An active obstacle avoidance device based on drone

Abstract

The present invention discloses an active obstacle avoidance device based on a drone, which belongs to the technical field of surveying and mapping drones. The device comprises a drone body, wherein the bottom of the drone body is connected to a cabin, the top of the cabin is connected to a lifting assembly, an optical camera is installed at the bottom of the lifting assembly, and both side end faces of the cabin are provided with a plurality of linkage notches, and support assemblies are slidably connected in the two groups of linkage notches. The lifting assembly is connected to the bottom of the drone body through two support assemblies. In the present invention, the reciprocating swinging and rotation of the disturbance nozzle can generate complex airflow movement, forming an irregular disturbance airflow, and this airflow can break the flight trajectory of mosquitoes and interfere with their behavior of approaching the optical camera lens. Through the movement of the disturbance nozzle, the airflow intensity and range are enhanced, forming an airflow barrier, effectively preventing mosquitoes from approaching the lens, and realizing active obstacle avoidance of the optical lens of the surveying and mapping drone body.

Description

Technical Field

[0001] The present invention belongs to the technical field of surveying and mapping UAVs, and in particular relates to an active obstacle avoidance device based on a UAV. Background Art

[0002] Surveying and mapping is based on computer technology, optoelectronic technology, network communication technology, space science, and information science, with global navigation satellite positioning system, remote sensing, and geographic information system as its technical core. It uses measurement methods to obtain graphics and location information reflecting the current status of the ground from the existing characteristic points and boundaries on the ground, which is used for the planning, design, and administrative management of water conservancy project construction. With the continuous development of society, the demand for surveying and mapping is increasing. Since the surveying and mapping process needs to pass through various terrains, some narrow terrains and special terrains are inaccessible to people and ordinary vehicles for detection, so surveying and mapping is very difficult. The emergence of surveying and mapping drones has solved the above problems very well. Unmanned aerial vehicles are referred to as drones, abbreviated as UAVs in English. They are unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or are operated completely or intermittently autonomously by on-board computers.

[0003] The prior art discloses some invention patents in the field of surveying and mapping UAV technology, among which the invention patent with publication number CN113702988A discloses a surveying and mapping UAV ranging obstacle avoidance device, which includes a fuselage body and a control module, which is installed on the inner middle side of the fuselage body, a sensing and adjusting component, which is arranged on the fuselage body below the control module, and the sensing and adjusting component senses flight obstacles through a built-in ultrasonic generator, a center of gravity adjustment obstacle avoidance component, which is arranged on the fuselage body below the control module and is at the same horizontal height as the sensing and adjusting component, and an airflow deflection component, which is arranged on the center of gravity adjustment component. On the side of the obstacle avoidance component away from the sensing and adjustment component, the airflow deflection component assists in changing the flight trajectory of the surveying and mapping UAV. This technical solution still has some shortcomings in its application. The existing autonomous obstacle avoidance surveying and mapping UAV detects the flight direction of the surveying and mapping UAV by installing an optical camera on the UAV, but fails to take into account the interference of mosquitoes on the optical camera. Mosquitoes flying around the optical camera lens can easily interfere with the optical camera image. If the lens of the optical camera collides with a mosquito during rapid flight, the mosquito will die and adhere to the lens, which will seriously affect the image quality and cause certain damage to the lens.

[0004] Based on this, the present invention designs an active obstacle avoidance device based on a drone to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem that the existing autonomous obstacle avoidance surveying and mapping drone detects the flight direction of the surveying and mapping drone by installing an optical camera on the drone, but fails to take into account the interference of mosquitoes on the optical camera. Mosquitoes flying near the optical camera lens can easily interfere with the optical camera image. If the optical camera lens collides with a mosquito during rapid flight, the mosquito will die and adhere to the lens, which will seriously affect the image quality and cause certain damage to the lens. Therefore, an active obstacle avoidance device based on a drone is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An active obstacle avoidance device for a drone includes a drone body, a cabin connected to the bottom of the drone body, a lifting assembly connected to the top of the cabin, an optical camera mounted on the bottom of the lifting assembly, and a plurality of linkage notches formed on both side end surfaces of the cabin. Support assemblies are slidably connected in two sets of linkage notches. The lifting assembly is connected to the bottom of the drone body via two support assemblies. When the drone body lands, it presses down on the support assembly to push the optical camera into the cabin.

[0008] The bottom of the optical camera is connected to a power generating assembly, the side end surface of the optical camera is connected to a fixed plate corresponding to the power generating assembly, the side end surface of the fixed plate is rotatably connected to a disturbance assembly, the end of the disturbance assembly is connected to the power generating assembly, and a transmission assembly is provided between the disturbance assembly and the power generating assembly.

[0009] As a further description of the above technical solution:

[0010] The lifting assembly includes a fixed seat connected to the top of the cabin, a plurality of slide grooves are provided at the bottom of the fixed seat, a lifting seat located in the cabin hatch is provided below the fixed seat, the optical camera is installed at the bottom of the lifting seat, and two support members are connected to the corresponding multiple slide grooves on the top of the lifting seat.

[0011] As a further description of the above technical solution:

[0012] The support member includes a slider slidably connected to the slide groove, the bottom of the slider is connected to the first adapter frame, the inner side of the first adapter frame is rotatably connected to the support rod, the other end of the support rod is rotatably connected to the second adapter frame, the second adapter frame is connected to the top of the lifting seat, the side end surface of the slider is provided with a sliding hole, the sliding hole is sleeved with a sliding rod, the end of the sliding rod is connected to the inner wall of the slide groove, the sliding rod is sleeved with a support spring, and the slider is elastically supported and connected to the inner wall of the slide groove through the support spring.

[0013] As a further description of the above technical solution:

[0014] The support assembly includes a plurality of directional shafts connected to the bottom of the drone body, the other ends of the plurality of directional shafts are sleeved with the same support leg, and the support leg is sleeved with a foot pad;

[0015] The support leg is connected to a plurality of linkage rods which are respectively slidably connected to a plurality of linkage notches. The support leg is connected to a surface close to the lifting seat through a plurality of linkage shafts.

[0016] As a further description of the above technical solution:

[0017] The power generating assembly includes a power generating box connected to the bottom of the optical camera, the top of the power generating box is rotatably connected to a power shaft, the power shaft is fitted with an impeller, the outer wall of the power generating box is provided with a plurality of air inlets along the axial direction corresponding to the impeller, the air inlets are inclined holes, the slope of the air inlets is equal to the slope of the impeller blades, and a box cover is clamped in the box opening at the bottom of the power generating box.

[0018] As a further description of the above technical solution:

[0019] The disturbance component includes a movable pendulum rotatably connected to the side end surface of the fixed plate, the movable pendulum is clamped with a disturbance piece, the other end of the disturbance piece is connected to an air pipe, and the other end of the air pipe is connected to the outer wall of the power generating box.

[0020] As a further description of the above technical solution:

[0021] The disturbance member comprises a disturbance tube clamped on the top of the movable pendulum, the top of the disturbance tube is rotatably connected to a disturbance nozzle, and a fan blade is clamped in the disturbance nozzle.

[0022] As a further description of the above technical solution:

[0023] The transmission assembly includes a second bevel gear mounted on the power shaft, the second bevel gear is meshed with the first bevel gear, the first bevel gear is mounted inside the second transmission shaft, and the second transmission shaft is mounted on the transmission seat connected to the bottom of the optical camera;

[0024] The side end face of the fixed plate is rotatably connected to the third transmission shaft, the end of the third transmission shaft is connected to a wheel disc, the other side of the wheel disc is connected to an eccentric shaft at a position deviated from the axis, the side end face of the movable pendulum is provided with a swing hole corresponding to the eccentric shaft, the eccentric shaft is slidably connected to the swing hole, and the end of the third transmission shaft close to the second transmission shaft is connected to a transmission member.

[0025] As a further description of the above technical solution:

[0026] The transmission member includes a first universal joint connected to the other end of the third transmission shaft, the first universal joint is rotatably connected to the inner side of the first cross shaft, the first cross shaft is rotatably connected to the second universal shaft, the second universal shaft is connected to the first transmission shaft, the other end of the first transmission shaft is connected to the third universal shaft, the third universal shaft is rotatably connected to the inner side of the second cross shaft, the second cross shaft is rotatably connected to the fourth universal shaft, and the fourth universal shaft is connected to the other end of the second transmission shaft.

[0027] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0028] 1. In the present invention, the reciprocating swing and rotation of the disturbance nozzle can generate complex airflow motion, forming an irregular disturbed airflow. This airflow can disrupt the flight trajectory of mosquitoes and interfere with their approach to the optical camera lens. Through the movement of the disturbance nozzle, the airflow intensity and range are enhanced, forming an airflow barrier, effectively preventing mosquitoes from approaching the lens, and realizing active obstacle avoidance for the optical lens of the mapping drone body.

[0029] 2. In the present invention, during the landing process of the drone body, there may be unknown obstacles in the ground environment. The design of storing the optical camera in the cabin can ensure that the optical camera is not disturbed in complex environments. By storing the optical camera in the cabin through a mechanical structure, direct contact between the optical camera and ground obstacles can be completely avoided, significantly reducing the risk of damage. After being stored in the cabin, the optical camera lens can be protected from various environmental factors such as sand, dust and water vapor, maintaining the stability of optical performance and adapting to complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of an active obstacle avoidance device based on a drone proposed by the present invention;

[0031] Figure 2 This is a schematic diagram of the disassembled structure of an active obstacle avoidance device based on a drone proposed in the present invention;

[0032] Figure 3 An active obstacle avoidance device based on a drone proposed by the present invention Figure 2 A schematic diagram of the structure enlarged in the middle;

[0033] Figure 4 This is a schematic structural diagram of an active obstacle avoidance device based on a drone proposed by the present invention after being disassembled from another perspective;

[0034] Figure 5 This is a schematic diagram of the structure of the power generation component of the active obstacle avoidance device based on a drone proposed by the present invention;

[0035] Figure 6This is a schematic diagram of the structure of the disrupting component of an active obstacle avoidance device based on a UAV proposed by the present invention;

[0036] Figure 7 This is a structural schematic diagram of the combination of a disturbance component and a transmission component in an active obstacle avoidance device based on a drone proposed by the present invention.

[0037] Legend:

[0038] 1. UAV body; 2. Cabin; 3. Lifting assembly; 301. Fixing seat; 302. Slide; 303. Slide rod; 304. Support member; 3041. Slider; 3042. Support spring; 3043. Support rod; 3044. Second adapter; 305. Lifting seat; 4. Optical camera; 5. Support assembly; 501. Orienting axis; 502. Support leg; 503. Foot pad; 504. Linkage rod; 6. Power generation assembly; 601. Power generation box; 602. Air inlet; 603. Impeller; 604. Box cover; 605. Power shaft; 7. Perturbation assembly; 701. Movable pendulum; 702 , disturbance piece; 7021, disturbance tube; 7022, disturbance nozzle; 7023, fan blade; 703, air pipe; 8, swing hole; 9, transmission assembly; 901, wheel; 902, eccentric shaft; 903, transmission piece; 9031, first universal joint; 9032, first cross shaft; 9033, second universal joint; 9034, first transmission shaft; 9035, third universal joint; 9036, second cross shaft; 9037, fourth universal joint; 904, second transmission shaft; 905, first bevel gear; 906, second bevel gear; 907, third transmission shaft; 10, fixing plate; 11, linkage notch. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0040] Please see the attached Figure 1 -Attached Figure 7The present invention provides a technical solution: an active obstacle avoidance device based on a drone, comprising a drone body 1, wherein a cabin 2 is connected to the bottom of the drone body 1, a lifting assembly 3 is connected to the top of the cabin 2, an optical camera 4 is installed at the bottom of the lifting assembly 3, a plurality of linkage notches 11 are opened on both side end surfaces of the cabin 2, and support assemblies 5 are slidably connected in two groups of linkage notches 11, the lifting assembly 3 is connected to the bottom of the drone body 1 through two support assemblies 5, and the drone body 1 falls to the ground, pressing down the support assembly 5 to push the optical camera 4 into the cabin 2;

[0041] The bottom of the optical camera 4 is connected to a power generating assembly 6, and the side end face of the optical camera 4 is connected to a fixed plate 10 corresponding to the power generating assembly 6. The side end face of the fixed plate 10 is rotatably connected to a disturbance assembly 7. The end of the disturbance assembly 7 is connected to the power generating assembly 6, and a transmission assembly 9 is arranged between the disturbance assembly 7 and the power generating assembly 6.

[0042] Specifically, the lifting assembly 3 includes a fixed seat 301 connected to the top of the cabin 2, a plurality of slide grooves 302 are provided at the bottom of the fixed seat 301, a lifting seat 305 located in the hatch of the cabin 2 is provided below the fixed seat 301, the optical camera 4 is installed at the bottom of the lifting seat 305, and the top of the lifting seat 305 is connected to two support members 304 corresponding to the plurality of slide grooves 302. The support member 304 includes a slider 3041 slidably connected to the slide groove 302, the bottom of the slider 3041 is connected to a first adapter, the inner side of the first adapter is rotatably connected to a support rod 3043, and the other end of the support rod 3043 is rotatably connected to the A second adapter frame 3044 is connected, and the second adapter frame 3044 is connected to the top of the lifting seat 305. A sliding hole is opened on the side end surface of the slider 3041, and a sliding rod 303 is sleeved in the sliding hole. The end of the sliding rod 303 is connected to the inner wall of the slide groove 302. A support spring 3042 is sleeved on the sliding rod 303. The slider 3041 is elastically supported and connected to the inner wall of the slide groove 302 through the support spring 3042. The support assembly 5 includes multiple directional shafts 501 connected to the bottom of the drone body 1. The other ends of the multiple directional shafts 501 are sleeved with the same support leg 502, and the support leg 502 is sleeved with a foot pad 503;

[0043] The support leg 502 is connected to a plurality of linkage rods 504 that are slidably connected to the plurality of linkage notches 11 . The support leg 502 is connected to a surface close to the lifting seat 305 via a plurality of linkage shafts.

[0044] The specific implementation method is as follows: since the support legs 502 are not subjected to the gravity from the drone body 1 during the flight of the drone body 1, under the joint action of the optical camera 4 and the elastic force of multiple support springs 3042, the drone body 1 gradually leaves the ground during the flight. The optical camera 4 uses the lifting seat 305 to simultaneously generate a downward pulling force on multiple second adapter frames 3044. At the same time, the support spring 3042 begins to perform elastic reset movement, and the support spring 3042 pushes the slider 3041 to slide in the slide groove 302. The two sliders 3041 located in the same slide groove 302 move toward each other. Driven by the two sliders 3041, the top ends of the two cross-arranged support rods 3043 respectively rotate on the inner sides of the two first adapter frames, and the other ends of the two support rods 3043 respectively rotate on the inner sides of the two second adapter frames. The inner side of the bracket 3044 rotates, which will push the lifting seat 305 down to the cabin 2 opening, and the optical camera 4 is moved out of the cabin 2. The fully unfolded optical camera 4 is driven by the drone body 1 to fly for surveying and mapping work. Since the lifting seat 305 will also drive the two support legs 502 to slide downward on the two sets of directional axes 501 respectively through the two sets of linkage rods 504 during the downward process, when the drone body completes its work and falls, the support legs 502 come into contact with the ground through the foot pads 503. The drone body will press down the two sets of support rods 3043 and retract them into the two support legs 502 respectively, and the support legs 502 will drive the lifting seat 305 upward into the cabin 2 through the two sets of support rods 3043 until the optical camera 4 and the power generating box 601 at its bottom are completely immersed in the cabin 2.

[0045] Specifically, the power generating assembly 6 includes a power generating box 601 connected to the bottom of the optical camera 4. The top of the power generating box 601 is rotatably connected to a power shaft 605. The power shaft 605 is provided with an impeller 603. The outer wall of the power generating box 601 is provided with multiple air inlets 602 along the axial direction corresponding to the impeller 603. The air inlet 602 is an inclined hole. The slope of the air inlet 602 is equal to the slope of the impeller 603 blade. A box cover 604 is clamped in the box opening at the bottom of the power generating box 601.

[0046] The specific implementation method is as follows: during the flight surveying process, the drone body 1 generates airflow, which enters the power generating box 601 through the air inlet 602. Driven by the airflow, the impeller 603 drives the power shaft 605 to rotate rapidly, and the power shaft 605 drives the second power shaft 605 through the second bevel gear 906 and the first bevel gear 905.

[0047] Specifically, the disturbance component 7 includes a movable pendulum 701 rotatably connected to the side end surface of the fixed plate 10, a disturbance member 702 is clamped on the movable pendulum 701, the other end of the disturbance member 702 is connected to the air supply pipe 703, the other end of the air supply pipe 703 is connected to the outer wall of the power generating box 601, the disturbance member 702 includes a disturbance tube 7021 clamped on the top of the movable pendulum 701, the top of the disturbance tube 7021 is rotatably connected to the disturbance nozzle 7022, and the fan blade 7023 is clamped in the disturbance nozzle 7022. The transmission assembly 9 includes a second bevel gear 906 sleeved on the power shaft 605, the second bevel gear 906 is meshed with the first bevel gear 905, the first bevel gear 905 is sleeved with a second transmission shaft 904, and the second transmission shaft 904 is sleeved with a transmission seat connected to the bottom of the optical camera 4;

[0048] The side end surface of the fixed plate 10 is rotatably connected to the third transmission shaft 907, the end of the third transmission shaft 907 is connected to the wheel disc 901, and the other side of the wheel disc 901 is connected to the eccentric shaft 902 at a position deviating from the axis. The side end surface of the movable pendulum 701 is provided with a swing hole 8 corresponding to the eccentric shaft 902, and the eccentric shaft 902 is slidably connected to the swing hole 8. The end of the third transmission shaft 907 close to the second transmission shaft 904 is connected to a transmission member 903, and the transmission member 903 includes a third transmission shaft 907 connected to the other end. A universal joint 9031, the inner side of the first universal joint 9031 is rotatably connected to the first cross shaft 9032, the first cross shaft 9032 is rotatably connected to the second universal joint, the second universal joint is connected to the first transmission shaft 9034, the other end of the first transmission shaft 9034 is connected to the third universal joint, the inner side of the third universal joint is rotatably connected to the second cross shaft 9036, the second cross shaft 9036 is rotatably connected to the fourth universal joint, and the fourth universal joint is connected to the other end of the second transmission shaft 904.

[0049] The specific implementation method is as follows: the power shaft 605 drives the second power shaft 605 through the second bevel gear 906 and the first bevel gear 905, the second power shaft 605 drives the third universal joint 9035 to rotate through the fifth universal joint using the second cross shaft 9036, the third universal joint drives the third transmission shaft 907 to rotate through the first transmission shaft 9034 using the second universal joint 9033, the first cross shaft 9032 and the first universal joint 9031, and the torsional action of the third transmission shaft 907 drives the wheel 901 to rotate. 1, the eccentric shaft 902 performs a circular motion, and the eccentric shaft 902 also performs a corresponding sliding action in the swing hole 8 during the circular motion, thereby driving the movable pendulum 701 to perform a reciprocating swinging motion around its bottom end. The airflow flowing into the power generating box 601 through the air inlet 602 is input into the disturbance tube 7021 through the air supply pipe 703, and the airflow flows to the disturbance nozzle 7022 through the disturbance tube 7021. The airflow is ejected through the nozzle, and the airflow in the disturbance nozzle 7022 drives the fan blade 7023 to rotate during the flow.

[0050] Working principle, when using:

[0051] During the flight surveying process, the drone body 1 generates airflow, which enters the power generating box 601 through the air inlet 602. Under the impetus of the airflow, the impeller 603 drives the power shaft 605 to rotate rapidly. The power shaft 605 drives the second power shaft 605 through the second bevel gear 906 and the first bevel gear 905. The second power shaft 605 drives the third universal joint 9035 to rotate through the second cross shaft 9036 via the fifth universal joint. The third universal joint drives the third transmission shaft 907 to twist through the first transmission shaft 9034 using the second universal joint 9033, the first cross shaft 9032 and the first universal joint 9031. The twisting action of the third transmission shaft 907 drives the wheel disc 901 to rotate. Driven by the wheel disc 901, the eccentric shaft 902 makes a circular motion, and the eccentric shaft 902 also makes a corresponding sliding motion in the swing hole 8 during the circular motion, thereby driving the movable pendulum 701 to make a reciprocating swing motion around its bottom end. The airflow flowing into the power generating box 601 through the air inlet 602 is input into the disturbance tube 7021 through the air supply pipe 703. The airflow flows through the disturbance tube 7021 to the disturbance nozzle 7022, and the airflow is ejected through the nozzle. The airflow in the disturbance nozzle 7022 drives the fan blades 7023 to rotate during the flow, and the disturbance nozzle 7022 is driven by the fan blades 7023 to move synchronously. The reciprocating swing and rotation are combined. The reciprocating swing and rotation of the disturbance nozzle 7022 can generate complex airflow motion, forming an irregular disturbance airflow.

[0052] Since the support legs 502 are not subjected to the gravity of the drone body 1 during the flight, under the combined action of the optical camera 4 and the elastic force of multiple support springs 3042, the drone body 1 gradually leaves the ground during the flight. The optical camera 4 uses the lifting seat 305 to simultaneously generate a downward pulling force on multiple second adapter frames 3044. At the same time, the support springs 3042 begin to perform elastic reset movement, and the support springs 3042 push the slider 3041 to slide in the slide groove 302. The two sliders 3041 located in the same slide groove 302 move toward each other. Driven by the two sliders 3041, the top ends of the two cross-arranged support rods 3043 rotate respectively on the inner sides of the two first adapter frames, and the other ends of the two support rods 3043 rotate respectively on the inner sides of the two second adapter frames 3044, which will push the lifting seat 305 to slide down to the aircraft Cabin 2, the optical camera 4 is moved out of the cabin 2. After being fully unfolded, the optical camera 4 is driven by the drone body 1 to fly for surveying and mapping work. Since the lifting seat 305 will also drive the two support legs 502 to slide downward on the two sets of directional axes 501 respectively through the two sets of linkage rods 504 during the descent process, when the extensionless body completes its work and falls, the support legs 502 come into contact with the ground through the foot pads 503. The extensionless body will press down the two sets of support rods 3043 and retract them into the two support legs 502 respectively, and the support legs 502 will drive the lifting seat 305 to move upward into the cabin 2 through the two sets of support rods 3043 until the optical camera 4 and the power generating box 601 at its bottom are completely immersed in the cabin 2. During the landing process, there may be unknown obstacles in the ground environment. The design of storing it in the cabin 2 can ensure that the optical camera 4 is not disturbed in a complex environment.

[0053] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An active obstacle avoidance device based on a drone, comprising a drone body (1), wherein the bottom of the drone body (1) is connected to a cabin (2), and is characterized in that: The top of the cabin (2) is connected to a lifting assembly (3), and an optical camera (4) is installed at the bottom of the lifting assembly (3). The end faces of both sides of the cabin (2) are provided with a plurality of linkage notches (11), and support assemblies (5) are slidably connected in the two groups of linkage notches (11). The lifting assembly (3) is connected to the bottom of the fuselage of the drone body (1) through the two support assemblies (5). When the drone body (1) falls to the ground, the support assembly (5) is pressed down to push the optical camera (4) into the cabin (2); The bottom of the optical camera (4) is connected to a power generating assembly (6); a fixed plate (10) is connected to the side end surface of the optical camera (4) corresponding to the power generating assembly (6); the side end surface of the fixed plate (10) is rotatably connected to a disturbance assembly (7); the end of the disturbance assembly (7) is connected to the power generating assembly (6); and a transmission assembly (9) is provided between the disturbance assembly (7) and the power generating assembly (6); The transmission assembly (9) comprises a second bevel gear (906) mounted on a power shaft (605), the second bevel gear (906) being meshed with a first bevel gear (905), a second transmission shaft (904) being mounted inside the first bevel gear (905), and a transmission seat connected to the bottom of the optical camera (4) being mounted on the second transmission shaft (904).

2. The active obstacle avoidance device based on a UAV according to claim 1, characterized in that: The lifting assembly (3) includes a fixed seat (301) connected to the top of the cabin (2), a plurality of slide grooves (302) are provided at the bottom of the fixed seat (301), a lifting seat (305) is provided below the fixed seat (301) and is located in the hatch of the cabin (2), the optical camera (4) is installed at the bottom of the lifting seat (305), and two support members (304) are connected to the top of the lifting seat (305) corresponding to the plurality of slide grooves (302).

3. The active obstacle avoidance device based on a UAV according to claim 2, characterized in that: The support member (304) includes a slider (3041) slidably connected to the slide groove (302), the bottom of the slider (3041) is connected to a first adapter frame, the inner side of the first adapter frame is rotatably connected to a support rod (3043), the other end of the support rod (3043) is rotatably connected to a second adapter frame (3044), the second adapter frame (3044) is connected to the top of the lifting seat (305), the side end surface of the slider (3041) is provided with a sliding hole, the sliding rod (303) is sleeved in the sliding hole, the end of the sliding rod (303) is connected to the inner wall of the slide groove (302), the sliding rod (303) is sleeved with a support spring (3042), and the slider (3041) is elastically supported and connected to the inner wall of the slide groove (302) through the support spring (3042).

4. The active obstacle avoidance device based on a UAV according to claim 1, characterized in that: The support assembly (5) comprises a plurality of directional shafts (501) connected to the bottom of the fuselage of the drone body (1); the other ends of the plurality of directional shafts (501) are sleeved with a same support leg (502); and the support leg (502) is sleeved with a foot pad (503); The support leg (502) is connected to a plurality of linkage rods (504) which are respectively slidably connected to a plurality of linkage notches (11). The support leg (502) is connected to a side close to the lifting seat (305) through a plurality of linkage shafts.

5. The active obstacle avoidance device based on a UAV according to claim 1, characterized in that: The power generating assembly (6) includes a power generating box (601) connected to the bottom of the optical camera (4), the top of the power generating box (601) is rotatably connected to a power shaft (605), the power shaft (605) is provided with an impeller (603), the outer wall of the power generating box (601) is provided with a plurality of air inlets (602) along the axial direction corresponding to the impeller (603), the air inlets (602) are inclined holes, the slope of the air inlets (602) is equal to the slope of the impeller (603) wheel blade, and a box cover (604) is clamped in the box opening at the bottom of the power generating box (601).

6. The active obstacle avoidance device based on a UAV according to claim 1, characterized in that: The disturbance component (7) includes a movable pendulum (701) rotatably connected to the side end surface of the fixed plate (10), a disturbance member (702) is clamped on the movable pendulum (701), the other end of the disturbance member (702) is connected to an air supply pipe (703), and the other end of the air supply pipe (703) is connected to the outer wall of the power generating box (601).

7. The active obstacle avoidance device based on a UAV according to claim 6, characterized in that: The disturbance member (702) comprises a disturbance tube (7021) clamped on the top of the movable pendulum (701); the top of the disturbance tube (7021) is rotatably connected to a disturbance nozzle (7022); and a fan blade (7023) is clamped inside the disturbance nozzle (7022).

8. The active obstacle avoidance device based on a UAV according to claim 7, characterized in that: The side end face of the fixed plate (10) is rotatably connected to a third transmission shaft (907), the end of the third transmission shaft (907) is connected to a wheel disc (901), and the other side of the wheel disc (901) is connected to an eccentric shaft (902) at a position deviated from the axis. The side end face of the movable pendulum (701) is provided with a swing hole (8) corresponding to the eccentric shaft (902), and the eccentric shaft (902) is slidably connected to the swing hole (8). The end of the third transmission shaft (907) close to the second transmission shaft (904) is connected to a transmission member (903).

9. The active obstacle avoidance device based on a UAV according to claim 8, characterized in that: The transmission member (903) includes a first universal joint (9031) connected to the other end of the third transmission shaft (907), the first universal joint (9031) is rotatably connected to the inner side of the first cross shaft (9032), the first cross shaft (9032) is rotatably connected to the second universal shaft, the second universal shaft is connected to the first transmission shaft (9034), the other end of the first transmission shaft (9034) is connected to the third universal shaft, the inner side of the third universal shaft is rotatably connected to the second cross shaft (9036), the second cross shaft (9036) is rotatably connected to the fourth universal shaft, and the fourth universal shaft is connected to the other end of the second transmission shaft (904).

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