Unmanned aerial vehicle multidirectional detection obstacle avoidance device

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle multidirectional detection obstacle avoidance device which comprises a supporting frame and an unmanned aerial vehicle body, a motor and a fixing plate are fixedly connected into the supporting frame, a first half gear is fixedly arranged at the output end of the motor, and the tooth end of the first half gear is in meshed connection with a second half gear; a connecting shaft is fixedly connected to the interior of the second half gear, a connecting plate is fixedly connected to the outer wall of the connecting shaft, a transmission assembly is arranged on the outer wall of the first half gear, the transmission assembly is rotatably connected to the interior of the supporting frame, and a threaded rod is fixedly connected to one end of the transmission assembly. The motor drives the first half gear to drive the second half gear to rotate, so that the connecting plate and the supporting plate drive the visual sensor and the laser radar to swing, large-range angle adjustment is achieved, then the sensor can cover a wider detection area, blind areas are effectively reduced, and the device is particularly suitable for unmanned aerial vehicles in complex environments. And the flight safety and the environmental adaptability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a multi-directional detection and obstacle avoidance device for UAVs. Background Art

[0002] With the rapid development of drone technology, autonomous flight capabilities in complex environments have become a research focus. Drones may encounter various obstacles during flight, such as buildings, trees, and power lines. Multi-directional obstacle avoidance devices can detect these obstacles in real time and automatically adjust the flight path to avoid collisions, thereby improving flight safety.

[0003] The multi-directional detection and obstacle avoidance device for drones is a device installed on drones that is used to detect obstacles in different directions around the drone in real time and automatically adjust the drone's flight path based on the detection results to avoid collisions. Traditional drone obstacle avoidance systems mostly use fixed sensor layouts, which have problems such as large detection blind spots and poor environmental adaptability. Especially in narrow spaces or dense obstacle environments, fixed sensors are difficult to achieve full coverage, which can easily lead to obstacle avoidance failures or even collision accidents. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a multi-directional detection and obstacle avoidance device for unmanned aerial vehicles, which solves the problems that the obstacle avoidance system of traditional unmanned aerial vehicles mostly adopts a fixed sensor layout, has a large detection blind spot and poor environmental adaptability.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A multi-directional detection and obstacle avoidance device for an unmanned aerial vehicle comprises a support frame and a drone body, wherein a motor and a fixed plate are fixedly connected to the interior of the support frame, a first half gear is fixedly provided at the output end of the motor, a second half gear is meshingly connected to the tooth end of the first half gear, a connecting shaft is fixedly connected to the interior of the second half gear, an outer wall of the connecting shaft is fixedly connected to the connecting plate, a transmission assembly is provided on the outer wall of the first half gear, the transmission assembly is rotatably connected to the interior of the support frame, one end of the transmission assembly is fixedly connected to a threaded rod, an outer wall of the threaded rod is threadedly connected to a connecting frame, a limiting slot is provided inside the connecting frame, a limiting block and a limiting rod are fixedly connected to the outer wall of the support frame, and a first spring is slidably connected to the outer wall of the limiting rod.

[0006] By adopting the above technical solution: the motor drives the first half gear to drive the second half gear to rotate, so that the connecting plate and the support plate drive the visual sensor and the lidar to swing, thereby achieving a wide range of angle adjustment, thereby enabling the sensor to cover a wider detection area, effectively reducing blind spots, and is particularly suitable for the obstacle avoidance needs of drones in complex environments, such as narrow spaces and dense obstacles, thereby improving flight safety and environmental adaptability.

[0007] Preferably, the transmission assembly includes a first bevel gear, one end of the first bevel gear is fixedly connected to the outer wall of the first half gear, and the tooth end of the first bevel gear is meshedly connected to the second bevel gear.

[0008] Preferably, outer walls of the first bevel gear and the second bevel gear are both rotatably connected to the interior of the support frame, and one end of the second bevel gear is fixedly connected to one end of the threaded rod.

[0009] Preferably, the outer wall of the connecting plate is fixedly connected to the supporting plate, and the interior of the supporting plate is fixedly connected to the connecting cylinder.

[0010] Preferably, a T-shaped groove is provided inside the connecting cylinder, and a positioning cylinder is slidably connected to the inner wall of the connecting cylinder.

[0011] Preferably, a clamping block is fixedly connected to the outer wall of the positioning cylinder, and the outer wall of the clamping block is slidably connected to the inner wall of the T-shaped groove.

[0012] Preferably, a telescopic rod is fixedly connected to the inner wall of the connecting tube, and a second spring is provided on the outer wall of the telescopic rod.

[0013] Preferably, the outer wall of the second spring is fixedly connected to the inner wall of the connecting tube, and the outer wall of the telescopic rod is in contact with the inner wall of the positioning tube.

[0014] Preferably, a connecting piece is fixedly connected to the outer wall of the positioning cylinder, and a visual sensor and a laser radar are respectively provided on the outer wall of the connecting piece.

[0015] Preferably, the lower surface of the first half gear is rotatably connected to the outer wall of the support frame, the outer wall of the connecting shaft is rotatably connected to the inside of the fixed plate, and the lower surface of the connecting plate is slidably connected to the upper surface of the fixed plate.

[0016] Preferably, the upper surface of the connecting frame is arranged on the outer wall of the drone body, and the outer wall of the limiting rod is slidably connected to the inside of the connecting frame.

[0017] Preferably, one end of the first spring is fixedly connected to the outer wall of the support frame, and the other end is fixedly connected to the outer wall of the connecting frame.

[0018] Working Principle: When the drone is in use, the motor drives the first half gear to rotate, which in turn drives the first bevel gear to rotate in the support frame. The first half gear drives the second half gear to rotate, and the second half gear drives the connecting plate to rotate on the fixed plate through the connecting shaft. The connecting plate drives the visual sensor and lidar to swing through the support plate, thereby adjusting the angles of the visual sensor and lidar. At the same time, the first bevel gear drives the second bevel gear to rotate in the support frame, and the second bevel gear drives the threaded rod to rotate. Under the limit of the limit block and the limit groove, the support frame can be pulled to slide in the connecting frame. At this time, the limit block slides in the limit groove, and the support frame drives the limit rod to slide in the connecting frame, which squeezes the first spring to contract, thereby fine-tuning the horizontal position of the visual sensor and the laser radar. When installing or removing the visual sensor and laser radar, press and rotate the visual sensor or laser radar, and then the positioning cylinder can be driven to slide in the connecting cylinder through the connecting piece. When installing, the positioning cylinder drives the card block to slide in the T-slot. When the card block slides to the bottom of the T-slot, the positioning cylinder is rotated to clamp the card block in the T-slot. At this time, the positioning cylinder will squeeze the telescopic rod and the second spring to make it contract. Under the rebound of the second spring, the visual sensor and laser radar are then installed on the support plate, thereby achieving rapid installation or removal of the visual sensor and laser radar, or replacement of other detectors.

[0019] The present invention provides a multi-directional obstacle avoidance device for unmanned aerial vehicles (UAVs). It has the following beneficial effects: 1. The present invention drives the first half gear to rotate by a motor, which drives the second half gear to rotate. The connecting plate and the support plate drive the visual sensor and the lidar to swing, achieving a wide range of angle adjustment. This allows the sensor to cover a wider detection area, effectively reducing blind spots. It is particularly suitable for the obstacle avoidance needs of drones in complex environments, such as narrow spaces and dense obstacles, and improves flight safety and environmental adaptability.

[0020] 2. The present invention achieves precise fine-tuning of the horizontal position of the sensor by driving the support frame horizontally with the threaded rod under the transmission of the first bevel gear and the second bevel gear, and cooperates with the buffering effect of the limit block and the first spring. The baseline distance of the sensor can be dynamically adjusted to enhance the ranging accuracy of binocular vision or laser radar, while adapting to different flight postures of the UAV, such as tilt and jitter, to ensure stable and reliable detection data.

[0021] 3. The present invention quickly locks or separates the card block and the T-slot by pressing and rotating the connecting piece, and combines the elastic reset of the second spring to achieve one-click installation or removal of the sensor, thereby supporting the flexible replacement of different types of sensors (such as infrared, ultrasonic), meeting the needs of diverse tasks, and reducing maintenance time costs. It is suitable for scenarios such as industrial inspections and logistics drones that require frequent load replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A perspective view of the present invention; Figure 2 This is a schematic diagram of the drone body of the present invention; Figure 3 A schematic diagram of a connecting plate of the present invention; Figure 4 A schematic diagram of a support frame of the present invention; Figure 5 is a schematic diagram of a fixing plate of the present invention; Figure 6 This is a schematic diagram of the connecting tube of the present invention; Figure 7 It is a schematic diagram of a card block of the present invention; Figure 8 It is a schematic diagram of the positioning tube of the present invention.

[0023] Among them, 1. Support frame; 2. Motor; 3. First half gear; 4. Second half gear; 5. Connecting shaft; 6. Connecting plate; 7. Support plate; 8. First bevel gear; 9. Second bevel gear; 10. Limit block; 11. Connecting frame; 12. Limit slot; 13. UAV body; 14. Threaded rod; 15. Fixing plate; 16. Limit rod; 17. First spring; 18. Connecting tube; 19. T-slot; 20. Positioning tube; 21. Block; 22. Telescopic rod; 23. Second spring; 24. Connecting piece; 25. Visual sensor; 26. LiDAR. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Please see the attached Figure 1 -Attached Figure 5 An embodiment of the present invention provides a multi-directional detection and obstacle avoidance device for a drone, including a support frame 1 and a drone body 13. A motor 2 and a fixing plate 15 are fixedly connected to the interior of the support frame 1. A first half gear 3 is fixedly provided at the output end of the motor 2. The tooth end of the first half gear 3 is meshedly connected to the second half gear 4. A connecting shaft 5 is fixedly connected to the interior of the second half gear 4. A connecting plate 6 is fixedly connected to the outer wall of the connecting shaft 5. A transmission assembly is provided on the outer wall of the first half gear 3. The transmission assembly is rotatably connected to the interior of the support frame 1. A threaded rod 14 is fixedly connected to one end of the transmission assembly. A connecting frame 11 is threadedly connected to the outer wall of the threaded rod 14. A limiting groove 12 is provided inside the connecting frame 11. A limiting block 10 and a limiting rod 16 are fixedly connected to the outer wall of the support frame 1. A first spring 17 is slidably connected to the outer wall of the limiting rod 16.

[0026] Specifically, the motor 2 drives the first half gear 3 to rotate, and the first half gear 3 drives the first bevel gear 8 to rotate in the support frame 1. The second half gear 4 drives the connecting plate 6 to rotate on the fixed plate 15 through the connecting shaft 5. The connecting plate 6 drives the visual sensor 25 and the laser radar 26 to swing through the support plate 7, thereby achieving the effect of adjusting the angles of the visual sensor 25 and the laser radar 26. At the same time, the first bevel gear 8 drives the second bevel gear 9 to rotate in the support frame 1, and the second bevel gear 9 drives the threaded rod 14 to rotate. Under the limiting action of the limit block 10 and the limit groove 12, the support frame 1 is pulled to slide in the connecting frame 11. At this time, the limit block 10 slides in the limit groove 12, and drives the limit rod 16 to slide in the connecting frame 11 through the support frame 1, thereby squeezing The first spring 17 is compressed to contract, thereby achieving the effect of fine-tuning the horizontal position of the visual sensor 25 and the laser radar 26, wherein the support frame 1 serves as the main frame of the entire device, which is used to fix and support other components to ensure the structural stability and integrity of the device. The motor 2 serves as a power source to drive the first half gear 3 to rotate. The threaded rod 14 is connected to the transmission assembly, receives the power of the transmission assembly, and drives the connecting frame 11 to slide through the threaded connection, thereby realizing the fine-tuning function of the horizontal position. Through the rotation of the threaded rod 14, the connecting frame 11 produces a slight displacement in the horizontal direction, thereby driving the support frame 1 and the visual sensor 25 and the laser radar 26 to fine-tune the horizontal position. The limit block 10 cooperates with the limit slot 12 to limit the sliding direction of the support frame 1, ensuring that the support frame 1 slides smoothly in the predetermined direction during the sliding process, preventing it from offsetting or shaking, and ensuring the accuracy of the horizontal position fine-tuning.

[0027] Please see the attached Figure 3 -Attached Figure 5 The transmission assembly includes a first bevel gear 8, one end of the first bevel gear 8 is fixedly connected to the outer wall of the first half gear 3, and the tooth end of the first bevel gear 8 is meshed with the second bevel gear 9; the outer walls of the first bevel gear 8 and the second bevel gear 9 are both rotatably connected to the inside of the support frame 1, and one end of the second bevel gear 9 is fixedly connected to one end of the threaded rod 14.

[0028] Specifically, the first half gear 3 drives the second half gear 4 to rotate, and the support frame 1 supports and limits the first bevel gear 8 and the second bevel gear 9, thereby ensuring the stability of the first bevel gear 8 and the second bevel gear 9 during rotation.

[0029] Please see the attached Figure 3 , Attachment Figure 6 , Attachment Figure 7 and attached Figure 8The outer wall of the connecting plate 6 is fixedly connected to the support plate 7, and the interior of the support plate 7 is fixedly connected to the connecting tube 18; a T-shaped slot 19 is opened inside the connecting tube 18, and the inner wall of the connecting tube 18 is slidably connected to the positioning tube 20; the outer wall of the positioning tube 20 is fixedly connected to a clamping block 21, and the outer wall of the clamping block 21 is slidably connected to the inner wall of the T-shaped slot 19; the inner wall of the connecting tube 18 is fixedly connected to a telescopic rod 22, and the outer wall of the telescopic rod 22 is provided with a second spring 23; the outer wall of the second spring 23 is fixedly connected to the inner wall of the connecting tube 18, and the outer wall of the telescopic rod 22 fits with the inner wall of the positioning tube 20; the outer wall of the positioning tube 20 is fixedly connected to a connecting piece 24, and the outer walls of the connecting piece 24 are respectively provided with a visual sensor 25 and a laser radar 26.

[0030] Specifically, when installing or removing the visual sensor 25 and the laser radar 26, press and rotate the visual sensor 25 or the laser radar 26, and the connecting piece 24 drives the positioning cylinder 20 to slide in the connecting cylinder 18. When installing, the positioning cylinder 20 drives the block 21 to slide in the T-slot 19. When the block 21 slides to the bottom of the T-slot 19, the positioning cylinder 20 is rotated to clamp the block 21 in the T-slot 19. At this time, the positioning cylinder 20 squeezes the telescopic rod 22 and the second spring 23 to make it contract. Under the rebound action of the second spring 23, the visual sensor 25 and the laser radar 26 are installed on the support plate 7, thereby achieving rapid installation or removal of the visual sensor 25 and the laser radar 26, or replacing other detectors, wherein the connecting plate 6 serves as a fixing base for the support plate 7, and the connecting plate 6 fixes the visual sensor 25 and the laser radar through the support plate 7. The function of the optical radar 26 is that the T-slot 19 cooperates with the block 21 to fix the positioning cylinder 20, and then the visual sensor 25 and the laser radar 26 are quickly installed and disassembled by sliding and engaging the block 21 in the T-slot 19. The telescopic rod 22 provides elastic support. Through the extension and contraction of the telescopic rod 22, a stable supporting force is provided to ensure the stability of the positioning cylinder 20 during the installation and disassembly process. The second spring 23 provides elastic rebound force. When installing the visual sensor 25 and the laser radar 26, the rebound force of the second spring 23 ensures that the block 21 is firmly stuck in the T-slot 19 to achieve stable fixation. The visual sensor 25 is used to capture visual information around the drone. It can generate image data of the environment and identify and analyze the position, shape and size of obstacles through image processing algorithms. The laser radar 26 is used to measure the distance between the drone and surrounding obstacles. It can generate high-precision point cloud data to help the drone perceive its surrounding environment in real time. The visual sensor 25 and lidar 26 work together to achieve a more comprehensive and reliable obstacle avoidance function, thereby improving the drone's flight safety and autonomous flight capabilities in complex environments.

[0031] Please see the attached Figure 1-Attached Figure 5 The lower surface of the first half gear 3 is rotatably connected to the outer wall of the support frame 1, the outer wall of the connecting shaft 5 is rotatably connected to the inside of the fixed plate 15, and the lower surface of the connecting plate 6 is slidably connected to the upper surface of the fixed plate 15; the upper surface of the connecting frame 11 is set on the outer wall of the drone body 13, and the outer wall of the limit rod 16 is slidably connected to the inside of the connecting frame 11; one end of the first spring 17 is fixedly connected to the outer wall of the support frame 1, and the other end is fixedly connected to the outer wall of the connecting frame 11.

[0032] Specifically, the fixing plate 15 plays the role of supporting and limiting the connecting shaft 5, providing stable support for the connecting shaft 5, ensuring its stability during the rotation process, thereby preventing the connecting shaft 5 from deflecting or shaking during the rotation process, ensuring the smooth movement of the connecting plate 6, and thus ensuring the stable swing of the visual sensor 25 and the laser radar 26, wherein the connecting shaft 5 plays the role of connecting the second half gear 4 and the connecting plate 6, transmitting the power of the second half gear 4 to the connecting plate 6, thereby ensuring the effective transmission of power, so that the connecting plate 6 can rotate smoothly with the rotation of the second half gear 4, thereby driving the visual sensor 25 and the laser radar 26. The sensor 25 and the laser radar 26 swing, and the limit rod 16 is slidably connected to the inner wall of the connecting frame 11, which plays a role of limiting and guiding. During the sliding process of the support frame 1, it plays a role of guiding and limiting through sliding cooperation with the connecting frame 11, preventing the support frame 1 from deflecting or shaking, and ensuring the smoothness and accuracy of sliding. The first spring 17 plays a role of elastic support and buffering. During the sliding process of the support frame 1, the elastic deformation of the first spring 17 plays a buffering role, reducing the impact during the sliding process, and at the same time providing a certain elastic supporting force to ensure the stability and reliability of the support frame 1.

[0033] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-directional obstacle avoidance device for a drone, comprising a support frame (1) and a drone body (13), characterized in that: The support frame (1) is fixedly connected to a motor (2) and a fixed plate (15) inside, the output end of the motor (2) is fixedly provided with a first half gear (3), the tooth end of the first half gear (3) is meshingly connected to the second half gear (4), the interior of the second half gear (4) is fixedly connected to a connecting shaft (5), the outer wall of the connecting shaft (5) is fixedly connected to a connecting plate (6), the outer wall of the first half gear (3) is provided with a transmission assembly, the transmission assembly is rotatably connected to the interior of the support frame (1), one end of the transmission assembly is fixedly connected to a threaded rod (14), the outer wall of the threaded rod (14) is threadedly connected to a connecting frame (11), a limiting slot (12) is provided inside the connecting frame (11), the outer wall of the support frame (1) is fixedly connected to a limiting block (10) and a limiting rod (16), and the outer wall of the limiting rod (16) is slidably connected to a first spring (17).

2. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 1, characterized in that: The transmission assembly comprises a first bevel gear (8), one end of the first bevel gear (8) is fixedly connected to the outer wall of the first half gear (3), and the tooth end of the first bevel gear (8) is meshingly connected to the second bevel gear (9).

3. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 2, characterized in that: The outer walls of the first bevel gear (8) and the second bevel gear (9) are both rotatably connected to the interior of the support frame (1), and one end of the second bevel gear (9) is fixedly connected to one end of the threaded rod (14).

4. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 1, characterized in that: The outer wall of the connecting plate (6) is fixedly connected to a support plate (7), and the interior of the support plate (7) is fixedly connected to a connecting cylinder (18).

5. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 4, characterized in that: A T-shaped groove (19) is provided inside the connecting cylinder (18), and a positioning cylinder (20) is slidably connected to the inner wall of the connecting cylinder (18).

6. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 5, characterized in that: The outer wall of the positioning cylinder (20) is fixedly connected to a clamping block (21), and the outer wall of the clamping block (21) is slidably connected to the inner wall of the T-shaped groove (19).

7. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 6, characterized in that: The inner wall of the connecting cylinder (18) is fixedly connected to a telescopic rod (22), and the outer wall of the telescopic rod (22) is provided with a second spring (23).

8. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 7, characterized in that: The outer wall of the second spring (23) is fixedly connected to the inner wall of the connecting tube (18), and the outer wall of the telescopic rod (22) is in contact with the inner wall of the positioning tube (20).

9. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 8, characterized in that: A connecting piece (24) is fixedly connected to the outer wall of the positioning cylinder (20), and a visual sensor (25) and a laser radar (26) are respectively provided on the outer wall of the connecting piece (24).

10. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 1, characterized in that: The lower surface of the first half gear (3) is rotatably connected to the outer wall of the support frame (1), the outer wall of the connecting shaft (5) is rotatably connected to the inside of the fixed plate (15), and the lower surface of the connecting plate (6) is slidably connected to the upper surface of the fixed plate (15).

11. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 1, characterized in that: The upper surface of the connection frame (11) is arranged on the outer wall of the drone body (13), and the outer wall of the limit rod (16) is slidably connected to the interior of the connection frame (11).

12. The multi-directional obstacle avoidance device for unmanned aerial vehicles according to claim 1, characterized in that: One end of the first spring (17) is fixedly connected to the outer wall of the support frame (1), and the other end is fixedly connected to the outer wall of the connection frame (11).

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