Unmanned aerial vehicle for infrared identification of obstacle points outside wings

Abstract

The invention discloses an unmanned aerial vehicle for infrared recognition of obstacle points outside wings, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle for infrared recognition of obstacle points outside wings comprises a shell, four propeller blades are arranged around the outer portion of the shell, and connecting strips fixed through bolts are transversely arranged at the lower ends of the four propeller blades. According to the anti-collision unmanned aerial vehicle, the problem that in the flying process of an existing anti-collision unmanned aerial vehicle in an open position, when propeller blades do not need to be protected by an anti-collision frame, the flight speed and the flight sensitivity of the unmanned aerial vehicle can be affected by the anti-collision frame is solved; the first transmission rod and the second transmission rod can be driven to transversely slide from the lower end of the shell through rotation of the threaded rod and limitation of the connecting strip, and after transversely sliding and unfolding, the outer portions of the propeller blades conveyed by the shell can be wrapped and protected; the first transmission rod and the second transmission rod can be stored at the lower end of the shell through transmission of the threaded rod.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), in particular to an UAV capable of infrared recognition of obstacles outside wings. Background Art

[0002] A drone with infrared recognition of external obstacle points is an aircraft that integrates advanced infrared sensing technology. It can use infrared sensors to detect obstacles in the surrounding environment, especially at night or in low light conditions. It can find potential external obstacle points by identifying the infrared radiation emitted by objects. During flight, this type of drone can analyze the data collected by infrared sensors in real time, intelligently avoid obstacles, and ensure safe flight.

[0003] Chinese patent publication number CN215399312U discloses a collision-avoiding drone comprising a body, the body including propeller blades rotatably disposed on the body, an anti-collision mechanism disposed on the outer edge of the body, the projection of the propeller blades on the body being located within an area corresponding to the anti-collision mechanism, and the anti-collision mechanism abutting against a wall prior to the propeller blades, so that the anti-collision mechanism can protect the propeller blades, thereby preventing the propeller blades from being damaged. The anti-collision drone of the above patent protects the propeller blades through the anti-collision frame during flight. However, when the drone is flying in an open area and does not need the anti-collision frame to protect the propeller blades, the anti-collision frame will affect the flight speed and flight sensitivity of the drone. Summary of the Invention

[0004] The purpose of the present invention is to provide a drone with infrared recognition of obstacle points outside the wing. The rotation of the threaded rod and the restriction of the connecting strip can drive the first transmission rod and the second transmission rod to slide laterally from the lower end of the outer shell. After sliding laterally and unfolding, the outside of the propeller blades transmitted by the outer shell can be wrapped and protected. The propeller blades are used for protection in harsh environments. After flying in an open position, the first transmission rod and the second transmission rod can be stored in the lower end of the outer shell through the transmission of the threaded rod, solving the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an unmanned aerial vehicle with infrared identification of obstacle points outside the wings, comprising an outer shell, four propeller blades arranged around the outside of the outer shell, connecting strips fixed by bolts are arranged laterally at the lower ends of the four propeller blades, a protective frame is welded to one end of the connecting strip, a threaded rod passing through the protective frame is arranged laterally inside the connecting strip, and the protective frame cooperates with the external thread of the threaded rod, a first transmission rod is welded to one end of the protective frame, and the protection frame can be driven to move laterally through the transmission of the threaded rod and the restriction of the connecting strip, and the lateral movement of the protection frame can drive the first transmission rod and the second transmission rod to rotate and unfold.

[0006] Preferably, a second transmission rod is provided on both sides of the first transmission rod, and a protection rod is longitudinally provided at one end of the first transmission rod and the second transmission rod. The protection rod extends longitudinally upward to fully protect the propeller blades.

[0007] Preferably, a telescopic rod is provided between the protection rod and one end of the first transmission rod and the second transmission rod respectively, and the protection rod can be pushed by the telescopic rod so that the protection rod extends from one end of the first transmission rod and the second transmission rod.

[0008] Preferably, column gears welded and fixed to the second transmission rod are provided on both sides of the upper end of the protective frame. The column gears are rotatably connected to the upper end of the protective frame, and the two column gears are meshed with each other. After the column gears are transmitted, a pair of column gears can simultaneously drive the second transmission rod to rotate and unfold, and the unfolding can facilitate wrapping of the propeller blades.

[0009] Preferably, a hanging frame is welded to the lower end of the shell, a storage cavity is provided on one side of the interior of the hanging frame, an infrared sensor connected through a transmission base is provided inside the storage cavity, and when the infrared sensor needs to be used, it is rotated from the storage cavity and extended, and the infrared sensor is extended to monitor the external environment.

[0010] Preferably, the front and rear ends of the transmission base are mirror-imaged with landing gears rotatably connected to the suspension frame via a rotating shaft. The landing gears are rotated and unfolded from the suspension frame, and the unfolding can facilitate the support of the upper end shell.

[0011] Preferably, a first bevel gear is welded to one end of one of the rotating shafts, and a second bevel gear is welded to one end of the transmission base facing the first bevel gear. The outside of the second bevel gear is meshed with the outside of the first bevel gear, and the rotation of the first bevel gear can drive the second bevel gear to rotate, and the rotation of the second bevel gear can drive the transmission base to rotate and unfold from the storage cavity.

[0012] Preferably, brackets welded and fixed to the transmission base are provided at both the front and rear ends between the transmission base and the infrared sensor. The brackets are rotatably connected to the outer wall of the infrared sensor. When supported by the brackets, the orientation and position of the infrared sensor can be adjusted. The adjustment of the orientation and position can be used to monitor the environment around the drone.

[0013] Preferably, a rubber strip is laterally provided at the lower end of the landing gear, and the rubber strip can increase the friction coefficient between the landing gear and the ground, and the friction coefficient can facilitate the placement of the shell.

[0014] The present invention provides another technical solution: a drone with infrared recognition of obstacles outside the wings, further comprising an infrared recognition system on the other side of the suspension frame, the infrared recognition system comprising: Sensor data acquisition module: responsible for collecting data, and can also work together to obtain information such as the attitude and speed of the drone, providing raw data for subsequent data analysis; Data processing and analysis module: Receives data from the sensor data acquisition module, processes and analyzes it, and calculates key information such as the accurate position and distance of surrounding objects relative to the drone; Flight control instruction generation module: Generates corresponding flight control instructions based on the results obtained by the data processing and analysis module, and adjusts the flight path to complete the mission based on the information from the map component planning module; Communication module: responsible for communicating with the ground station or other related equipment for operators to monitor, and can also communicate with other drones to achieve functions such as formation flight; Storage module: stores various data during the drone's flight process to facilitate subsequent troubleshooting; Map component planning module: uses the data collected by the sensor data acquisition module to build a map of the drone's flight area and plan a reasonable flight path based on mission requirements; Power management module: monitors the battery power, voltage, current and other parameters of the drone, and controls the drone's current flight mission and status based on these parameters; Fault detection and early warning module: real-time monitoring of the working status of the sensor data acquisition module, flight control command generation module and data processing and analysis module to promptly detect potential faults.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, during the flight of the drone, the rotation of the threaded rod can push the protection frame and the first transmission rod and the second transmission rod connected to the protection frame to move laterally. The first transmission rod and the second transmission rod move laterally and are initially deployed from the lower end of the propeller blade of the drone. After the initial deployment, the transmission of the two column gears can enable the second transmission rod to be further deployed, so that the second transmission rod is respectively deployed on both sides of the first transmission rod. The first transmission rod and the pair of second transmission rods are used to fully deploy around the propeller blade and wrap and protect the propeller blade. When the drone flies in an open position, there is no need to use the first transmission rod and the pair of second transmission rods to protect the propeller blade. The storage of the first transmission rod and the pair of second transmission rods can avoid affecting the flight speed and flight sensitivity of the drone.

[0016] 2. When the drone of the present invention is unfolded by rotating the landing gear and lifted up to be placed in the take-off position, the infrared sensor will be stored in the storage cavity. After the drone takes off, the landing gear will rotate with the rotating shaft as the center and be stored in the suspension frame. During the storage and rotation process, the rotation of the rotating shaft will drive the first bevel gear to rotate, and the rotation of the first bevel gear will drive the bracket to rotate and unfold from the storage cavity through the second bevel gear. On the contrary, when the landing gear rotates and unfolds from the suspension frame, the infrared sensor will be stored in the storage cavity position inside the suspension frame after transmission. The unified transmission can facilitate the protection and use of the infrared sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional diagram of the overall external structure of the present invention; Figure 2 Schematic diagram of the position relationship of the infrared sensors of the present invention; Figure 3 This is a schematic diagram of the landing gear rotation and deployment of the present invention; Figure 4 A cross-sectional view of the internal structure of the connecting strip of the present invention; Figure 5 A cross-sectional view of the transmission structure of the first bevel gear and the second bevel gear of the present invention; Figure 6 Schematic diagram of the infrared recognition system of the present invention.

[0018] In the figure: 1. Outer casing; 2. Suspension frame; 3. Connecting bar; 4. First transmission rod; 5. Second transmission rod; 6. Protective rod; 7. Column gear; 8. Threaded rod; 9. Infrared sensor; 10. Bracket; 11. Transmission base; 12. Landing gear; 13. Rotating shaft; 14. Storage cavity; 15. Protective frame; 16. First bevel gear; 17. Second bevel gear. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to specific embodiments.

[0020] Example 1 like Figure 1 As shown, the drone with infrared recognition of off-wing obstacle points of this embodiment includes a shell 1, and four propeller blades are arranged around the outside of the shell 1. The rotation of the propeller blades can drive the drone to fly and move. A connecting bar 3 is provided laterally at the lower end of each of the four propeller blades, and one end of the connecting bar 3 is fixedly connected to the lower end of the shell 1 by a bolt. A protective frame 15 is provided at one end of the connecting bar 3, and one end of the protective frame 15 is welded and fixed to the connecting bar 3. A first transmission rod 4 is provided at one end of the protective frame 15, and the first transmission rod 4 is welded and fixed to the protective frame 15. The first transmission rod 4 can be supported by the connection between the connecting bar 3 and the protective frame 15, and supported and stored at the lower end of the outer part of the propeller blade; During the flight, in order to protect the propeller blades, Figure 2 and Figure 3 As shown, a threaded rod 8 is laterally arranged inside the connecting bar 3, and the threaded rod 8 passes through the upper end of the protective frame 15. The protective frame 15 cooperates with the external thread of the threaded rod 8. The threaded rod 8 rotates after the corresponding motor output. The rotation of the threaded rod 8 is restricted by the connecting bar 3, which can make the protective frame 15 and the first transmission rod 4 at one end move laterally, so that the first transmission rod 4 passes the output and unfolds. Among them, a second transmission rod 5 is provided on both sides of the first transmission rod 4. The second transmission rod 5 will move laterally and unfold together with the first transmission rod 4 and the protection frame 15. A protection rod 6 is longitudinally provided at one end of the first transmission rod 4 and the second transmission rod 5, and a telescopic rod is provided between the protection rod 6 and one end of the first transmission rod 4 and the second transmission rod 5 respectively. The protection rod 6 can be wrapped around the outside of the propeller blade by pushing the telescopic rod, and the outside of the propeller blade can be protected by the protection rod 6; In addition, column gears 7 are provided on both sides of the upper end of the protection frame 15, and the column gears 7 are rotatably connected to the upper end of the protection frame 15, and the two column gears 7 are meshed with each other. Figure 4 As shown, the two column gears 7 are welded and fixed to the second transmission rod 5. A motor is provided at the lower end of the protection frame 15. After the motor transmits power to one of the column gears 7, one of the column gears 7 drives the other column gear 7 to rotate, so that the two second transmission rods 5 are deployed from both sides of the first transmission rod 4, thereby improving the protection range for the propeller blades: In order to facilitate accurate monitoring of the surrounding area of the drone, Figure 5 and Figure 6 As shown, a hanging frame 2 is provided at the lower end of the housing 1, and the hanging frame 2 is welded and fixed to the housing 1. A storage cavity 14 is provided on one side of the interior of the hanging frame 2. A foldable transmission base 11 is provided inside the storage cavity 14. An infrared sensor 9 is provided at the lower end of the transmission base 11. The infrared sensor 9 can monitor the environment around the drone. In addition, brackets 10 are provided at both ends of the front and rear ends between the transmission base 11 and the infrared sensor 9, and the brackets 10 are welded and fixed to the transmission base 11. The brackets 10 are rotatably connected to the outer wall of the infrared sensor 9. The support and connection of the brackets 10 facilitate the hanging and adjustment of the direction and angle of the infrared sensor 9. The transmission base 11 is provided with a mirror image of landing gears 12 at the front and rear ends. The two landing gears 12 are rotatably connected to the interior of the suspension frame 2 through a rotating shaft 13 at one end facing the outer shell 1. The two landing gears 12 can be deployed by rotating around the rotating shaft 13. When deployed, the landing gears 12 can support the suspension frame 2 and the upper end of the outer shell 1. In order to realize the unified transmission of the transmission base 11 and the landing gear 12, as shown in FIG. Figure 6 As shown, a first bevel gear 16 is provided at one end of one of the rotating shafts 13, and a second bevel gear 17 is provided at one end of the transmission base 11 facing the first bevel gear 16, and the second bevel gear 17 is welded and fixed to the transmission base 11, and the outer portion of the second bevel gear 17 is meshedly connected with the outer portion of the first bevel gear 16. A motor is provided at one end of the rotating shaft 13, and the motor independently drives the rotating shaft 13 to drive the landing gear 12, and drives and causes the landing gear 12 to rotate and deploy. After the motor drives the landing gear 12, the first bevel gear 16 will drive the second bevel gear 17 to rotate through the meshing connection, and the rotation of the second bevel gear 17 can drive the transmission base 11 to rotate and adjust the deployment state of the infrared sensor 9; Example 2 In order to facilitate the support of the landing gear 12 to the upper shell 1, as shown in FIG. Figure 3 and Figure 5 As shown, a rubber strip is laterally provided at the lower end of the landing gear 12 . The rubber strip is laterally evenly distributed at the lower end of the landing gear 12 , and the landing gear 12 and the rubber strip are fixed by glue.

[0021] In order to further understand the content of the present invention, this embodiment provides the following technical solutions: The UAV with infrared recognition of obstacles outside the wings also includes an infrared recognition system on the other side of the suspension frame 2. The infrared recognition system includes: a sensor data acquisition module, a data processing and separation module, a flight control command generation module, a communication module, a storage module, a map component planning module, a power management module and a fault detection and warning module, wherein: Sensor data acquisition module: responsible for collecting data and can also work together to obtain information such as the drone's attitude and speed. It can detect infrared radiation emitted by objects around the drone, thereby determining the position and distance information of surrounding objects, and providing raw data for subsequent data analysis. The comprehensive collection of the sensor data acquisition module can more comprehensively reflect the drone's flight status and surrounding environment. It can continuously monitor the information of objects in all directions, such as in front, to the side, and below the drone, and transmit this information to the data processing and analysis module in the form of electrical signals or digital signals; Data processing and analysis module: Receives data from the sensor data acquisition module and processes and analyzes it. This includes filtering and noise reduction, removing interference signals, and then calculating key information such as the exact position and distance of surrounding objects relative to the drone based on a pre-set algorithm. At the same time, it analyzes the drone's flight attitude and speed in combination with other sensor data, enabling the drone to accurately perceive its surroundings. If an object is detected to be too close to the drone, the module can determine the object's azimuth and elevation, as well as whether the distance to the drone is within a dangerous range, thereby providing a decision-making basis for the flight control command generation module: Flight control command generation module: Based on the results obtained by the data processing and analysis module, it generates corresponding flight control commands. If an obstacle is found in front of the drone and the distance is less than the safety threshold, this module may generate a command to change the flight direction or adjust the flight altitude. It can also adjust the flight path to complete the mission based on the information of the map component planning module, ensure the flight safety of the drone, avoid collisions and execute the flight mission. It makes correct flight decisions based on environmental information to ensure that the drone can avoid obstacles in time during flight and fly along a safe path; Communication module: responsible for communicating with the ground station or other related equipment. It sends the drone's own status information to the ground station for operator monitoring. On the other hand, it receives instructions from the ground station. At the same time, it can also communicate with other drones to realize functions such as formation flight and realize information exchange between drones and the outside world. During normal flight, the ground station can understand the drone's flight status at any time through the communication module. In special cases, the operator can remotely control the drone through the communication module to improve flight safety and flexibility. Storage module: stores various data during the UAV flight process, including data collected by the sensor data acquisition module, intermediate and final results of the data processing and analysis module, instruction history records generated by the flight control instruction generation module, and information sent and received by the communication module. This facilitates subsequent flight data analysis and troubleshooting. If an abnormality occurs during the flight of the UAV, the root cause of the problem can be found by analyzing the data in the storage module. This also helps to optimize the flight performance of the UAV and adjust the parameters and algorithms of the intelligent system based on historical data. Map component planning module: uses the data collected by the sensor data acquisition module to build a map of the drone's flight area. This map can be a two-dimensional or three-dimensional map based on coordinates, marking information such as obstacles and target points. At the same time, a reasonable flight path is planned according to mission requirements. When planning the path, factors such as avoiding obstacles and saving energy should be considered to provide navigation guidance for the drone's flight. By building maps and planning paths, the drone can complete the mission more efficiently and safely, avoiding the risk of collision caused by blind flight, and the path can be dynamically adjusted based on the real-time sensor data acquisition module; Power management module: monitors the battery level, voltage, current and other parameters of the drone, and allocates power resources appropriately based on these parameters and the drone's current flight mission and status. When the battery level is low, it can adjust the flight mode, such as reducing the flight speed to extend flight time, or prompting the drone to return to the base for charging as soon as possible to ensure that the drone has sufficient power to support the flight mission. Through effective power management, the flight efficiency and reliability of the drone can be improved, and flight accidents caused by insufficient power can be prevented. Fault detection and early warning module: real-time monitoring of the working status of the sensor data acquisition module, flight control command generation module and data processing and analysis module, and timely discovery of potential faults by comparing with normal working parameters. Once a fault is detected, a corresponding early warning signal is issued according to the severity of the fault. The fault information can be sent to the ground station, or a local early warning can be issued on the UAV through sound and light, etc., to improve the safety and reliability of the UAV. Early fault detection and early warning can give operators enough time to take measures.

[0022] Working principle: When the drone is in use and flying, the rotation of the propeller blades can drive the drone to fly. When the propeller blades need to be protected, the rotation of the threaded rod 8 can produce relative movement with the upper end of the protection frame 15. After the protection frame 15 is restricted by the connecting bar 3, the rotational motion can be converted into lateral linear motion. While the protection frame 15 moves laterally, it will drive the first transmission rod 4 and the second transmission rod 5 to unfold from the lower end of the connecting bar 3 respectively. The motor drives one of the column gears 7 to rotate. The rotation of one of the column gears 7 will drive the other column gear 7 to rotate. The rotation of the two column gears 7 will drive the second transmission rod 5 rotates and further unfolds, the telescopic rod is activated and pushes the protection rod 6, the protection rod 6 extends and protects the propeller blades, and when the UAV lands and unfolds the landing gear 12, the motor drives the rotating shaft 13 to rotate, and the rotating shaft 13 drives the externally connected landing gear 12 to unfold from the inside of the suspension frame 2. During the unfolding process, the rotation of the rotating shaft 13 drives the first bevel gear 16 to rotate, the rotation of the first bevel gear 16 drives the second bevel gear 17 to rotate, the rotation of the second bevel gear 17 drives the transmission base 11 to rotate, and the rotation of the transmission base 11 drives the infrared sensor 9 to rotate, thereby adjusting the position of the infrared sensor 9.

[0023] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0024] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions, and alterations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A drone with infrared recognition of obstacles outside the wings, comprising a housing (1), wherein four propeller blades are arranged around the outside of the housing (1), characterized in that: The lower ends of the four propeller blades are each laterally provided with a connecting strip (3) fixed by bolts, one end of the connecting strip (3) is welded with a protective frame (15), the interior of the connecting strip (3) is laterally provided with a threaded rod (8) passing through the protective frame (15), and the protective frame (15) is matched with the external thread of the threaded rod (8), and one end of the protective frame (15) is welded with a first transmission rod (4).

2. The UAV with infrared recognition of off-wing obstacles according to claim 1, characterized in that: Second transmission rods (5) are provided on both sides of the first transmission rod (4), and protective rods (6) are longitudinally provided at one end of each of the first transmission rod (4) and the second transmission rod (5).

3. The UAV with infrared recognition of off-wing obstacles according to claim 2, characterized in that: A telescopic rod is provided between the protection rod (6) and one end of the first transmission rod (4) and the second transmission rod (5).

4. The UAV with infrared recognition of off-wing obstacles according to claim 1, characterized in that: Column gears (7) welded and fixed to the second transmission rod (5) are provided on both sides of the upper end of the protection frame (15); the column gears (7) are rotatably connected to the upper end of the protection frame (15); and the two column gears (7) are meshed with each other.

5. The UAV with infrared recognition of off-wing obstacles according to claim 1, characterized in that: A suspension frame (2) is welded to the lower end of the housing (1), a storage cavity (14) is provided on one side inside the suspension frame (2), and an infrared sensor (9) connected via a transmission base (11) is provided inside the storage cavity (14).

6. The UAV with infrared recognition of off-wing obstacles according to claim 5, characterized in that: The front and rear ends of the transmission base (11) are mirror-imaged with landing gears (12) that are rotatably connected to the suspension frame (2) via a rotating shaft (13).

7. The UAV with infrared recognition of off-wing obstacles according to claim 6, characterized in that: A first bevel gear (16) is welded to one end of one of the rotating shafts (13), a second bevel gear (17) is welded to one end of the transmission base (11) facing the first bevel gear (16), and the outside of the second bevel gear (17) is meshedly connected with the outside of the first bevel gear (16).

8. The UAV with infrared recognition of off-wing obstacles according to claim 7, characterized in that: Brackets (10) welded and fixed to the transmission base (11) are provided at both the front and rear ends between the transmission base (11) and the infrared sensor (9), and the brackets (10) are rotatably connected to the outer wall of the infrared sensor (9).

9. The UAV with infrared recognition of off-wing obstacles according to claim 6, characterized in that: A rubber strip is laterally arranged at the lower end of the landing gear (12).

10. The UAV with infrared recognition of off-wing obstacles according to any one of claims 1 to 9, characterized in that: It also includes an infrared recognition system on the other side of the hanging frame (2), and the infrared recognition system includes: Sensor data acquisition module: responsible for collecting data and working together to obtain the attitude and speed of the drone, providing raw data for subsequent data analysis; Data processing and analysis module: Receives data from the sensor data acquisition module, processes and analyzes it, and calculates the exact position and distance of surrounding objects relative to the drone; Flight control instruction generation module: Generates corresponding flight control instructions based on the results obtained by the data processing and analysis module, and adjusts the flight path to complete the mission based on the information from the map component planning module; Communication module: responsible for communicating with the ground station for operator monitoring, communicating with other drones, and realizing formation flight; Storage module: stores various data during the drone's flight process to facilitate subsequent troubleshooting; Map component planning module: uses the data collected by the sensor data acquisition module to build a map of the drone's flight area and plan a reasonable flight path based on mission requirements; Power management module: monitors the battery power, voltage, and current parameters of the drone, and controls the drone's current flight mission and status based on these parameters; Fault detection and early warning module: real-time monitoring of the working status of the sensor data acquisition module, flight control command generation module and data processing and analysis module to promptly detect potential faults.

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