc-shaped flexible strain sheet greatly increases its resistance due to the large deformation, triggering the inflation mechanism, causing the anti-collision airbag to expand and pop out rapidly, forming a powerful protective barrier, and secondary protection of the blades, arms and fuselage, greatly reducing the risk of serious damage to the UAV in a complex flight environment, effectively avoiding economic losses, and ensuring the normal use and operation of the UAV.

[0015] 2. Through the set balancing mechanism, during the inflation and ejection process of the anti-collision airbag, the PLC controller will control the opening of the second solenoid valve at a specific position, allowing nitrogen to enter the corresponding third outlet pipe and be discharged upward, exerting downward thrust on the blades and arms. If one side of the drone collides, this mechanism can effectively overcome the fuselage tilt caused by inertia, keep the fuselage in a horizontal state, further reduce the risk of fuselage imbalance damage caused by collision, and improve the survivability of the drone in a collision accident.

[0016] 3. Through the set photoresistor and light intensity detection mechanism, under normal flight lighting conditions, the resistance of the photoresistor changes with the light intensity, which in turn affects the relative position of the electromagnetic block and the permanent magnet block, thereby triggering the light intensity detection mechanism, causing the pulse counter count of the light intensity detection mechanism to change and feed back to the PLC controller for display. The operator can estimate the aging degree of the anti-collision rubber ring based on this, replace the aging parts in time, and ensure stable protection performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of an anti-collision UAV provided by the present invention; Figure 2 It is a bottom view of an anti-collision rubber ring of an anti-collision drone provided by the present invention; Figure 3 It is a schematic diagram of a top view of a cross-section structure of an anti-collision UAV fixing ring provided by the present invention; Figure 4 It is a structural schematic diagram of an anti-collision UAV provided by the present invention; Figure 5 It is a structural schematic diagram of an anti-collision UAV box provided by the present invention; Figure 6 It is a structural schematic diagram of an anti-collision UAV trigger mechanism provided by the present invention; Figure 7 The present invention is a schematic diagram of a top view of the structure of a first air outlet pipe, a second air outlet pipe and a first solenoid valve of an anti-collision UAV provided by the present invention.

[0018] In the figure: 1 fuselage, 2 support arm, 3 blade, 4 fixing ring, 5 anti-collision rubber ring, 6 arc-shaped flexible strain sheet, 7 anti-collision airbag, 8 box, 9 inflation mechanism, 91 sodium azide container, 92 sodium azide layer, 93 impact rod, 94 permanent magnet block, 95 electromagnetic block, 96 slide plate, 97 slide bar, 98 spring, 99 anti-shake elastic rubber sheet, 910 silica gel particles, 10 first air outlet pipe, 11 second air outlet pipe, 12 first electromagnetic valve, 13 balancing mechanism, 131 third air outlet pipe, 132 second solenoid valve, 14 trigger mechanism, 141 housing, 142 electromagnetic telescopic rod, 143 touch panel, 144 trigger switch, 15 photoresistor, 16 light intensity detection mechanism, 161 lamp bead, 162 photoelectric switch, 163 light hole, 164 pulse counter, 17 PLC controller, 18 arc-shaped installation groove, 19 fixing plate, 20 arc-shaped storage cavity, 21 protective cover. Implementation

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] like Figure 1-Figure 7 As shown, an anti-collision UAV includes a fuselage 1, a support arm 2 and a blade 3, and also includes: The fixing ring 4 is fixedly arranged at the end of the support arm 2, and the fixing ring 4 is located outside the blade 3. The outer wall of the fixing ring 4 is fixedly provided with an anti-collision rubber ring 5. The anti-collision rubber ring 5 can be installed on the side wall of the fixing ring 4 through a clamping structure, such as a clamping groove, so that the anti-collision rubber ring 5 can be disassembled and replaced.

[0021] The arc-shaped flexible strain sheet 6 is detachably arranged inside the anti-collision rubber ring 5. An arc-shaped installation groove 18 is provided at the bottom of the anti-collision rubber ring 5. The arc-shaped flexible strain sheet 6 is inserted into the arc-shaped installation groove 18. A fixing sheet 19 for limiting the arc-shaped flexible strain sheet 6 is provided at the bottom of the anti-collision rubber ring 5 by glue. When the arc-shaped flexible strain sheet 6 needs to be taken out from the inside of the anti-collision rubber ring 5, it is only necessary to tear off the fixing sheet 19 and then directly pull the arc-shaped flexible strain sheet 6 out of the inside of the anti-collision rubber ring 5.

[0022] The anti-collision airbag 7 is arranged inside the fixing ring 4, and an arc-shaped storage cavity 20 is arranged inside the fixing ring 4. The anti-collision airbag 7 is arranged inside the arc-shaped storage cavity 20, and an airbag ejection outlet is arranged on one side of the arc-shaped storage cavity 20, and a protective cover 21 with a weakening line is arranged inside the airbag ejection outlet. The weakening line connects the surrounding side walls of the protective cover 21 and the airbag ejection outlet. Under normal circumstances, the protective cover 21 can isolate and protect the anti-collision airbag 7 and store it inside the arc-shaped storage cavity 20. When the anti-collision airbag 7 is inflated, as the volume of the anti-collision airbag 7 increases, the protective cover 21 can automatically pop open, which can ensure that the protective cover 21 pops up normally.

[0023] The box body 8 is fixedly arranged at the bottom of the fuselage 1, and an inflation mechanism 9 connected to the anti-collision airbag 7 is arranged inside the box body 8. The inflation mechanism 9 includes a sodium azide container 91 fixedly arranged inside the box body 8, and a sodium azide layer 92 is stored inside the sodium azide container 91. One end of the first air outlet pipe 10 is fixedly connected to the top of the sodium azide container 91, and an impact rod 93 is slidably arranged on the top of the sodium azide container 91. A permanent magnet block 94 is fixedly arranged on the upper end of the impact rod 93. An electromagnetic block 95 is fixedly arranged on the top inner wall of the box body 8 and at a position corresponding to the position of the permanent magnet block 94. Slide plates 96 are fixedly arranged on both sides of the permanent magnet block 94. A sliding rod 97 slidably connected to the two slide plates 96 is fixedly arranged on the top inner wall of the box body 8, and a rod wall of the sliding rod 97 is provided with a spring 98 fixedly connected to the slide plate 96 and the box body 8. After the electromagnetic block 95 is connected to the current, the electromagnetic block 95 quickly forms a high-intensity magnetic field, so that the permanent magnet block 94 overcomes the elastic force. The elastic force of the spring 98 is quickly bounced downward, thereby driving the lower end of the impact rod 93 to quickly hit the sodium azide layer 92 with a maximum travel distance, prompting the sodium azide layer 92 to react. When the current passing through the electromagnetic block 95 is disconnected, the spring 98 applies elastic force to the slide plate 96, causing the permanent magnet block 94 and the impact rod 93 to move upward and reset; an anti-sway elastic rubber sheet 99 is fixed inside the sodium azide container 91 and on the upper surface of the sodium azide layer 92, and silica gel particles 910 are filled between the inner wall of the sodium azide container 91 and the sodium azide layer 92. Since the drone will vibrate during flight or in the process of taking it, the anti-sway elastic rubber sheet 99 and the silica gel particles 910 work together to play a role of physical barrier and buffer, which can prevent the sodium azide material from accidentally shaking or displacing due to direct impact of external mechanical force, thereby reducing the possibility of causing unexpected reactions due to other factors.

[0024] A first air outlet pipe 10 passing through the fuselage 1 and the support arm 2 is provided at the top of the inflation mechanism 9, and a second air outlet pipe 11 connected to the anti-collision airbag 7 is fixedly provided at the upper end of the first air outlet pipe 10, and a first solenoid valve 12 is provided on the wall of the second air outlet pipe 11; a balancing mechanism 13 is provided between the upper end of the first air outlet pipe 10 and the support arm 2, and the balancing mechanism 13 includes a third air outlet pipe 131 fixedly provided at the upper end of the first air outlet pipe 10, and the wall of the third air outlet pipe 131 passes through the fuselage 1 and the support arm 2, and the end of the third air outlet pipe 131 extends to the middle of the blade 3. The tube wall of the third air outlet pipe 131 is provided with a second solenoid valve 132. The nitrogen inside the first air outlet pipe 10 enters the insides of the other three third air outlet pipes 131, and then is discharged vertically upward through the air outlets of the third air outlet pipes 131. At this time, the nitrogen discharged from the three positions acts on the air and simultaneously applies a downward thrust to the blade 3 and the support arm 2, so that the fuselage 1 is kept in a horizontal state as much as possible.

[0025] The trigger mechanism 14 is arranged on the inner wall of the box body 8, and the trigger mechanism 14 is used to trigger the inflation mechanism 9. The trigger mechanism 14 includes a shell 141 fixedly arranged on the inner wall of the box body 8, an electromagnetic telescopic rod 142 is fixedly arranged on the top inner wall of the shell 141, a touch plate 143 is fixedly arranged on the lower end of the electromagnetic telescopic rod 142, and a trigger switch 144 that can be arranged in contact with the touch plate 143 is fixedly arranged on the inner wall of the shell 141. When the current of the electromagnetic telescopic rod 142 decreases, the magnetic force intensity generated by itself becomes weaker, so the moving end of the electromagnetic telescopic rod 142 will produce a retraction action, so that the touch plate 143 moves toward the direction of the trigger switch 144. If the current is reduced to the minimum value, the touch plate 143 will contact the trigger switch 144 and complete the trigger action.

[0026] A photoresistor 15 is fixedly embedded in the top of the fuselage 1. A light intensity detection mechanism 16 is provided on the top of the trigger mechanism 14. The light intensity detection mechanism 16 includes a lamp bead 161 and a photoelectric switch 162 fixedly arranged on the top of the sodium azide container 91. The lamp bead 161 and the photoelectric switch 162 are located on both sides of the impact rod 93. The rod wall of the impact rod 93 is provided with a plurality of evenly distributed light holes 163. A pulse counter 164 is fixedly provided on the top of the sodium azide container 91. The light beam emitted by the lamp bead 161 passes through the light hole 163 and can be received by the photoelectric switch 162. After receiving the light beam once, the photoelectric switch 162 sends a pulse signal to the pulse counter 164, so that the pulse counter 164 generates a count.

[0027] The PLC controller 17 is fixedly arranged on the outer wall of the box body 8 , and the arc-shaped flexible strain sheet 6 , the inflation mechanism 9 , the first solenoid valve 12 , the balancing mechanism 13 , the trigger mechanism 14 , the photoresistor 15 and the light intensity detection mechanism 16 are all electrically connected to the PLC controller 17 .

[0028] The operating principle of the present invention is described as follows: the operator starts the rotation of the propeller blade 3 by operating the remote control, so that the fuselage 1 can fly up. When encountering a low-speed collision, the anti-collision rubber ring 5 collides with the obstacle at a low speed. The anti-collision rubber ring 5 will be squeezed and slightly deformed by the obstacle. Due to the elastic characteristics of the material of the anti-collision rubber ring 5 itself, it can play a good buffering role and reduce the impact of the impact force on the fuselage 1, thereby providing better protection for the fuselage 1. During the slight deformation of the anti-collision rubber ring 5, the arc-shaped flexible strain sheet 6 is also squeezed and slightly deformed. The arc-shaped flexible strain sheet 6 is slightly deformed, which increases the resistance of the arc-shaped flexible strain sheet 6 (the arc-shaped flexible strain sheet 6 is made of semiconductor material. When the semiconductor flexible strain sheet is deformed by external force, its internal lattice structure will be distorted. The conductivity of the semiconductor is closely related to the lattice structure. Under normal circumstances, the carriers move in a regular lattice. After the lattice is distorted, the movement trajectory and scattering probability of the carriers change, resulting in a decrease in their mobility, so the resistance increases). In the process of increasing the resistance of the arc-shaped flexible strain sheet 6, the connection to the same The current of the electromagnetic telescopic rod 142 in the loop is reduced (the arc-shaped flexible strain sheet 6 changes its own resistance due to deformation, causing the current signal strength output to the PLC controller 17 to change synchronously. The changed current signal is amplified by the amplifier circuit in proportion, and then passed to the electromagnetic telescopic rod 142 by the PLC controller 17, so that the current strength passing into the electromagnetic telescopic rod 142 also changes synchronously. When the deformation is greater, the resistance of the arc-shaped flexible strain sheet 6 is greater, and the current signal strength output to the PLC controller 17 is greater. When the current of the electromagnetic telescopic rod 142 decreases, according to the principle of electromagnetic induction, the magnetic force generated by itself becomes weaker, so the moving end of the electromagnetic telescopic rod 142 will retract, causing the touch plate 143 to move toward the direction of the trigger switch 144. However, since the resistance value of the arc-shaped flexible strain sheet 6 increases less, the retracted distance of the electromagnetic telescopic rod 142 is small, so that the touch plate 143 will not contact the trigger switch 144, so the inflation mechanism 9 will not be triggered to generate an action; When a sudden situation occurs, causing the anti-collision rubber ring 5 to violently collide with an obstacle, the anti-collision rubber ring 5 will be squeezed by the strong external force of the obstacle and produce a large deformation. The anti-collision rubber ring 5 can absorb a part of the impact force of the obstacle. At the same time, the arc-shaped flexible strain sheet 6 will also produce a large deformation, causing the resistance of the arc-shaped flexible strain sheet 6 to increase significantly, thereby enabling the electromagnetic telescopic rod 142 to produce a large retraction distance action until the touch plate 143 contacts the trigger switch 144, causing the trigger switch 144 to be triggered, and the trigger switch 144 then feeds back an electrical signal to the PLC controller 17, and the PLC control After receiving the signal, the device 17 instantly controls the maximum current to be passed to the electromagnetic block 95 and opens the first electromagnetic valve 12 corresponding to the position of the anti-collision rubber ring 5 that has been hit. When the electromagnetic block 95 is connected to the current, this will cause the electromagnetic block 95 to quickly form a high-intensity magnetic field. This strong magnetic field will generate a strong repulsive force between the permanent magnet block 94. With this strong repulsive force, the permanent magnet block 94 can be quickly bounced downward. The whole process is completed efficiently and quickly, thereby driving the lower end of the impact rod 93 to quickly impact the sodium azide layer 92 with the maximum travel distance, prompting the sodium azide layer 92 to react (the azide in the sodium azide The chemical bonds of nitrogen ions are unstable. When impacted, the mechanical energy causes the vibration energy of the chemical bonds to exceed their tolerance range, and the chemical bonds break, thereby initiating a reaction). A large amount of nitrogen will be rapidly generated, and a large amount of nitrogen will be rapidly discharged into the first air inlet pipe, and then discharged into the second air outlet pipe 11 corresponding to the opened first solenoid valve 12. Finally, a large amount of nitrogen will be rapidly discharged into the interior of the anti-collision airbag 7, so that the gas pressure inside the anti-collision airbag 7 will increase sharply and expand. The anti-collision airbag 7 will knock open the protective cover 21 when it expands rapidly (because a weakening line is set between the edges of the protective cover 21 and the airbag ejection outlet, this weakening line makes the protective cover 21 and the airbag The ejection outlet is not completely contacted and connected, but is fixedly connected by a number of connecting strips, so that the anti-collision airbag 7 can automatically push open the protective cover 21 after being inflated). After the anti-collision airbag 7 is completely moved out from the inside of the fixing ring 4, and the volume continues to increase, it can form a strong protective barrier to absorb the remaining impact force of the obstacle, thereby providing secondary protection for the blades 3, the support arm 2 and the fuselage 1, avoiding certain economic losses caused by damage to the drone. Once the anti-collision airbag 7 is ejected, the operator can remove the fixing ring 4 from the support arm 2, and replace it with a new fixing ring 4, the anti-collision rubber ring 5 and the anti-collision airbag 7 to ensure that the drone can continue to be used; When the UAV collides violently and the anti-collision airbag 7 is in the process of being opened, the PLC controller 17 will control the opening of several other second solenoid valves 132 away from the position where the first solenoid valve 12 is opened (the second solenoid valves 132 on the third air outlet pipes 131 at other positions on the side not in contact with the obstacle, there are four second solenoid valves 132, and each arm 2 and blade 3 is provided with a third air outlet pipe 131), so that the nitrogen inside the first air outlet pipe 10 can also enter the inside of the other three third air outlet pipes 131, and then be discharged vertically upward through the air outlet of the third air outlet pipe 131. At this time, the nitrogen discharged from the three positions acts on the air and simultaneously applies a downward thrust to the blade 3 and the arm 2, so that the fuselage 1 is kept in a horizontal state as much as possible (in the event of a collision, due to the effect of inertia, the side of the UAV away from the obstacle will tilt upward, and the nitrogen discharged upward at this time will provide a downward thrust to the side of the fuselage 1 away from the obstacle), reducing the probability of damage to the UAV; During the normal flight of the drone, sunlight will shine on the surface of the fuselage 1 and the anti-collision rubber ring 5, and will also shine on the surface of the photoresistor 15. The light will change the resistance of the photoresistor 15. The stronger the light, the smaller the resistance of the photoresistor 15 (when light shines on the photoresistor 15, the energy of the photon is absorbed by the electrons in the material. If the energy of the photon is greater than or equal to the bandgap width, the electrons in the valence band will obtain enough energy and jump to the conduction band, thereby forming electron-hole pairs. These electrons and holes can participate in conduction, so that the conductivity of the material is enhanced and the resistance is reduced). As the light intensity changes, the photoresistor The resistance value of the resistor 15 will also change. At this time, the current of the electromagnetic block 95 connected to the same circuit as the photoresistor 15 will also change, so that the electromagnetic block 95 pushes the permanent magnet block 94 with repulsive forces of different sizes. If the light intensity increases, the permanent magnet block 94 is pushed down by a greater distance, so that the number of multiple light holes 163 on the impact rod 93 passing between the lamp bead 161 and the photoelectric switch 162 increases. At this time, the more times the photoelectric switch 162 receives the light beam emitted by the lamp bead 161, the larger the count of the pulse counter 164. Each time the photoelectric switch 162 receives a light beam, it will send a pulse signal to the pulse counter 164. The pulse counter 164 generates a count (the light receiver inside the photoelectric switch 162 is made of semiconductor material. When receiving light, the electrons in the material absorb the photon energy, generate electron-hole pairs, change the conductivity, and generate an electrical signal). The pulse counter 164 then feeds back an electrical signal to the PLC controller 17, and a count result is added to the display of the PLC controller 17. If the light intensity is smaller, the distance that the permanent magnet block 94 is pushed down is smaller, so that the number of multiple light holes 163 on the impact rod 93 passing between the lamp bead 161 and the photoelectric switch 162 is smaller, thereby making the count of the pulse counter 164 smaller, and the operation is The author can estimate the aging degree of the anti-collision rubber ring 5 by observing the counting results on the display of the PLC controller 17. If the count reaches a certain value, the anti-collision rubber ring 5 needs to be disassembled and replaced to avoid the aged anti-collision rubber ring 5 from being continued to be used, so that the flight of the drone cannot be well protected (during the entire aging degree detection process, as the resistance value of the photoresistor 15 changes, the current value leading to the electromagnetic block 95 is much smaller than the current value leading to the electromagnetic block 95 after a violent collision. Therefore, after the impact rod 93 moves down the maximum distance in this process, the lower end of the impact rod 93 will not contact the sodium azide layer 92).

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A collision-avoiding drone, comprising a fuselage (1), an arm (2) and a propeller blade (3), characterized in that: Also includes: A fixing ring (4) is fixedly arranged at the end of the support arm (2), and the fixing ring (4) is located outside the propeller blade (3), and an anti-collision rubber ring (5) is fixedly arranged on the outer wall of the fixing ring (4); an arc-shaped flexible strain sheet (6) is detachably arranged inside the anti-collision rubber ring (5); an anti-collision airbag (7) is arranged inside the fixing ring (4); a box (8) is fixedly arranged at the bottom of the fuselage (1), and an inflation mechanism (9) connected to the anti-collision airbag (7) is arranged inside the box (8), and a first air outlet pipe (10) passing through the fuselage (1) and the support arm (2) is arranged at the top of the inflation mechanism (9), and a second air outlet pipe (11) connected to the anti-collision airbag (7) is fixedly arranged at the upper end of the first air outlet pipe (10), and a pipe of the second air outlet pipe (11) is fixedly arranged at the upper end of the first air outlet pipe (10). A first electromagnetic valve (12) is arranged on the wall; a balancing mechanism (13) is arranged between the upper end of the first air outlet pipe (10) and the support arm (2); a trigger mechanism (14) is arranged on the inner wall of the box body (8), and the trigger mechanism (14) is used to trigger the inflation mechanism (9); a photoresistor (15) is fixedly embedded in the top of the fuselage (1), and a light intensity detection mechanism (16) is arranged on the top of the trigger mechanism (14); a PLC controller (17) is fixedly arranged on the outer wall of the box body (8), and the arc-shaped flexible strain sheet (6), the inflation mechanism (9), the first electromagnetic valve (12), the balancing mechanism (13), the trigger mechanism (14), the photoresistor (15) and the light intensity detection mechanism (16) are all electrically connected to the PLC controller (17).

2. The anti-collision drone according to claim 1, characterized in that: The inflation mechanism (9) comprises a sodium azide container (91) fixedly arranged inside the box (8), wherein a sodium azide layer (92) is stored inside the sodium azide container (91), one end of the first air outlet pipe (10) is fixedly connected to the top of the sodium azide container (91), an impact rod (93) is slidably provided on the top of the sodium azide container (91), a permanent magnet block (94) is fixedly provided on the upper end of the impact rod (93), an electromagnetic block (95) is fixedly provided on the top inner wall of the box (8) at a position corresponding to the position of the permanent magnet block (94), slide plates (96) are fixedly provided on both sides of the permanent magnet block (94), a slide rod (97) slidably connected to the two slide plates (96) is fixedly provided on the top inner wall of the box (8), and a spring (98) fixedly connected to the slide plate (96) and the box (8) is provided on the rod wall of the slide rod (97).

3. The anti-collision drone according to claim 2, characterized in that: An anti-sway elastic rubber sheet (99) is fixedly provided inside the sodium azide container (91) and on the upper surface of the sodium azide layer (92), and silica gel particles (910) are filled between the inner wall of the sodium azide container (91) and the sodium azide layer (92).

4. The anti-collision drone according to claim 1, characterized in that: The balancing mechanism (13) comprises a third air outlet pipe (131) fixedly arranged at the upper end of the first air outlet pipe (10), the pipe wall of the third air outlet pipe (131) passes through the interior of the fuselage (1) and the support arm (2), and the end of the third air outlet pipe (131) extends to the middle of the blade (3), and the pipe wall of the third air outlet pipe (131) is provided with a second solenoid valve (132).

5. The anti-collision UAV according to claim 1, characterized in that: The trigger mechanism (14) comprises a shell (141) fixedly arranged on the inner wall of the box body (8), an electromagnetic telescopic rod (142) fixedly arranged on the top inner wall of the shell (141), a touch plate (143) fixedly arranged on the lower end of the electromagnetic telescopic rod (142), and a trigger switch (144) that can be arranged in contact with the touch plate (143) fixedly arranged on the inner side wall of the shell (141).

6. The anti-collision UAV according to claim 2, characterized in that: The light intensity detection mechanism (16) comprises a lamp bead (161) and a photoelectric switch (162) fixedly arranged on the top of the sodium azide container (91), and the lamp bead (161) and the photoelectric switch (162) are located on both sides of the impact rod (93), a rod wall of the impact rod (93) is provided with a plurality of evenly distributed light-through holes (163), and a pulse counter (164) is fixedly arranged on the top of the sodium azide container (91).

7. The anti-collision UAV according to claim 1, characterized in that: The bottom of the anti-collision rubber ring (5) is provided with an arc-shaped installation groove (18), the arc-shaped flexible strain sheet (6) is inserted and arranged inside the arc-shaped installation groove (18), and the bottom of the anti-collision rubber ring (5) is provided with a fixing sheet (19) for limiting the position of the arc-shaped flexible strain sheet (6) by gluing.

8. The anti-collision UAV according to claim 1, characterized in that: An arc-shaped storage cavity (20) is provided inside the fixing ring (4), the anti-collision airbag (7) is arranged inside the arc-shaped storage cavity (20), an airbag ejection outlet is provided on one side of the arc-shaped storage cavity (20), and a protective cover (21) with a weakening line is provided inside the airbag ejection outlet.

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