An obstacle avoidance type unmanned aerial vehicle airborne laser radar device

Abstract

The application relates to an obstacle-avoiding unmanned aerial vehicle airborne laser radar device and belongs to the technical field of unmanned aerial vehicles. The device comprises a fuselage and a laser radar. Multiple wings are foldably arranged on the outer side of the fuselage. A driving motor is fixed at the outer end of each wing, and the output end of the driving motor is connected with a paddle. A protection mechanism is arranged on the wing and comprises a fixing assembly and a protection ring sleeved with the wing. The protection ring fixes the wing to the fuselage through the fixing assembly. When abnormal power failure occurs, the wing is folded by gravity and drives the protection ring to overturn to protect the paddle. A rack is arranged at the bottom of the fuselage, the laser radar is arranged in the rack, a supporting frame is connected to the rack through a mounting base at the bottom of the rack, and a damping mechanism is arranged on the mounting base and used for landing buffering. The device solves the problems that the folding of the wings of the existing unmanned aerial vehicle depends on manual operation or complex electric control, the landing buffering effect is poor, and the paddles are easily damaged during falling.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology and relates to an obstacle avoidance UAV-borne lidar device. Background Technology

[0002] With the development of drone technology, drones equipped with lidar are being used more and more widely in fields such as terrain mapping and environmental monitoring. During flight, these drones need to ensure the stability of the fuselage and the equipment they carry, while also dealing with possible emergencies.

[0003] Currently, most drones equipped with airborne lidar have fixed wings that cannot be folded, which takes up a lot of space during transportation or storage. For some drones with foldable wings, the folding action often requires manual operation or relies on a complex electronic control system. In emergency situations such as sudden power outages, the folding action is difficult to complete automatically, and the wings and blades at the ends are easily damaged by impact during a fall.

[0004] During the landing phase of a drone, the existing support structure has limited buffering effect. Some buffering mechanisms rely solely on damping methods such as springs for simple buffering, but they are often installed on the bottom of the drone. When the drone suddenly crashes, the landing point changes at any time, making it difficult to effectively absorb the impact force during landing. The fuselage and internal lidar may be affected by vibration, reducing the service life of the equipment. Summary of the Invention

[0005] In view of this, in order to solve the problems of existing UAVs relying on manual or complex electronic control for wing folding, poor landing cushioning effect, and easy damage to propeller blades during crashes, the present invention provides an obstacle avoidance UAV-borne LiDAR device for UAVs to carry LiDAR for terrain mapping, environmental monitoring and other operations, which can improve the safety of flight and equipment use.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An obstacle avoidance UAV airborne lidar device includes a fuselage and a lidar. Multiple wings are foldable on the outer side of the fuselage, and drive motors are fixed at the outer ends of the wings. The output ends of the drive motors are connected to propellers.

[0008] The protective mechanism is located on the wing and includes a fixing component and a protective ring that is fitted onto the wing. The protective ring is fixed to the wing by the fixing component. In the event of an abnormal power failure, the wing folds by gravity and drives the protective ring to flip over to protect the blades.

[0009] The frame is located at the bottom of the fuselage, and the lidar is located inside the frame. The bottom of the frame is connected to the support frame via a mounting base, which is equipped with a damping mechanism for landing cushioning.

[0010] As a further improvement to the above technical solution:

[0011] The fixed assembly includes multiple sets of connecting bases fixed to the outside of the fuselage. Each set of connecting bases has a rotating base rotatably mounted inside. One end of the wing is fixed inside the rotating base. The top of the rotating base has a sliding groove, and a wedge is slidably mounted inside the groove. A guide rod is slidably mounted at the bottom of the wedge. The guide rod is fixed to the bottom wall of the groove. Spring I is sleeved on the outer wall of the guide rod. The two ends of spring I abut against the bottom wall of the groove and the bottom of the wedge respectively through spring seats. A locking seat that cooperates with the wedge is raised and lowered on the top of the fuselage.

[0012] As a further improvement to the above technical solution: the bottom of the card holder is provided with an extension, which slides through the top of the machine body. The bottom of the card holder is integrally formed into an annular body. A guide post is slidably provided in the annular body. The guide post is fixed to the top of the machine body. An electromagnet block II is fixed to the top of the guide post. A spring II is provided in the annular body. The two ends of the spring II abut against the top wall of the annular body and the top of the guide post respectively through spring seats. The lifting and lowering of the card holder is controlled by the electromagnet block II and the spring II.

[0013] As a further improvement to the above technical solution: a sliding ring II is fixedly sleeved on the outer wall of the wing, a protective ring is fixed to the sliding ring II, a sliding ring I is slidably sleeved on the outer wall of the wing, the sliding ring II rotates on one side of the sliding ring I through a bearing, a connecting rod I is rotatably provided between the sliding ring I and the connecting base, a spiral groove is opened on the outer wall of the wing, a slider is slidably provided in the spiral groove, the slider is fixed to the inner wall of the sliding ring II, and the protective ring is flipped through the guide of the spiral groove and the drive of the connecting rod I.

[0014] As a further improvement to the above technical solution, it also includes a braking assembly, which includes a fixed frame fixed to the top of the wing, the fixed frame being located below the blade, an installation cavity opening at the top of the fixed frame, an electromagnet block I fixed to the bottom wall of the installation cavity, a pin slidingly passing through the top of the installation cavity and engaging with the through hole of the blade, a tension spring I sleeved on the outer wall of the pin, the two ends of the tension spring I being fixed to the top wall of the installation cavity and the bottom end of the pin respectively, for controlling the start and stop position of the blade.

[0015] As a further improvement to the above technical solution: the damping mechanism includes a rotating body fixedly sleeved on the outer wall of the top of the support frame, the rotating body rotating within the mounting base, a rotating frame rotatably mounted on the outer wall of the rotating body, two connecting rods II rotatably connected to the other end of the rotating frame, the other end of the connecting rods II rotatably connected to the mounting base, and a tension spring II fixed to the outer wall of the support frame, the other end of the tension spring II being fixed to the rotating frame.

[0016] As a further improvement to the above technical solution: a damping box is fixed on one side of the mounting base, and a connecting shaft is rotatably provided through one side of the damping box. One end of the connecting shaft is fixed to the connecting rod II and the rotating shaft of the mounting base. A partition is fixed inside the damping box, which divides the damping box into two chambers. Two sets of blades are fixed on the outer wall of the connecting shaft, and the two sets of blades are located in the corresponding chambers. The chambers are filled with damping fluid.

[0017] As a further improvement to the above technical solution: two limiting blocks are integrally formed on one side of the rotating frame. The limiting blocks are used to limit the connecting rod II and prevent the connecting rod II from being parallel to the rotating frame.

[0018] As a further improvement to the above technical solution: the protective ring is made of lightweight alloy material, the support frame is made of high-strength composite material, and the damping fluid is silicone oil.

[0019] As a further improvement to the above technical solution: a hemispherical structure is provided at the top of the pin, and the blade can move downward by inertia against the pin. In the initial state, the tension spring I keeps the pin tending to extend out of the mounting cavity.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. The obstacle avoidance UAV airborne lidar device disclosed in this invention has a protective mechanism that enables the UAV to effectively protect itself in the event of an abnormal power outage. The fixing component stabilizes the wings during normal flight, ensuring a stable flight attitude. After an abnormal power outage, the wings automatically fold under their own weight, and at the same time, the connecting rod I drives the sliding ring I to slide. With the help of the spiral groove and the slider, the sliding ring II drives the protective ring to flip, quickly forming a protective ring around the propeller blades. This eliminates the need for additional power, provides timely response, and reduces damage to the propeller blades caused by collisions in emergency situations such as crashes.

[0022] 2. The obstacle avoidance UAV airborne lidar device disclosed in this invention has a tight fit between the braking component and the protection mechanism. When the electromagnet block I is energized, the pin is far away from the blade and does not affect normal rotation. After the power is cut off, the tension spring I pulls the pin to reset, which can accurately insert into the blade through hole to achieve braking, so that the blade stops in a position parallel to the wing. This avoids the two from colliding when the protection ring flips, ensures that the protection action is completed smoothly, and reduces interference and loss between mechanisms.

[0023] 3. The obstacle avoidance UAV airborne lidar device disclosed in this invention has a damping mechanism that plays a significant buffering role during landing and descent. When the support frame contacts the ground, the rotating body drives the rotating frame to move, and the connecting rod II rotates accordingly and stretches the tension spring II. The elastic force of the tension spring II initially buffers the impact force. At the same time, the connecting rod II drives the connecting shaft to rotate, and the blades agitate the damping fluid in the cavity. The resistance generated by the damping fluid and the elastic force of the tension spring II work together to greatly reduce the impact force on the fuselage and lidar, effectively reducing equipment failures caused by vibration. The limiting block on the rotating frame can prevent the connecting rod II from being parallel to the rotating frame, avoid dead points in the mechanism, ensure that the damping mechanism can always work normally when under force, and improve the reliability of buffering.

[0024] 4. The obstacle avoidance UAV airborne lidar device disclosed in this invention has a wedge block and a mounting bracket in the fixed component that can stably limit the angle of the rotating base, ensuring the stability of the wing in the unfolded state. Electromagnet block II and spring II control the lifting and lowering of the mounting bracket. When energized, the mounting bracket presses down on the wedge block to facilitate wing adjustment. After power is cut off, the mounting bracket resets and releases the limit. The operation is simple and the response is rapid. It not only ensures the structural stability during flight, but also enables the wing to be folded smoothly in emergency situations.

[0025] 5. The obstacle avoidance UAV airborne lidar device disclosed in this invention uses sliding ring I and sliding ring II on the outer wall of the wing in cooperation with connecting rod I, spiral groove and slider, so that the protective ring can be rotated synchronously when the wing is folded or unfolded. The whole process is completed through mechanical structure linkage, without the need for additional control components, and the position of the protective ring can be automatically switched in flight and crash states.

[0026] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0028] Figure 1 This is a three-dimensional structural diagram of the obstacle avoidance UAV airborne lidar device of the present invention. Figure 1 ;

[0029] Figure 2 This is a three-dimensional structural diagram of the obstacle avoidance UAV airborne lidar device of the present invention. Figure 2 ;

[0030] Figure 3 For the present invention Figure 1 Schematic diagram of the mid-fuselage and wing structure;

[0031] Figure 4 For the present invention Figure 1 Schematic diagram of the mid-frame and support frame structure;

[0032] Figure 5 For the present invention Figure 3 Schematic diagram of the wing and connecting base structure;

[0033] Figure 6 For the present invention Figure 5 Partial sectional view of the middle sliding ring II;

[0034] Figure 7 For the present invention Figure 5 Cross-sectional view of the rotating base;

[0035] Figure 8 For the present invention Figure 3 Schematic diagram of the middle braking assembly;

[0036] Figure 9 For the present invention Figure 3 Partial sectional view of the middle card holder;

[0037] Figure 10 For the present invention Figure 4 Schematic diagram of the connection structure between the mounting base and the support frame;

[0038] Figure 11 For the present invention Figure 10 Cross-sectional view of the middle damping box.

[0039] Reference numerals: 1. Fuselage; 2. Wing; 3. Support frame; 4. LiDAR; 5. Protective ring; 6. Drive motor; 7. Propeller blade; 8. Frame; 9. Connecting base; 10. Rotating base; 11. Connecting rod I; 12. Sliding ring I; 13. Sliding ring II; 14. Wedge; 15. Spiral groove; 16. Slider; 17. Slide groove; 18. Guide rod; 19. Spring I; 20. Fixed frame; 21. Mounting cavity; 2 2. Electromagnet block I; 23. Pin; 24. Tension spring I; 25. Card holder; 26. Extension; 27. Ring body; 28. Guide post; 29. ​​Electromagnet block II; 30. Spring II; 31. Mounting base; 32. Rotating body; 33. Rotating frame; 34. Connecting rod II; 35. Limiting block; 36. Tension spring II; 37. Wrench; 38. Damping box; 39. Connecting shaft; 40. Blade; 41. Partition; 42. Chamber. Detailed Implementation

[0040] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0041] like Figure 1 , 2The obstacle avoidance UAV-borne lidar device shown includes a fuselage 1 and a lidar 4. The fuselage 1 serves as the main load-bearing structure of the entire device. Multiple wings 2 are foldably mounted on its outer side via a rotating connection structure. The number of wings 2 can be set according to the UAV's payload and flight requirements. A drive motor 6 is bolted to the outer end of each wing 2. The drive motor 6 is a brushless DC motor, characterized by high efficiency and long lifespan. Its output end is connected to a propeller 7 via a coupling. When the drive motor 6 is working, it drives the propeller 7 to rotate and generate lift.

[0042] like Figure 3 As shown, the protective mechanism is mounted on the wing 2. This mechanism includes a fixing component and a protective ring 5. The protective ring 5 is made of lightweight alloy material, fitted onto the wing 2, and can rotate relative to the wing 2. The fixing component is used to stably fix the wing 2 to the fuselage 1, keeping the wing 2 in an deployed state during normal drone flight. However, in the event of an abnormal power outage, the wing 2 will automatically fold under its own weight, simultaneously causing the protective ring 5 to flip, forming a protective enclosure around the propeller blades 7. Figure 5 As shown, the specific structure of the fixing assembly is as follows: six sets of connecting bases 9 are welded to the outside of the fuselage 1. Each set of connecting bases 9 consists of two oppositely arranged block structures, with a rotating base 10 rotatably mounted between the two connecting bases 9. The rotating base 10 can rotate around its own axis within the connecting base 9. One end of the wing 2 is welded to the rotating base 10, allowing it to fold or unfold as the rotating base 10 rotates. Figure 7 As shown, the top of the rotating base 10 has a sliding groove 17, which is a rectangular groove structure. A wedge 14 is slidably installed inside the groove. A guide hole is provided at the bottom of the wedge 14, and a guide rod 18 slides in the guide hole, allowing the wedge 14 to slide along the guide rod 18. The two ends of the guide rod 18 are fixed to the bottom wall of the sliding groove 17 by welding. A spring I 19 is sleeved on its outer wall. The two ends of the spring I 19 abut against the bottom wall of the sliding groove 17 and the bottom of the wedge 14 through spring seats, respectively. Under the action of the spring I 19, the wedge 14 has an upward tendency to move. A retaining seat 25 is installed on the top of the body 1. The retaining seat 25 can be raised and lowered in the vertical direction. It cooperates with the wedge 14 to limit the rotation of the rotating base 10.

[0043] like Figure 9As shown, the bottom of the mounting bracket 25 has an integrally formed extension 26, which passes through a through hole in the top of the fuselage 1 and can slide within the through hole. The bottom of the mounting bracket 25 also has an integrally formed annular body 27, inside which a guide post 28 slides. The lower end of the guide post 28 is welded to the top of the fuselage 1, providing guidance for the lifting and lowering of the mounting bracket 25. An electromagnet block II 29 is fixedly installed on the top of the guide post 28. A spring II 30 is also provided inside the annular body 27, with both ends of the spring II 30 contacting the top wall of the annular body 27 and the top of the guide post 28 respectively via spring seats. When the electromagnet block II 29 is energized, it generates a magnetic force that attracts the mounting bracket 25 downwards and compresses the spring II 30; when the electromagnet block II 29 is de-energized, the elastic force of the spring II 30 pushes the mounting bracket 25 upwards to reset. This method controls the lifting and lowering of the mounting bracket 25, allowing it to cooperate with the wedge block 14 to fix the wing 2.

[0044] A sliding ring II 13 is fitted onto the outer wall of wing 2, and a protective ring 5 is welded to the sliding ring II 13, rotating synchronously with the sliding ring II 13. A sliding ring I 12 is also slidably fitted onto the outer wall of wing 2. The sliding ring II 13 is rotatably mounted on one side of the sliding ring I 12 via a bearing, allowing the sliding ring II 13 to rotate relative to the sliding ring I 12. A connecting rod I 11 is rotatably connected to the connecting base 9 via a pin, with both ends of the connecting rod I 11 forming a rotating pair with the sliding ring I 12 and the connecting base 9, respectively. A helical groove 15 is formed on the outer wall of wing 2, and the helix angle of the helical groove 15 is set according to the required flip angle of the protective ring 5, typically 90°. Figure 6 As shown, a slider 16 is slidably installed in the spiral groove 15, and the slider 16 is fixed to the inner wall of the sliding ring II 13 by screws. When the wing 2 rotates, the connecting rod I 11 drives the sliding ring I 12 to slide along the wing 2, and the sliding ring I 12 in turn pushes the sliding ring II 13 to move. At this time, the slider 16 slides in the spiral groove 15, forcing the sliding ring II 13 to rotate, thereby causing the protective ring 5 to flip, realizing the switching between the protective ring 5 and the blade 7 being parallel or perpendicular, thus achieving the effect of protecting the blade 7.

[0045] like Figure 8 As shown, the braking assembly is also installed on the wing 2. Its function is to control the start and stop position of the blade 7, ensuring that the blade 7 will not collide with the protective ring 5 during the rotation of the protective ring 5, thus ensuring the smooth operation of the protective action.

[0046] In the braking assembly, the fixing frame 20 is bolted to the top of the wing 2, positioned directly below the rotor blade 7. A mounting cavity 21 is formed at the top of the fixing frame 20. An electromagnet block I 22 is fixed to the bottom wall of the mounting cavity 21 by screws. A pin 23, made of wear-resistant metal, is slidably mounted through the top of the mounting cavity 21, and its position corresponds to the through hole below the rotor blade 7. A tension spring I 24 is fitted onto the outer wall of the pin 23, with both ends of the tension spring I 24 fixedly connected to the top wall of the mounting cavity 21 and the bottom end of the pin 23, respectively. When the electromagnet block I22 is energized, the adsorption pin 23 moves downward and stretches the tension spring I24, causing the pin 23 to move away from the blade 7, allowing the blade 7 to rotate freely. When the electromagnet block I22 is de-energized, the tension of the tension spring I24 drives the pin 23 to return to its original position and insert into the through hole below the blade 7, thus braking the blade 7. Furthermore, the top of the pin 23 is hemispherical, allowing the blade 7 to move downward against the pin 23 under inertia or external force, thus enabling movement. This also prevents the protective ring 5 from contacting the blade 7 during the flipping process.

[0047] like Figure 4 As shown, the frame 8 is fixedly mounted to the bottom of the fuselage 1 with screws. The lidar 4 can be bolted to the inside of the frame 8. The frame 8 serves to fix and protect the lidar 4. The bottom of the frame 8 is connected to a support frame 3 via a mounting base 31. The support frame 3 is made of high-strength composite material and has good load-bearing capacity. A damping mechanism is provided on the mounting base 31. When the UAV lands, the damping mechanism can effectively buffer the impact force generated during the landing process and reduce the vibration impact on the fuselage 1 and internal components.

[0048] like Figure 10 As shown, in the damping mechanism, the rotating body 32 is welded and fixedly sleeved on the outer wall of the top of the support frame 3. The rotating body 32 is rotatably mounted in the mounting base 31 via bearings and can rotate relative to the mounting base 31. The outer wall of the rotating body 32 is rotatably connected to the rotating frame 33 via pins. The other end of the rotating frame 33 is rotatably connected to two connecting rods II 34 via pins. The two connecting rods II 34 are symmetrically arranged, and their other ends are rotatably connected to the mounting base 31 via pins. The outer wall of the support frame 3 is welded and fixedly fixed to the outer wall of the support frame 3. The upper end of the tension spring II 36 is welded and fixed to the rotating frame 33. When the support frame 3 is subjected to an impact force, it drives the rotating body 32 to rotate. The rotating body 32 then pushes the rotating frame 33 to move. The rotating frame 33 drives the two connecting rods II 34 to rotate, and at the same time stretches the tension spring II 36. The tension force generated by the tension spring II 36 plays a preliminary role in buffering the impact force.

[0049] like Figure 11As shown, a damping box 38 is bolted to one side of the mounting base 31. The damping box 38 adopts a sealed structure design, with an oil injection hole on its outer side, sealed by a sealing plug. A connecting shaft 39 is rotatably mounted through one side of the damping box 38. The connecting shaft 39 is fixedly connected to the connecting rod II 34 and the rotating shaft of the mounting base 31 via a coupling. When the connecting rod II 34 rotates, it drives the connecting shaft 39 to rotate synchronously. A partition 41 is welded to the inside of the damping box 38, dividing the interior of the damping box 38 into two independent chambers 42. Two sets of blades 40 are welded to the outer wall of the connecting shaft 39, and the two sets of blades 40 are located in the two chambers 42 respectively. The chambers 42 are filled with damping fluid, and silicone oil can be used as the damping fluid, which has good damping characteristics. When the connecting shaft 39 rotates, the blade 40 rotates in the chamber 42 and agitates the damping fluid. The damping fluid generates resistance to the rotation of the blade 40. This resistance, together with the tension of the tension spring II 36, further enhances the buffering effect against the impact of landing. In addition, a wrench 37 is fixedly sleeved on the outer wall of the connecting shaft 39, and the damping effect can be tested by moving 37.

[0050] Two limiting blocks 35 are integrally formed on one side of the rotating frame 33. The two limiting blocks 35 are respectively set for the two connecting rods II 34. Their positions can prevent the connecting rods II 34 from rotating to a state parallel to the rotating frame 33, thus preventing the connecting rods II 34 and the rotating frame 33 from forming a collinearity, preventing the occurrence of dead points in the mechanism, and ensuring that the damping mechanism can work normally under the action of impact force.

[0051] In actual use, during flight, the airborne lidar device for this obstacle avoidance UAV is powered on. Electromagnetic block II 29 is energized, generating magnetic force, causing the suction holder 25 to move downwards and compress spring II 30. Simultaneously, electromagnetic block I 22 is energized, causing the suction pin 23 to move downwards, moving away from the propeller blade 7. The operator pulls the wing 2 upwards, causing the wing 2 to drive the rotating base 10 to rotate within the two connecting bases 9. During rotation, connecting rod I 11 is pushed, which in turn drives sliding ring I 12 to slide along the wing 2 towards the rotating base 10. As sliding ring I 12 moves, it pulls sliding ring II 13 to move synchronously. Because the slider 16 within sliding ring II 13 is located within the helical groove 15, sliding ring II 13 rotates during sliding, causing the protective ring 5 to rotate to a position parallel to the propeller blade 7. When the wedge 14 on the rotating base 10 contacts the card holder 25, it is pressed down by the card holder 25. After the wedge 14 crosses the edge of the card holder 25 and enters the interior of the card holder 25, it is reset upward under the elastic force of the spring I 19. The outer side of the wedge 14 is in close contact with the inner wall of the card holder 25, limiting the angle of the rotating base 10, thereby fixing the position of the wing 2. At this time, the UAV can take off and fly normally, and the lidar 4 begins to perform detection work.

[0052] When the UAV prepares to land, the support frame 3 contacts the ground first. Since the two support frames 3 are arranged in a V-shape, the impact force generated during landing will drive the support frames 3 to rotate within the mounting base 31. The rotation of the support frame 3 causes the rotating body 32 to rotate, which in turn pushes the rotating frame 33 to move. The rotating frame 33 then drives the two connecting rods II 34 to rotate, moving the connection point between the connecting rods II 34 and the rotating frame 33 away from the tension spring II 36, causing the tension spring II 36 to be stretched and generate elastic force. Simultaneously, the rotation of the connecting rods II 34 drives the connecting shaft 39 to rotate. The blades 40 on the connecting shaft 39 rotate within the chamber 42, agitating the damping fluid, which generates resistance. The elastic force of the tension spring II 36 and the resistance of the damping fluid work together to buffer the landing impact force, reducing its impact on the fuselage 1 and the lidar 4.

[0053] If the drone malfunctions or crashes due to power depletion, the drive motor 6 is de-energized, and the propeller blade 7 continues to rotate due to inertia. Simultaneously, electromagnet block I 22 is de-energized, and pin 23 returns to its original position under the tension of spring I 24. When propeller blade 7 contacts pin 23, it compresses pin 23, causing it to move downwards and stretching spring I 24. As inertia gradually decreases, the mounting hole below propeller blade 7 aligns with pin 23, and pin 23 inserts into the mounting hole under the action of spring I 24. At this point, propeller blade 7 remains parallel to wing 2. Simultaneously, electromagnet block II 29 is de-energized, and the mounting bracket 25 moves upwards under the elastic force of spring II 30. One side of the mounting bracket 25 disengages from wedge block 14, and wing 2 flips downwards under its own weight, causing rotating base 10 to rotate within connecting base 9. During rotation, connecting rod I11 pushes sliding ring I12 to slide away from rotating base 10. Sliding ring I12 drives sliding ring II13 to move. Due to the cooperation of spiral groove 15 and slider 16, sliding ring II13 rotates in the opposite direction, causing protective ring 5 to rotate to a position perpendicular to wing 2. At this time, propeller blade 7 is located inside protective ring 5. After protective ring 5 moves, a deformation space is left between the outer side of propeller blade 7 and protective ring 5. During the tilting fall of the UAV, protective ring 5 can first contact the ground or obstacle, effectively protecting propeller blade 7 and preventing damage to propeller blade 7. At the same time, the damping mechanism on support frame 3 continues to function, working with tension spring II36 and blade 40 on connecting shaft 39 to buffer the impact force of the fall, improving the survival probability of the UAV after the fall.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An obstacle avoidance type unmanned aerial vehicle airborne laser radar device, characterized in that, Includes fuselage (1) and laser radar (4) fixedly connected to the lower side of fuselage (1). Multiple wings (2) can be folded on the outside of fuselage (1). Drive motors (6) for connecting propellers (7) are fixed at the outer ends of the wings (2). The wing (2) is equipped with a protective mechanism including a fixing component and a protective ring (5). The protective ring (5) is fitted onto the wing (2) and its rotation is controlled by the fixing component. In case of abnormal power failure, the wing (2) folds by gravity and drives the protective ring (5) to flip over to protect the propeller blade (7). The fixing component includes multiple sets of connecting bases (9) fixedly installed on the outside of the fuselage (1). Each set of connecting bases (9) has a rotating base (10) rotatably installed inside it. The end of the wing (2) away from the drive motor (6) is fixed inside the rotating base (10). A wedge (14) is slidably installed in the groove (17) at the top of the rotating base (10). A card seat (25) that cooperates with the wedge (14) is provided at the top of the body (1). An extension (26) is provided at the bottom of the card seat (25) and slides through the top of the body (1). An annular body (27) is integrally formed at the bottom of the card seat (25). A guide post (28) is slidably installed in the annular body (27). The guide post (28) is fixed at the top of the body (1). An electromagnet block II (29) is fixed at the top of the guide post (28). The outer wall of the wing (2) is fixedly fitted with a sliding ring II (13) for fixing the protective ring (5). The outer wall of the wing (2) is slidably fitted with a sliding ring I (12). The sliding ring II (13) rotates on one side of the sliding ring I (12) through a bearing. A connecting rod I (11) is rotatably arranged between the sliding ring I (12) and the connecting base (9). A slider (16) is slidably arranged in the spiral groove (15) opened on the outer wall of the wing (2). The slider (16) is fixed to the inner wall of the sliding ring II (13). The protective ring (5) is flipped by the guide of the spiral groove (15) and the drive of the connecting rod I (11). The bottom of the fuselage (1) is provided with a frame (8) for placing the lidar (4), and the bottom of the frame (8) is connected to the support frame (3) via a mounting base (31). 2.The obstacle avoidance UAV on-board laser radar device according to claim 1, characterized in that, The bottom of the wedge (14) is slidably provided with a guide rod (18) whose end is fixed to the bottom wall of the groove (17). The two ends of the spring I (19) sleeved on the outer wall of the guide rod (18) respectively abut against the bottom wall of the groove (17) and the bottom of the wedge (14). 3.The obstacle avoidance UAV on-board laser radar device according to claim 2, characterized in that, The annular body (27) is equipped with a spring II (30). The two ends of the spring II (30) abut against the top wall of the annular body (27) and the top of the guide column (28) respectively. The lifting and lowering of the card seat (25) is controlled by the electromagnet block II (29) and the spring II (30). 4.The obstacle avoidance UAV on-board laser radar device of claim 1, wherein, It also includes a braking assembly, which includes a fixed frame (20) fixedly installed on the top of the wing (2). The fixed frame (20) is located below the blade (7). The top of the fixed frame (20) has an installation cavity (21) and the bottom wall is fixed with an electromagnet block I (22). The top of the installation cavity (21) is slidably provided with a pin (23) that cooperates with the through hole of the blade (7). The outer wall of the pin (23) is fitted with a tension spring I (24). The two ends of the tension spring I (24) are respectively fixed to the top wall of the installation cavity (21) and the bottom end of the pin (23) to control the start and stop position of the blade (7).

5. The obstacle avoidance UAV airborne lidar device according to claim 1, characterized in that, The mounting base (31) is provided with a damping mechanism, which includes a rotating body (32) fixedly sleeved on the outer wall of the top of the support frame (3). The rotating body (32) rotates within the mounting base (31). A rotating frame (33) is rotatably provided on the outer wall of the rotating body (32). Two connecting rods II (34) are rotatably connected between the rotating frame (33) and the other end of the mounting base (31). A tension spring II (36) is fixedly installed between the outer wall of the support frame (3) and the rotating frame (33).

6. The obstacle avoidance UAV airborne lidar device according to claim 5, characterized in that, A damping box (38) is fixedly installed on the outside of the mounting base (31). A connecting shaft (39) is rotatably installed through one side of the damping box (38). One end of the connecting shaft (39) is fixed to the connecting rod II (34) and the rotating shaft of the mounting base (31). A partition (41) is fixed inside the damping box (38). The partition (41) divides the damping box (38) into two chambers (42). Two sets of blades (40) are fixed on the outer wall of the connecting shaft (39). The two sets of blades (40) are located in the corresponding chambers (42). The chambers (42) are filled with damping fluid.

7. The obstacle avoidance UAV airborne lidar device according to claim 5, characterized in that, The rotating frame (33) has two integrally formed limiting blocks (35) on the side near the rotating body (32). The limiting blocks (35) are used to limit the connecting rod II (34) to prevent the connecting rod II (34) from being parallel to the rotating frame (33).

8. The obstacle avoidance UAV airborne lidar device according to claim 6, characterized in that, The protective ring (5) is made of lightweight alloy material, the support frame (3) is made of high-strength composite material, and the damping fluid is silicone oil.

9. The obstacle avoidance UAV airborne lidar device according to claim 4, characterized in that, The top of the pin (23) is a hemispherical structure. The blade (7) can move downward by inertia against the pin (23). The tension spring I (24) keeps the pin (23) extended out of the mounting cavity (21) in the initial state.

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