Unmanned aerial vehicle radar obstacle avoidance detection device and detection method for terrain exploration

Abstract

The invention relates to an unmanned aerial vehicle radar obstacle avoidance detection device for terrain exploration and a detection method, and belongs to the technical field of terrain exploration, the device comprises an unmanned aerial vehicle composed of a fuselage and wings, a mounting bracket is fixed at the bottom of the fuselage, and a laser detection radar is arranged at the bottom of the mounting bracket; extension frames are fixed to the two sides of the mounting support respectively, a protective cover is rotationally arranged on one side of each extension frame, the tops of the extension frames are attracted to the protective covers through positioning base fixing electromagnetic blocks, and magnets are arranged on the two sides. Two floating bags are fixed to the top of the protective cover through a connecting frame, and an inflation mechanism is arranged on the protective cover. Two sets of telescopic protective fences matched with the protective cover through driving assemblies are arranged in the extending frame, when the unmanned aerial vehicle falls, the protective cover turns over, meanwhile, the air inflation mechanism inflates the floating bag, and the telescopic protective fences stretch out to jointly protect the laser detection radar. The problem that in the prior art, when an unmanned aerial vehicle falls, particularly falls on water, reliable buoyancy supporting and waterproof protection are lacked is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of terrain exploration, and relates to an unmanned aerial vehicle radar obstacle avoidance detection device and method for terrain exploration. BACKGROUND

[0002] In the field of terrain exploration, unmanned aerial vehicles are widely used due to their flexibility and efficiency. The laser detection radar, as the core component of the unmanned aerial vehicle for obstacle avoidance and terrain scanning, directly affects the success or failure of the exploration task. However, when the unmanned aerial vehicle performs tasks in complex terrain environments, it is difficult to completely avoid falling due to signal interference, terrain changes, and other reasons. Once it falls, the laser detection radar is easily damaged due to collisions, water immersion, etc., not only increasing equipment maintenance costs, but also possibly interrupting the exploration task and causing data loss.

[0003] Currently, there have been related researches on protective devices for unmanned aerial vehicle laser radars. Some devices set a reversible protective cover outside the radar to achieve mechanical shielding and reduce collision damage when falling. Some devices are equipped with inflatable airbags to reduce the impact of falling by gas cushioning. However, the existing technology has obvious limitations, especially when falling on water. The laser radar lacks reliable buoyancy support and waterproof protection, resulting in a high damage rate and limited use scenarios. SUMMARY

[0004] Therefore, the present application provides an unmanned aerial vehicle radar obstacle avoidance detection device and method for terrain exploration to solve the problem of high damage rate and limited use scenarios due to the lack of reliable buoyancy support and waterproof protection when the unmanned aerial vehicle falls on water in the prior art.

[0005] To achieve the above purpose, the present application provides the following technical solutions:

[0006] An unmanned aerial vehicle radar obstacle avoidance detection device for terrain exploration includes an unmanned aerial vehicle composed of a fuselage and wings. The bottom of the fuselage is fixedly provided with a mounting bracket, and the bottom of the mounting bracket is fixedly provided with a laser detection radar.

[0007] Two extension frames are fixedly provided on both sides of the mounting bracket. A protective cover for protecting the laser detection radar is rotatably provided on one side of the extension frame. Two positioning seats are fixedly provided on the top of the extension frame. An electromagnetic block is fixedly provided on the bottom of the positioning seat and is adsorbed to the protective cover. The electromagnetic block is powered off when falling, and the protective cover is flipped under gravity. Magnets are fixedly provided on both sides of the extension frame for fixing the protective cover.

[0008] Two groups of floating capsules are fixedly provided on the top of the protective cover through a connecting frame. An inflation mechanism is provided on the protective cover. After the protective cover is flipped, the inflation mechanism inflates the floating capsules to make them swell, so that the laser detection radar is prevented from being submerged in water when falling on the water surface.

[0009] Two groups of telescopic guardrails are arranged in the corresponding extension frames respectively, and are used in cooperation with the protective cover through the driving assembly, and after the protective cover is turned down, the two groups of telescopic guardrails are driven to extend out through the driving assembly, so as to protect the other two sides of the laser detection radar.

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

[0011] The two sides of the mounting bracket are provided with a slot II, and the slot II is inserted with an insertion block II, one side of the insertion block II is fixedly provided with a connecting seat, one side of the connecting seat is fixedly provided with an insertion block I, and one side of the extension frame is provided with a slot I which is inserted and matched with the insertion block I.

[0012] As a further improvement of the above technical solution:

[0013] The inflation mechanism comprises a reaction cylinder embedded on the protective cover, a hollow cavity is arranged in the reaction cylinder, an end cover is threadedly arranged at the outer end of the reaction cylinder, a glass sleeve is arranged in the hollow cavity, a partition plate is integrally formed in the glass sleeve, the glass sleeve is divided into two containing chambers for containing citric acid solution and sodium bicarbonate powder respectively by the partition plate, and the reaction cylinder is communicated with the floating bag through a plurality of connecting conduits; the inflation mechanism further comprises a crushing assembly for crushing the glass sleeve to make the citric acid solution and the sodium bicarbonate powder react to generate gas, and the gas enters the floating bag through the connecting conduits to make the floating bag expand.

[0014] As a further improvement of the above technical solution:

[0015] The crushing assembly comprises a contact strip plate fixedly arranged between the two extension frames, a rectangular through hole is arranged in the bottom wall of the reaction cylinder, and a rubber diaphragm is arranged in the rectangular through hole; when the protective cover is turned down, the rubber diaphragm collides with the contact strip plate to crush the glass sleeve by impact force.

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

[0017] Both ends of the extension frame are fixedly provided with a rotating seat III, one end of the protective cover is fixedly penetrated with a rotating shaft, the rotating shaft is rotatably arranged in the two rotating seats III, a coil spring is arranged in the rotating seat III, one end of the coil spring is connected to the rotating shaft, and the other end of the coil spring is connected to the rotating seat III; when the protective cover is turned up, the coil spring is compressed, and when the protective cover is turned down, the coil spring is accelerated to turn down under the restoring force of the coil spring to increase the impact force of the rubber diaphragm and the contact strip plate.

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

[0019] The driving assembly comprises a mounting groove formed on one side of the extension frame, a guide column fixedly arranged in the mounting groove, a sliding block slidingly sleeved on the outer wall of the guide column, a coil spring sleeved on the outer wall of the guide column, the two ends of the coil spring being respectively abutted against one side of the sliding block and the inner wall of one side of the mounting groove through spring seats, and the top end of the telescopic guardrail being rotationally connected with the two sliding blocks; driving the two sliding blocks to approach each other can drive the telescopic guardrail to extend out.

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

[0021] The outer wall of the guide column is further slidingly sleeved with a sleeve rod, one end of the sleeve rod penetrating through the outer side of the extension frame, and the inner end being fixedly connected with the sliding block; when the protective cover is turned down, the sleeve rod is extruded to move into the extension frame, thereby pushing the sliding block to move and driving the telescopic guardrail to extend out.

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

[0023] The bottom of the wing is fixedly provided with a rotating seat I and a rotating seat II, the bottom end of the rotating seat II is rotationally provided with a support column, and the bottom end of the rotating seat I and the support column are rotationally provided with a damper.

[0024] The detection method based on the unmanned aerial vehicle radar obstacle avoidance detection device for terrain exploration described above comprises the following steps:

[0025] S1, in the flight process of the unmanned aerial vehicle, the electromagnetic block is controlled to be powered on to adsorb and fix the protective cover, so that the laser detection radar performs terrain exploration and obstacle avoidance detection;

[0026] S2, when it is detected that the unmanned aerial vehicle falls, the electromagnetic block is controlled to be powered off;

[0027] S3, the protective cover is turned down under the action of gravity and the restoring force of the coil spring, and finally is adsorbed and fixed by the magnet;

[0028] S4, the inflation mechanism is triggered to inflate the floating bag during the turning down of the protective cover;

[0029] S5, the telescopic guardrail is driven to extend out by the driving assembly during the turning down of the protective cover;

[0030] S6, the protective cover, the inflated floating bag and the extended telescopic guardrail jointly form protection for the laser detection radar.

[0031] The beneficial effects of the present application are:

[0032] 1. The terrain exploration UAV radar obstacle avoidance and detection device disclosed in this invention achieves an organic combination of active and passive protection through the linkage design of the extension frame and the protective cover. The protective cover is doubly fixed by electromagnetic blocks and magnets to ensure stable radar detection during flight. When a fall occurs, the electromagnetic blocks are de-energized, and the protective cover quickly flips under the action of gravity, triggering the subsequent protection process. This not only ensures stability during normal operation, but also enables timely activation of protection in case of emergencies, preventing the radar from being directly impacted.

[0033] 2. The terrain exploration UAV radar obstacle avoidance detection device disclosed in this invention features a coiled spring structure that enhances the impact force during the flipping of the protective cover, allowing the rubber diaphragm to effectively collide with the contact strip. This triggers the mixing reaction of citric acid solution and sodium bicarbonate powder within the reaction cylinder, and the resulting gas rapidly fills the float. The expanded airbag provides buoyancy support when landing on water, preventing damage to the radar from water immersion and significantly expanding the UAV's operating range.

[0034] 3. The terrain exploration UAV radar obstacle avoidance detection device disclosed in this invention achieves automated protection through the linkage mechanism of telescopic guardrail and protective cover. When the protective cover flips, it pushes the sliding block to move through the sleeve rod, thereby driving the telescopic guardrail to extend and form closed protection for the remaining two sides of the radar. No additional power source is required. It can complete all-round protection by only using the mechanical energy when falling, which simplifies the system structure and improves the response speed.

[0035] 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

[0036] 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:

[0037] Figure 1 This is a three-dimensional structural schematic diagram of the UAV radar obstacle avoidance and detection device for terrain exploration according to the present invention;

[0038] Figure 2 For the present invention Figure 1 Schematic diagram of the mounting bracket and protective cover structure;

[0039] Figure 3 For the present invention Figure 2 Another perspective structural diagram;

[0040] Figure 4 For the present invention Figure 2The connection frame and the floating balloon connection structure schematic diagram;

[0041] Figure 5 The installation support and the extension frame structure schematic diagram in the present application Figure 2

[0042] Figure 6 The winding spring installation structure schematic diagram in the present application

[0043] Figure 7 The glass sleeve sectional view in the present application

[0044] Figure 8 The telescopic guardrail installation structure schematic diagram in the present application

[0045] Figure 9 The reaction cylinder structure schematic diagram in the present application Figure 4

[0046] Reference signs: 1, fuselage; 2, wing; 3, rotating seat I; 4, rotating seat II; 5, support column; 6, damper; 7, extension frame; 8, protective cover; 9, floating balloon; 10, laser detection radar; 11, connection frame; 12, reaction cylinder; 13, connection conduit; 14, positioning seat; 15, installation support; 16, connection seat; 17, magnet; 18, hollow cavity; 19, end cover; 20, rotating seat III; 21, electromagnetic block; 22, slot I; 23, insertion block I; 24, slot II; 25, insertion block II; 26, rotating shaft; 27, winding spring; 28, glass sleeve; 29, partition plate; 30, containing chamber; 31, abutting strip; 32, installation groove; 33, guide column; 34, sliding block; 35, sleeve rod; 36, telescopic guardrail; 37, helical spring; 38, rectangular through hole; 39, rubber diaphragm. DETAILED DESCRIPTION

[0047] The present application is explained in detail by specific examples below, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of the present specification. The present application can also be implemented or applied by different specific embodiments, and the details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present application.

[0048] As Figure 1 ​​The terrain exploration unmanned aerial vehicle radar obstacle avoidance detection device shown in the figure, the device contains unmanned aerial vehicle composed of fuselage 1 and four wings 2, wing 2 is fixedly installed at the four corners of fuselage 1, the bottom of fuselage 1 is fixedly installed with mounting bracket 15 by bolts, mounting bracket 15 is made of light alloy material, which can ensure the stability of the structure and will not increase the weight. The bottom of mounting bracket 15 is also installed with laser detection radar 10 in a bolted or buckled manner, the detection surface of laser detection radar 10 faces down, continuously scans the terrain below during the flight of unmanned aerial vehicle, and real-time obtains obstacle information and transmits to the control system of unmanned aerial vehicle, specifically: the millimeter wave radar detector detects obstacles, and transmits the detection results to the millimeter wave conversion board, and transmits the detection results to the millimeter wave conversion board after processing by the millimeter wave conversion board, and transmits the detection results to the millimeter wave conversion board through the probe connector, and provides the obstacle information for the flight controller to avoid obstacles.

[0049] As Figure 2 , 3 shown, two extension frames 7 are fixed on the front and rear sides of mounting bracket 15 through connecting pieces, the length of extension frame 7 is slightly longer than the width of laser detection radar 10, which can preliminarily shield laser detection radar 10 from both sides. Protective cover 8 is rotatably installed on the outer side of two extension frames 7, protective cover 8 is made of high-strength plastic, the surface is smooth to reduce air resistance, and the area is sufficient to cover both sides of laser detection radar 10. As Figure 4 shown, two positioning seats 14 are welded on the top of extension frame 7, positioning seat 14 extends vertically downward, and the bottom is fixed with electromagnetic block 21 through screws, electromagnetic block 21 is connected with the power supply system of unmanned aerial vehicle. When the unmanned aerial vehicle flies normally, electromagnetic block 21 is in the state of power on, generates magnetic force to adsorb the top of protective cover 8, so that protective cover 8 keeps the state of being collected upward, at this time, the edge of protective cover 8 is flush with the top of laser detection radar 10, and will not shield the detection range of radar. When the sensor of unmanned aerial vehicle detects the falling condition, the power supply system will immediately cut off the power supply of electromagnetic block 21, the magnetic force disappears, and protective cover 8 begins to turn down under the action of its own gravity. Magnets 17 are welded on the left and right sides of extension frame 7, the positions of magnets 17 correspond to the edges of protective cover 8 after turning, when protective cover 8 turns to the vertical state, magnets 17 will be adsorbed together with the metal sheet of the edge of protective cover 8, and protective cover 8 is stably fixed.

[0050] Two groups of floating bags 9 are fixed on the top of the protective cover 8 through connecting frames 11 made of light plastic, which tightly clamps the floating bags 9 on the protective cover 8. The floating bags 9 are made of high-strength nylon material and are in a folded state when not inflated, and the thickness is relatively thin and will not increase much wind resistance. An inflation mechanism provided on the protective cover 8 is connected with the floating bags 9. When the protective cover 8 is turned over in place, the inflation mechanism is started to rapidly inflate gas into the floating bags 9. The floating bags 9 expand to increase the volume to form two symmetrical air bag bodies distributed on both sides of the top of the protective cover 8, which can provide sufficient buoyancy to support the unmanned aerial vehicle to float on the water surface, and ensure that the laser detection radar 10 is always above the water surface. The spacing between the two floating bags 9 on one side is greater than the height of the laser detection radar 10, so that when the unmanned aerial vehicle is inverted and falls into the water, the laser detection radar 10 will not be flooded.

[0051] The inflation mechanism includes a reaction cylinder 12 embedded in the protective cover 8, and the reaction cylinder 12 is in a cylindrical shape. As shown in Figure 7 , the hollow cavity 18 inside the reaction cylinder 12 is used to place a glass sleeve 28, and the end cover 19 at the outer end is tightened by threads, and the inside of the end cover 19 is padded with a rubber ring to enhance the sealing performance. The glass sleeve 28 is relatively brittle, and the internal partition plate 29 divides it into two independent containing chambers 30, which respectively contain citric acid solution and sodium bicarbonate powder, and the two substances do not contact when the glass sleeve 28 is intact. The plurality of connecting conduits 13 connected to the side of the reaction cylinder 12 are flexible hoses, and the other ends are in communication with the floating bags 9. After the crushing assembly is started, the glass sleeve 28 is broken, the two substances are mixed to produce a large amount of carbon dioxide gas, and the gas enters the floating bags 9 through the connecting conduits 13 to make them expand rapidly.

[0052] The two abutting strip plates 31 of the crushing assembly are transversely welded between the two extension frames 7, and the positions correspond to the reaction cylinder 12. The surface of the abutting strip plate 31 is relatively hard. As shown in Figure 9 , the edge of the rectangular through hole 38 of the bottom wall of the reaction cylinder 12 is smooth, and the rubber diaphragm 39 is tightly fitted in the through hole and has a certain elasticity. When the protective cover 8 is turned down, the reaction cylinder 12 moves with it, and the rubber diaphragm 39 collides with the abutting strip plate 31. The rubber diaphragm 39 is pressed inward under the force, and then the glass sleeve 28 is broken, the two reactants are mixed, and at the same time, in order to improve the crushing mechanism, a plurality of protrusions are arranged on the surface of the abutting strip plate 31 to realize point contact with the rubber diaphragm 39, which is easy to crush the glass sleeve 28.

[0053] Two sets of telescopic protective barriers 36 are respectively installed inside the corresponding extension frames 7. The extension frames 7 have channels on their sides that match the telescopic protective barriers 36. Normally, the telescopic protective barriers 36 are retracted into the channels, without affecting the overall size of the UAV. The telescopic protective barriers 36 are linked to the protective cover 8 via a drive component. When the protective cover 8 is flipped downwards, the drive component is triggered, causing the telescopic protective barriers 36 to extend from the channels. The height of the extended telescopic protective barriers 36 is approximately the same as that of the protective cover 8, forming a barrier from the other two sides of the laser detection radar 10, thus providing all-around protection in conjunction with the protective cover 8.

[0054] Two mounting grooves 32 of the drive assembly are formed inside the extension frame 7. The guide post 33 is horizontally fixed within the mounting groove 32, and its surface is smooth. A sliding block 34 is fitted onto the guide post 33 and can slide freely along it. A coil spring 37 is fitted onto the portion of the guide post 33 located outside the sliding block 34 and is normally in its natural state. Figure 8 As shown, the top of the telescopic guardrail 36 is connected to two sliding blocks 34 via a pin, allowing them to rotate relative to each other. When the two sliding blocks 34 approach each other under the action of driving force, the telescopic guardrail 36 is pushed outward, unfolding from the retracted state to the protective state. Normally, it is in the retracted state under the force of the coil spring 37.

[0055] The sleeve rod 35 is fitted onto the guide post 33, with one end fixedly connected to the inside of the sliding block 34 and the other end extending out of the extension frame 7. The end is arc-shaped to facilitate contact with the protective cover 8. When the protective cover 8 is flipped downwards, its edge will press against the arc-shaped end of the sleeve rod 35. Since the torque of the coil spring 27 is greater than the elastic force of the helical spring 37, it can push the sleeve rod 35 to move inwards into the extension frame 7, thereby causing the sliding block 34 to slide inwards along the guide post 33. The helical spring 37 is compressed, and at the same time, the telescopic protective railing 36 extends under the action of the sliding block 34.

[0056] like Figure 6 As shown, both ends of the extension frame 7 are equipped with rotating seats III 20. The rotating shaft 26 passes through one end of the protective cover 8 and is fixed thereon. Both ends are respectively embedded in the shaft holes of the rotating seats III 20, allowing for flexible rotation. One end of the coil spring 27 inside the rotating seat III 20 is fixed to the outer wall of the rotating shaft 26, and the other end is fixed to the inner wall of the rotating seat III 20. When the protective cover 8 is attracted and retracted by the electromagnetic block 21, the coil spring 27 is in a compressed state, storing elastic potential energy. After the electromagnetic block 21 is de-energized, the elastic potential energy of the coil spring 27 is released, causing the rotating shaft 26 to rotate rapidly, making the protective cover 8 quickly flip downwards, increasing the impact force between the rubber diaphragm 39 and the contact strip 31, ensuring that the glass sleeve 28 can be effectively broken.

[0057] like Figure 5As shown, both sides of the mounting bracket 15 are provided with a slot II 24, which is a dovetail slot, smooth inside for easy insertion and removal. The shape of the insertion block II 25 matches the slot II 24, which can be inserted into the slot II 24 with interference. After insertion, the mounting bracket 15 is fixed at the bottom of the fuselage 1. At this time, the top of the insertion block II 25 is in contact with the fuselage 1, and one side of the insertion block II 25 is welded with the connecting seat 16. The connecting seat 16 is plate-shaped, and the other side is welded with the insertion block I 23 which matches the slot I 22 on one side of the extension frame 7. When installing the extension frame 7, first insert the insertion block II 25 into the slot II 24, then align the insertion block I 23 and insert it into the slot I 22. The fixing is completed, and the reverse operation can be performed for disassembly, which is convenient and fast.

[0058] The bottom of the wing 2 is fixed with rotating seat I 3 and rotating seat II 4 through bolts, which are distributed front and back. The bottom end of the rotating seat II 4 is connected with the support column 5 through a pin shaft, and the support column 5 can rotate around the pin shaft. The bottom end of the rotating seat I 3 is connected with the support column 5 through a pin shaft, and the damper 6 is connected between them. The damper 6 is filled with damping liquid inside. When the unmanned aerial vehicle lands, the support column 5 first contacts the ground, and under the action of the gravity of the fuselage 1, the support column 5 rotates upward, at the same time driving the damper 6 to stretch and contract. The damping liquid in the damper 6 generates resistance, slows down the rotation speed of the support column 5, and plays a buffering role, reducing the impact on the fuselage 1.

[0059] When the unmanned aerial vehicle normally flies to explore the terrain, the mounting bracket 15 at the bottom of the fuselage 1 bears the laser detection radar 10, which continuously scans the terrain below to provide data for the unmanned aerial vehicle to avoid obstacles. At this time, the electromagnetic block 21 below the positioning seat 14 at the top of the extension frame 7 is in an electrified state, generating a magnetic force to attract the protective cover 8, so that the protective cover 8 remains in the retracted state and does not affect the detection range of the laser detection radar 10. The telescopic protective fence 36 is retracted in the extension frame 7, and the floating bag 9 is in the deflated and folded state.

[0060] When the unmanned aerial vehicle falls, the electromagnetic block 21 is de-energized, the magnetic force disappears, and the protective cover 8 begins to flip downward around the rotating shaft 26 under the action of its own gravity. Since the coil spring 27 in the rotating seat III 20 is in a compressed state when the protective cover 8 is retracted, the coil spring 27 releases the elastic potential energy at this time, drives the rotating shaft 26 to rotate quickly, and accelerates the flipping of the protective cover 8. During the flipping process, the edge of the protective cover 8 extrudes the sleeve rod 35, the sleeve rod 35 moves into the extension frame 7, pushes the sliding block 34 to slide along the guide column 33, and the coil spring 37 is compressed. The telescopic protective fence 36 connected with the sliding block 34 is extended, forming a protection on both sides of the laser detection radar 10.

[0061] During the flipping of the protective cover 8, the reaction cylinder 12 moves along with it. The rubber diaphragm 39 inside the rectangular through-hole 38 on the bottom wall of the reaction cylinder 12 collides with the contact strip 31 between the extension frame 7. The impact force causes the glass sleeve 28 inside the reaction cylinder 12 to shatter. The partition plate 29 inside the glass sleeve 28 mixes the citric acid solution and sodium bicarbonate powder separated by the two receiving chambers 30, causing a chemical reaction that produces a large amount of gas. The gas enters the float 9 through the connecting conduit 13, causing the float 9 to inflate. When the protective cover 8 flips to a vertical position, the magnets 17 on both sides of the extension frame 7 attract the protective cover 8, fixing it in place. At this time, the protective cover 8 provides protection for the laser detection radar 10, and together with the extended telescopic protective railing 36, achieves all-round protection for the laser detection radar 10. If the drone crashes into the water, the inflated float 9 provides buoyancy, preventing the laser detection radar 10 from being submerged in the water.

[0062] When the drone lands, the support column 5 at the bottom of the wing 2 contacts the ground first. Under the weight of the fuselage 1, the support column 5 rotates around the rotating seat II 4, simultaneously causing the damper 6 between the rotating seat I 3 and the support column 5 to extend and retract. The damper 6 slows down the rotation speed of the support column 5 through internal damping, thus providing a buffering effect and reducing the impact of landing on the fuselage 1 and related components. The end cap 19 is threadedly connected to the reaction cylinder 12. Opening the end cap 19 allows the glass sleeve 28 inside the hollow cavity 18 to be replaced, so that the float 9 can be reused.

[0063] 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. A radar obstacle avoidance and detection device for unmanned aerial vehicles (UAVs) used for terrain exploration, characterized in that, Includes fuselage (1), wings (2) located at the four corners of fuselage (1), and laser detection radar (10) fixedly installed at the bottom of fuselage (1) by mounting bracket (15); The mounting bracket (15) is fixedly provided with extension brackets (7) on the front and rear sides respectively. The extension brackets (7) are rotatably provided with protective covers (8) for protecting the laser detection radar (10) on the outside. The top of the extension brackets (7) is fixedly provided with two positioning seats (14). The bottom of the positioning seats (14) is fixedly provided with an electromagnetic block (21) that attracts the protective cover (8). The lower outer side of the extension brackets (7) is fixedly provided with magnets (17) for fixing the protective cover (8). Two sets of inflatable floats (9) are fixedly installed on the top of the protective cover (8) via a connecting frame (11). The protective cover (8) is equipped with an inflation mechanism, which includes a reaction cylinder (12) embedded in the protective cover (8) and having a hollow cavity (18) inside. A glass sleeve (28) is installed inside the hollow cavity (18). A partition plate (29) is integrally formed inside the glass sleeve (28). The partition plate (29) divides the inside of the glass sleeve (28) into two receiving chambers (30) for holding citric acid solution and sodium bicarbonate powder, respectively. The reaction cylinder (12) is connected to the floats (9) via multiple connecting conduits (13).

2. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 1, characterized in that: A crushing component is provided between the extension frames (7) to work with the inflation mechanism to crush the glass sleeve (28) so that the citric acid solution and sodium bicarbonate powder are mixed and reacted to generate gas. The crushing component includes a contact strip (31) fixedly set between the two extension frames (7). A rectangular through hole (38) is opened on the bottom wall of the reaction cylinder (12), and a rubber diaphragm (39) is provided in the rectangular through hole (38).

3. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 2, characterized in that: The surface of the contact strip (31) is provided with a plurality of protrusions for breaking the glass sleeve (28), and the outer end of the reaction cylinder (12) is provided with an end cap (19) that is threadedly connected to the reaction cylinder (12).

4. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 1, characterized in that: The mounting bracket (15) has slots II (24) on both the front and rear sides. A plug II (25) is inserted into the slot II (24). A connecting seat (16) with a plug I (23) is fixedly installed on one side of the plug II (25). A slot I (22) that is inserted into the plug I (23) is opened on one side of the extension bracket (7).

5. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 2, characterized in that: The extension frame (7) is fixedly provided with rotating seats III (20) at both the front and rear ends. The protective cover (8) is fixedly provided with a rotating shaft (26) at one end near the extension frame (7). The rotating shaft (26) is rotatably provided in the two rotating seats III (20). A coil spring (27) is provided in the rotating seat III (20). One end of the coil spring (27) is connected to the rotating shaft (26), and the other end is connected to the rotating seat III (20).

6. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 5, characterized in that: Each extension frame (7) is equipped with a telescopic guardrail (36). The telescopic guardrail (36) is used in conjunction with the protective cover (8) through a drive assembly. The drive assembly includes an installation groove (32) opened on one side of the extension frame (7). A guide post (33) with a sliding block (34) slidably mounted on its outer wall is fixedly installed in the installation groove (32). A helical spring (37) is mounted on the outer wall of the guide post (33) at one end of the extension frame (7). The two ends of the helical spring (37) abut against the sliding block (34) and the inner wall of the installation groove (32) respectively. The top of the telescopic guardrail (36) is rotatably connected to the two sliding blocks (34).

7. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 6, characterized in that: The outer wall of the guide post (33) is also slidably fitted with a sleeve rod (35), the outer end of the sleeve rod (35) passes through and extends to the outside of the extension frame (7), and its inner end is fixedly connected to the sliding block (34).

8. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 7, characterized in that: The torque of the coil spring (27) is greater than the elastic force of the helical spring (37).

9. The UAV radar obstacle avoidance and detection device for terrain exploration according to claim 1, characterized in that: The bottom of the wing (2) is fixedly provided with a rotating seat I (3) and a rotating seat II (4). A support column (5) is rotatably provided at the bottom end of the rotating seat II (4). A damper (6) is rotatably provided between the bottom end of the rotating seat I (3) and the support column (5).

10. A detection method based on the terrain exploration UAV radar obstacle avoidance detection device according to any one of claims 6-8, characterized in that, Includes the following steps: S1. During the flight of the UAV, the control electromagnetic block (21) is energized to attract and fix the protective cover (8), so that the laser detection radar (10) can perform terrain exploration and obstacle avoidance detection. S2. When a drone crash is detected, the control electromagnetic block (21) is de-energized; S3, the protective cover (8) flips downward under the action of gravity and the restoring force of the coil spring (27), and is finally fixed by the magnet (17); S4. During the downward flipping of the protective cover (8), the inflation mechanism is triggered to inflate the float (9); S5. During the downward flipping process of the protective cover (8), the telescopic protective barrier (36) is extended by the drive component; S6, the protective cover (8), the inflated float (9) and the extended telescopic protective railing (36) together form a protective barrier for the laser detection radar (10).

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