Anti-collision structure and anti-collision method for inspection unmanned aerial vehicle
By integrating retractable collision avoidance components into the drone's arm, and combining sensor monitoring and mechanical structure response, the problems of insufficient obstacle avoidance ability and structural fragility of drones in complex environments are solved, achieving efficient collision protection and low-cost maintenance.
Patent Information
- Application Number
- CN202511486282.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2025-12-12
AI Technical Summary
Existing drones lack environmental perception and obstacle avoidance capabilities in complex parking lot environments. Their airframes are fragile, have poor impact resistance, and collisions can result in severe consequences and high loss rates.
Design a retractable and foldable anti-collision component to be integrated into the hollow arm of a multi-rotor drone. Utilize sensors to monitor the environment in real time and quickly deploy in the event of a collision risk to form a V-shaped or triangular support structure, absorbing and dispersing impact energy to protect core components.
It improves the protective performance of drones, reduces collision damage, maintains flight efficiency and endurance, and significantly reduces maintenance costs.
Smart Images
Figure CN121106786A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of unmanned aerial vehicle structure, and particularly relates to a collision avoidance structure and method for a patrol unmanned aerial vehicle. BACKGROUND
[0002] With the rapid development of smart city and Internet of Things technology, unmanned aerial vehicles are increasingly applied to automatic patrol tasks in closed or semi-closed spaces due to their high maneuverability and flexible perspective. Among them, underground or large multi-story parking lots have become a typical application scenario. In this scenario, unmanned aerial vehicles can autonomously perform tasks such as parking space state identification, vehicle illegal parking monitoring, facility state patrol, and security monitoring, effectively improving the management efficiency and intelligent level of the parking lot. However, compared with open airspace, the internal environment of the parking lot is challenging for unmanned aerial vehicle flight: the space structure is complex, with a large number of obstacles such as ventilation ducts, fire sprinkler heads, lighting fixtures, low beams, load-bearing columns, and parked vehicles. The flight path is usually narrow, and due to the movement of vehicles and personnel, the environment is in dynamic change, which greatly increases the risk of unmanned aerial vehicle flight.
[0003] Currently, unmanned aerial vehicles applied to such scenarios are mainly commercial quadcopters and other rotorcraft. Although they have the advantages of vertical take-off and landing and hovering, they still face serious technical problems when flying in complex environments such as parking lots, mainly in:
[0004] (1) Insufficient environmental perception and obstacle avoidance capability. Existing obstacle avoidance systems, such as ultrasonic, infrared, or visual sensors, have significantly reduced reliability and accuracy in poor lighting and sparse texture environments, leading to false positives or false negatives, and are unable to cope with all potential collision risks.
[0005] (2) Weak body structure, poor collision resistance. Commercial unmanned aerial vehicles, in pursuit of endurance and payload, usually use lightweight but brittle materials (such as carbon fiber, engineering plastic) to manufacture the body, arms, and propellers. Once a collision occurs, even a low-speed impact can easily cause arm breakage, propeller damage, or body structure damage, resulting in costly repair or replacement costs.
[0006] (3) Serious consequences of collision, high loss rate. A minor collision can trigger a chain reaction of unmanned aerial vehicle loss of control and crash. Falling from several meters in the air to the hard ground or vehicles can cause secondary damage to the flight control system, battery, gimbal camera, and other core components, resulting in a failed mission and significant economic losses.
[0007] Therefore, there is an urgent need to provide a collision avoidance structure and method for a patrol unmanned aerial vehicle to solve the above technical problems. SUMMARY
[0008] In view of the problems of the prior art, the present application provides a collision avoidance structure and method for a patrol unmanned aerial vehicle, which optimizes the structure of the patrol unmanned aerial vehicle to improve the self-protection performance of the unmanned aerial vehicle and reduce or avoid collision loss.
[0009] The technical solution of the present application is as follows:
[0010] A collision avoidance structure for a patrol unmanned aerial vehicle, the unmanned aerial vehicle being a multi-rotor unmanned aerial vehicle, comprising a fuselage, and a plurality of arms extending from the fuselage to the periphery, the upper surface of the arm being provided with a propeller blade and a first motor; the output end of the propeller blade and the first motor is fixedly connected or drivingly connected; a flight control unit is arranged in the fuselage;
[0011] The arm is a hollow pipe, and a retractable and foldable collision avoidance assembly is fixedly arranged inside the arm; the collision avoidance assembly comprises a telescopic rod and two arms; one end of the telescopic rod is elastically connected to the inside of the hollow pipe, and the other end is hingedly connected to the two arms; each arm is provided with a first torsional spring at the hinged connection with the telescopic rod;
[0012] Based on the fuselage, the compressed first torsional spring has a spring force supporting the arms to open upward or downward; after the telescopic rod extends outward, the arms are unfolded, the arms and the telescopic rod form an acute angle, the acute angle is directed toward the inside of the fuselage, and the outer end of the arm is higher than the height of the propeller blade;
[0013] The fuselage is provided with a sensor for real-time monitoring of the flight environment and attitude of the unmanned aerial vehicle; the sensor and the first motor are electrically connected to the flight control unit respectively; the flight control unit is in control connection with the collision avoidance assembly.
[0014] The core of the present application is to integrate the retractable and foldable collision avoidance assembly inside the hollow arm of the multi-rotor unmanned aerial vehicle, realizing the unification of protection performance and flight efficiency. In normal flight, the assembly is completely folded in the arm, maintaining the streamlined aerodynamic shape of the unmanned aerial vehicle, effectively reducing wind resistance and ensuring maneuverability and endurance.
[0015] When facing collision risk, the built-in telescopic rod extends outward, releasing the two hingedly connected arms. Under the driving of the pre-compressed first torsional spring, the two arms can quickly unfold upward and downward, forming a V-shaped protection structure with the telescopic rod at an acute angle. The unfolding mechanism responds quickly and relies on the pre-stored energy of the torsional spring to realize millisecond-level action, which gains critical time for responding to sudden collisions.
[0016] The unfolded arms build a three-dimensional protective barrier above and below the propeller. The multiple arms and their arms can effectively block obstacles (such as pipelines, beams, and vehicles) from the side and bottom. The anti-collision structure is in contact with the obstacle first, and through the deformation of the arm itself and the torsional spring at the hinge, the impact energy is absorbed and dispersed, thereby directly protecting the vulnerable propeller blades and motor, significantly reducing the risk of damage and maintenance costs. With the buffering protection of the arm, the propeller can still continue to operate, creating a valuable opportunity for the UAV to adjust its attitude and restore stable flight.
[0017] As a further optimization of the above scheme, the anti-collision assembly further comprises two support arms, each of which is located on the same side as the two arms; one end of the support arm is hinged to the telescopic rod; and each support arm is provided with a second torsional spring at the hinge with the telescopic rod;
[0018] Based on the fuselage, the compressed second torsional spring has a spring force supporting the support arm to open upward or downward; after unfolding, the free end of the support arm is in contact with the top of the arm, and the support arm, the arm and the telescopic rod form a stable triangular support structure.
[0019] When the external force of the collision is too large, the support arm can push against the arm to prevent the arm from folding again and the height of the arm from being lower than the propeller blades.
[0020] As a further optimization of the above scheme, the telescopic rod body is circumferentially contracted near the outer end to form a first contraction groove for accommodating the arm.
[0021] By providing the first contraction groove, a dedicated accommodation space is provided for the arm, making the anti-collision assembly more compact and more integral when contracted, effectively reducing the accommodation volume and reducing the overall weight of the fuselage.
[0022] As a further optimization of the above scheme, the telescopic rod is circumferentially contracted at the first contraction groove to form a second contraction groove for accommodating the support arm.
[0023] Based on the first contraction groove, the second contraction groove is added to specifically accommodate the support arm, achieving an orderly and compact layout of the arm and the support arm in the contracted state, further optimizing the use of space and avoiding interference between components.
[0024] As a further optimization of the above scheme, the telescopic rod body is circumferentially expanded away from the outer end to form a limiting protrusion; and the hollow pipe has a contraction protrusion protruding inward near the outermost end.
[0025] The radial dimension of the telescopic rod and the folded arm is less than or equal to the radial dimension between the contraction protrusions;
[0026] The radial dimension of the limiting protrusion is greater than the radial dimension between the contraction protrusions.
[0027] The reliable mechanical limiting is realized by matching the limiting protrusion on the telescopic rod with the contraction protrusion of the pipeline opening, and the telescopic rod can be effectively prevented from being completely pulled out. Meanwhile, the size of the folded assembly is smaller than the contraction protrusion, so that the assembly can be smoothly accommodated into the arm.
[0028] As a further optimization of the above scheme, the tail end of the telescopic rod is provided with a hollow groove; a spring is arranged in the hollow pipeline; one end of the spring is limited in the hollow groove, and the other end extends to the deep part of the hollow pipeline.
[0029] The spring is arranged to provide power for the telescopic rod to pop out. When colliding, the telescopic rod and the spring can also absorb part of the energy to avoid rigid collision.
[0030] As a further optimization of the above scheme, a second motor is fixedly arranged on the outer surface of the arm; the output end of the second motor is hingedly connected with a hook; the hook comprises a latch portion and a hinged portion which are integrally connected and form an included angle.
[0031] The arm is provided with a insertion hole through which the latch portion passes; the telescopic rod is provided with an insertion slot matched with the latch portion.
[0032] The second motor is electrically connected with the flight control unit.
[0033] When the sensor identifies that the unmanned aerial vehicle is about to collide or the flight attitude is abnormal, the hook and the telescopic rod are separated by the second motor, the telescopic rod pops out under the action of the spring, and the anti-collision assembly is unfolded as a whole.
[0034] As a further optimization of the above scheme, the upper surface and the lower surface of the fuselage are respectively fixedly provided with a plurality of outwardly extending elastic anti-collision rods, wherein the height of the free end of the elastic anti-collision rod located on the upper surface is greater than the height of the propeller blade.
[0035] The upper and lower elastic anti-collision rods provide double buffering protection, preferentially absorb collision energy, directly protect the propeller and the core components of the fuselage, and further avoid rigid collision of the unmanned aerial vehicle.
[0036] As a further optimization of the above scheme, the maximum angle between the unfolding arm and the telescopic rod is α, and 45°<α≤85°; the maximum angle between the supporting arm and the telescopic rod is β, and 85°≥β>30°.
[0037] The application further provides a collision avoidance method for a patrol unmanned aerial vehicle, which applies the above-mentioned collision avoidance structure for a patrol unmanned aerial vehicle; the flight environment and flight posture of the unmanned aerial vehicle are monitored in real time through the sensor, and the flight control unit is used to determine whether there is a collision risk or an abnormal posture;
[0038] When it is determined that there is a collision risk or an abnormal posture, the flight control unit controls the activity of the anti-collision assembly, the telescopic rods are popped out, and the two unfolding arms on each telescopic rod are unfolded to the upper side and the lower side respectively under the action of the pre-stored elastic force of the first torsional spring.
[0039] Further, the sensor includes but is not limited to one or more of a speed sensor, a visual sensor, a laser radar, an ultrasonic sensor and a posture sensor. The posture sensor is an inertial measurement unit or a gyroscope.
[0040] Specifically, taking the gyroscope as an example, when the orientation of the unmanned aerial vehicle repeatedly changes to any direction within a short time, it can be identified that the unmanned aerial vehicle is falling. Taking the laser radar and the speed sensor as an example, the laser radar is used to identify the distance between the unmanned aerial vehicle itself and the obstacle, and when it is identified that the distance is too close and the unmanned aerial vehicle cannot avoid the obstacle at the current speed, it is determined that there is a collision risk.
[0041] Compared with the prior art, the application provides a collision avoidance structure and a collision avoidance method for a patrol unmanned aerial vehicle, which have the following advantages:
[0042] (1) The anti-collision assembly is designed as a telescopic structure that can be accommodated in the arm, which ensures the protection capability while taking into account the maneuverability and endurance during flight.
[0043] (2) The combination of sensor early warning and mechanical structure response realizes the rapid linkage from risk identification to protection deployment, and through the buffer mechanism composed of telescopic rods, unfolding arms and supporting arms, the collision energy is effectively absorbed and dispersed, providing effective buffering and protection for the core components such as the fuselage and the propeller blades.
[0044] (3) When a collision occurs, the anti-collision structure preferentially contacts the obstacle, absorbs and disperses the impact energy through the deformation of the unfolding arm and the torsional spring at the hinge, thereby directly protecting the vulnerable propeller blades and motors, significantly reducing the damage risk and maintenance cost. Under the buffering protection of the unfolding arms and telescopic rods, the propeller still has the possibility of continuous operation, creating a valuable opportunity for the unmanned aerial vehicle to adjust its posture and restore stable flight.
[0045] (4) The combination of the anti-collision assembly and the anti-collision rod forms a full-range protection for the unmanned aerial vehicle body, avoiding serious damage caused by rigid collision. BRIEF DESCRIPTION OF DRAWINGS
[0046] Fig. 1Figure 6 is a side view of the unmanned aerial vehicle after the anti-collision mechanism is unfolded according to an embodiment of the present application;
[0047] Fig. 2 Figure 7 is a side view of the unmanned aerial vehicle after the anti-collision mechanism is partially folded according to an embodiment of the present application;
[0048] Fig. 3 Figure 8 is a side view of the unmanned aerial vehicle without the anti-collision mechanism according to an embodiment of the present application;
[0049] Fig. 4 Figure 9 is a structure diagram of the telescopic rod according to an embodiment of the present application.
[0050] Reference signs:
[0051] 1, body;
[0052] 2, arm; 21, propeller blade; 22, second motor; 23, hook; 24, contraction protrusion; 25, spring; 26, insertion hole; 27, hollow pipe;
[0053] 3, telescopic rod; 31, first contraction groove; 32, second contraction groove; 33, limiting protrusion; 34, insertion slot; 35, hollow groove;
[0054] 4, arm unfolding; 41, first torsional spring;
[0055] 5, support arm; 51, first torsional spring;
[0056] 6, elastic anti-collision rod. DETAILED DESCRIPTION
[0057] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0058] As Figs. 1 to 4As shown, the embodiment provides an anti-collision structure of a patrol unmanned aerial vehicle. Specifically, the unmanned aerial vehicle is a quadcopter unmanned aerial vehicle, which comprises a fuselage 1, and four arms 2 extending from the fuselage 1 to the side, and a first motor and a second motor 22 fixed on the upper surface of the arm 2; the propeller blade 21 is fixedly connected with the output end of the first motor; the fuselage 1 is provided with a flight control unit and a sensor. Specifically, the sensor comprises a speed sensor, a gyroscope and a radar. The speed sensor is used to monitor the flight speed of the unmanned aerial vehicle in real time, the gyroscope is used to monitor the flight attitude of the unmanned aerial vehicle in real time, and the radar is used to detect the distance between the unmanned aerial vehicle itself and the possible obstacles in real time. The first motor, the second motor 22 and the sensor are respectively electrically connected and communicated with the flight control unit.
[0059] The arm 2 is a hollow pipe 27, which has a inwardly protruding contraction protrusion 24 near the outermost end; the arm 2 is provided with a hook 23 fixed on the outer surface; the hook 23 comprises a latch portion and a hinge portion which are integrally connected and form an included angle; the hinge portion is hinged with the output end of the second motor 22. The arm 2 is provided with a insertion hole 26 for the latch portion to pass through.
[0060] The hollow pipe 27 is provided with an extendable and foldable anti-collision assembly, each anti-collision assembly comprising an extension rod 3 and two extension arms 4, two support arms 5.
[0061] Specifically, the outer end of the extension rod 3 is hinged with one end of the extension arm 4. The part of the extension rod 3 near the extension arm 4 is circumferentially contracted to form a first contraction groove 31 for accommodating the extension arm 4. The part of the extension rod 3 near the first contraction groove 31 is circumferentially contracted to form a second contraction groove 32 for accommodating the support arm 5. One end of the support arm 5 is hinged with the extension rod 3 in the second contraction groove 32.
[0062] By providing the first contraction groove 31 and the second contraction groove 32, the extension arm 4 and the support arm 5 are respectively provided with a dedicated accommodation space, so that the anti-collision assembly is more compact when contracted, the integrity is stronger, the accommodation volume is effectively reduced, and the overall weight of the fuselage 1 is reduced.
[0063] Each extension arm 4 is provided with a first torsion spring 51 at the hinged portion with the extension rod 3, and each support arm 5 is provided with a second torsion spring at the hinged portion with the extension rod 3. Based on the fuselage 1, the compressed first torsion spring 51 has a elastic force for supporting the extension arm 4 to open upward or downward, and the compressed second torsion spring has a elastic force for supporting the support arm 5 to open upward or downward.
[0064] The extension rod 3 is provided with a insertion slot 34 matched with the latch portion.
[0065] In the embodiment, the telescopic rod 3 is circumferentially expanded at a portion away from the outer end to form a limiting protrusion 33; the radial dimension of the telescopic rod 3 and the folded spread arm 4 is smaller than the radial dimension between the contraction protrusions 24; the radial dimension of the limiting protrusion 33 is greater than the radial dimension between the contraction protrusions 24.
[0066] The limiting protrusion 33 on the telescopic rod 3 cooperates with the contraction protrusion 24 of the pipeline opening to achieve reliable mechanical limiting, which can effectively prevent the telescopic rod 3 from being completely pulled out. At the same time, the size of the folded assembly is smaller than the contraction protrusion 24, which ensures that it can be smoothly accommodated into the arm 2.
[0067] One end of the telescopic rod 3 is elastically connected to the inside of the hollow pipeline 27. Specifically, the hollow pipeline 27 is provided with a spring 25. The telescopic rod 3 forms a hollow groove 35 inwardly at the expanded portion. One end of the spring 25 is limited in the hollow groove 35, and the other end extends to the deep part of the hollow pipeline 27. By providing the spring 25, power is provided for the telescopic rod 3 to pop out.
[0068] The upper surface and the lower surface of the fuselage 1 are respectively fixedly provided with a plurality of outwardly extending and slightly inclined elastic anti-collision rods 6, wherein the height of the free end of the elastic anti-collision rod 6 located on the upper surface is greater than the height of the propeller blade 21. The upper and lower elastic anti-collision rods 6 provide double buffering protection.
[0069] After the anti-collision assembly is unfolded, the spread arm 4 and the support arm 5 are opened in sequence, the telescopic rod 3 and the spread arm 4 form an included angle of 50°, and the telescopic rod 3 and the support arm 5 form an included angle of 35°. The free end of the support arm 5 abuts against the spread arm 4, and the spread arm 4, the support arm 5 and the telescopic rod 3 form a stable triangular support structure. At this time, the outer end of the spread arm 4 exceeds the height of the propeller blade 21.
[0070] The embodiment also provides an anti-collision method of a patrol unmanned aerial vehicle, comprising the steps of:
[0071] S1, before the unmanned aerial vehicle takes off, fold the anti-collision assembly, that is, after the spread arm 4 and the support arm 5 are accommodated, the telescopic rod 3 is pressed into the hollow pipeline 27 until the hook 23 and the slot 34 are connected (manually or automatically), and the limiting and fixing are completed. At this time, the spring 25 is in a compressed state.
[0072] S2, after the unmanned aerial vehicle takes off, the flight attitude and the flight environment of the unmanned aerial vehicle are monitored in real time through a sensor, and whether there is a collision risk or an abnormal attitude is judged by a flight control unit. Specifically, taking a gyroscope as an example, when it is identified that the direction of the unmanned aerial vehicle repeatedly changes to any number of directions within a short time (such as 1 second), it can be identified that the unmanned aerial vehicle is falling (that is, an abnormal attitude). Taking a laser radar and a speed sensor as an example, when the laser radar identifies that the unmanned aerial vehicle is too close to an obstacle, and the current speed of the unmanned aerial vehicle cannot realize obstacle avoidance, it is judged that there is a collision risk.
[0073] S3, when judging the existence of collision risk or abnormal posture, the flight control unit controls the anti-collision assembly to be active. Specifically, the second motor 22 drives the hook 23 to open outward, and cancels the limit of the anti-collision assembly. At this time, the spring 25 releases the stored elastic force, pushes the telescopic rod 3 to pop out outward, and the spread arms 4 and the support arms 5 are opened in turn under the elastic force of the first torsional spring 51 and the second torsional spring, forming a triangular stable support. The two spread arms 4 on each telescopic rod 3 form a V-shaped structure. A plurality of V-shaped structures and elastic anti-collision rods 6 form a full-range protection for the unmanned aerial vehicle.
[0074] S4, when collision or falling occurs, the obstacles and the ground are mostly or only in contact with the spread arms 4 and the elastic anti-collision rods 6. Since the elastic anti-collision rods 6 have elasticity, the spread arms 4 have the support of the first torsional spring 51, and the telescopic rod 3 has the support of the spring 25, the whole unmanned aerial vehicle will not produce a sharp rigid impact, and the energy can be absorbed and buffered through the elastic structure.
[0075] According to the disclosure and teaching of the above description, those skilled in the art of the present application can also make changes and modifications to the above embodiments. Therefore, the present application is not limited to the specific embodiments disclosed and described above, and some modifications and changes of the present application should fall within the protection scope of the claims of the present application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the present application.
Claims
1. A collision avoidance structure for an inspection unmanned aerial vehicle, characterized in that, The unmanned aircraft is a multi-rotor drone, including a fuselage and multiple arms extending from the fuselage to the periphery. The upper surface of the arms is provided with propeller blades and a first motor. The output ends of the propeller blades and the first motor are fixedly connected or transmitted through the fuselage. A flight control unit is provided inside the fuselage. The arm is a hollow tube with a retractable and foldable anti-collision component fixed inside; the anti-collision component includes a telescopic rod and two extension arms; one end of the telescopic rod is elastically telescopically connected to the inside of the hollow tube, and the other end is hinged to the two extension arms respectively; each extension arm is provided with a first torsion spring at the hinge point with the telescopic rod. Based on the fuselage, the compressed first torsion spring has an elastic force that supports the extension arm to open to the upper or lower side; After the telescopic rod extends outward, the arm unfolds, and the arm and the telescopic rod form an acute angle, with the acute angle pointing inward towards the fuselage. The height of the outer end of the arm exceeds the height of the propeller blade. The fuselage is equipped with sensors for real-time monitoring of the unmanned aerial vehicle's flight environment and attitude; the sensors and the first motor are respectively electrically connected to the flight control unit; the flight control unit is controlled by the collision avoidance component.
2. The anti-collision structure for an inspection unmanned aerial vehicle according to claim 1, characterized in that, The anti-collision assembly also includes two support arms, which are located on the same side as the two extension arms; one end of each support arm is hinged to the telescopic rod; each support arm is provided with a second torsion spring at the hinge point with the telescopic rod. Based on the fuselage, the compressed second torsion spring has an elastic force that supports the support arm to open to the upper or lower side; after unfolding, the free end of the support arm is in contact with the extension arm, and the support arm, extension arm and telescopic rod form a stable triangular support structure.
3. The anti-collision structure for an inspection drone according to claim 2, characterized in that, The telescopic rod body contracts circumferentially near its outer end, forming a first contraction groove to accommodate the extended arm.
4. The anti-collision structure for an inspection unmanned aerial vehicle according to claim 3, characterized in that, The telescopic rod partially contracts circumferentially at the first contraction groove to form a second contraction groove for accommodating the support arm.
5. The anti-collision structure for an inspection unmanned aerial vehicle according to claim 1, characterized in that, The telescopic rod body expands circumferentially in the part away from the outer end to form a limiting protrusion; the hollow pipe has an inwardly protruding contraction protrusion near the outermost end. The radial dimension of the telescopic rod and the extended arm after folding is less than or equal to the radial dimension between the contracting protrusions; The radial dimension of the limiting protrusion is greater than the radial dimension between the contraction protrusions.
6. The anti-collision structure for an inspection unmanned aerial vehicle according to claim 5, characterized in that, The telescopic rod has a hollow groove at its tail end; a spring is installed inside the hollow pipe; one end of the spring is confined within the hollow groove, and the other end extends deep into the hollow pipe.
7. The anti-collision structure for an inspection unmanned aerial vehicle according to claim 6, characterized in that, A second motor is fixedly mounted on the outer surface of the arm; the output end of the second motor is hinged to a hook; the hook includes an integrally connected pin portion and a hinge portion forming an angle; The arm is provided with a hole for the pin to pass through; the telescopic rod is provided with a slot that mates with the pin. The second motor is electrically connected to the flight control unit.
8. The anti-collision structure for an inspection unmanned aerial vehicle according to claim 1, characterized in that, Multiple outwardly extending elastic anti-collision bars are fixedly provided on the upper and lower surfaces of the fuselage, wherein the height of the free end of the elastic anti-collision bar located on the upper surface is greater than the height of the propeller blade.
9. The anti-collision structure for an inspection unmanned aerial vehicle according to claim 2, characterized in that, The maximum angle between the extension arm and the telescopic rod is α, and 45° < α ≤ 85°; the maximum angle between the support arm and the telescopic rod is β, and 85° ≥ β > 30°.
10. A collision avoidance method for an inspection unmanned aerial vehicle (UAV), employing a collision avoidance structure for an inspection UAV as described in any one of claims 1 to 9; characterized in that, The sensors monitor the flight environment and flight attitude of the unmanned aircraft in real time, and the flight control unit determines whether there is a risk of collision or abnormal attitude. When a collision risk or abnormal attitude is detected, the flight control unit controls the collision avoidance component to move, the telescopic rods extend, and the two arms on each telescopic rods extend upward and downward respectively under the pre-stored elastic force of the first torsion spring.