Dual-radar full-space obstacle avoidance unmanned aerial vehicle

Abstract

The utility model discloses a dual-radar full-space obstacle avoidance unmanned aerial vehicle, relates to the field of unmanned aerial vehicles, and aims to solve the problems that an existing solid-state laser radar is small in sensing range and is difficult to realize omnidirectional sensing. Comprising a machine body protection shell which is in an oval shape, the middle cross section, located in the vertical direction, of the machine body protection shell serves as a horizontal datum plane, the middle of the upper surface of the machine body protection shell serves as the highest position, and the middle of the lower surface of the machine body protection shell serves as the lowest position; a plurality of propeller ducts are formed between the upper surface of the fuselage protection shell and the lower surface of the fuselage protection shell in a penetrating manner; the upper laser radar is arranged above the middle part of the upper surface of the fuselage protection shell; the lower laser radar is arranged below the middle part of the lower surface of the fuselage protection shell; the propellers are rotationally arranged in the corresponding propeller ducts respectively; wherein the upper laser radar and the lower laser radar are solid laser radars.

Description

Technical Field

[0001] The present application relates to the field of unmanned aerial vehicles (UAVs), and in particular to an unmanned aerial vehicle (UAV) with dual radars and full-space obstacle avoidance. Background Art

[0002] Traditional solutions that use laser radar as the main sensing device to serve drones for positioning and mapping are often based on a single laser radar, which is mainly divided into two forms: traditional mechanical multi-line laser radar and solid-state laser radar. Among them, the mechanical multi-line laser radar consists of multiple laser transmitters and receivers, which sense the surrounding environment information by rotating the central axis. It usually has 360-degree lateral perception capabilities, but is limited by the angle of laser emission. It is difficult to achieve a high perception range and denser point cloud data in the vertical direction, which often causes the laser odometer constructed by it to drift due to insufficient z-axis constraints;

[0003] Solid-state laser radar, thanks to its unique point cloud collection method, can often achieve a higher collection frequency and richer vertical observation information than mechanical multi-line laser radar, but its perception range is smaller than that of mechanical multi-line laser radar, making it difficult to achieve omnidirectional perception.

[0004] Therefore, the prior art still needs to be improved. Utility Model Content

[0005] The purpose of this application is to provide a dual-radar full-space obstacle avoidance UAV to solve the problem that the existing solid-state laser radar has a small perception range and is difficult to achieve omnidirectional perception.

[0006] To achieve the above objectives, the present application provides a dual-radar full-space obstacle avoidance drone, including:

[0007] The fuselage protection shell is elliptical in shape, with the middle cross section of the fuselage protection shell in the vertical direction as the horizontal reference plane, the middle of the upper surface of the fuselage protection shell being the highest point, and the middle of the lower surface of the fuselage protection shell being the lowest point, and a plurality of propeller ducts are provided between the upper surface of the fuselage protection shell and the lower surface of the fuselage protection shell;

[0008] an upper laser radar, which is arranged above the middle of the upper surface of the fuselage protection shell;

[0009] A lower laser radar, which is arranged below the middle of the lower surface of the fuselage protection shell;

[0010] A plurality of propellers, each of which is rotatably disposed in the corresponding propeller duct;

[0011] Among them, the upper laser radar and the lower laser radar are both solid-state laser radars.

[0012] According to the dual-radar full-space obstacle avoidance UAV described above, a plurality of propeller ducts are evenly distributed on the fuselage protection shell.

[0013] According to the above dual-radar full-space obstacle avoidance drone, the fuselage protection shell includes:

[0014] Upper protective shell;

[0015] A lower protective shell, which is arranged below the upper protective shell;

[0016] An intermediate plate, which is disposed between the upper protective shell and the lower protective shell and is connected to the upper protective shell and the lower protective shell respectively;

[0017] Wherein, the upper protection shell and the lower protection shell are symmetrically arranged relative to the middle plate.

[0018] According to the above dual-radar full-space obstacle avoidance drone, the drone also includes:

[0019] a second fastening assembly, comprising a plurality of second nuts and second bolts, wherein the plurality of second nuts are distributed on the inner walls of the propeller ducts formed by the upper protective shell, and the second bolts pass through the lower protective shell and the intermediate plate in sequence and are fixedly connected to the corresponding second nuts;

[0020] Wherein, at least three second nuts are arranged on the inner wall of each propeller duct formed by each of the upper protective shells.

[0021] According to the above dual-radar full-space obstacle avoidance drone, the drone also includes:

[0022] A host computer, which is arranged on one side of the middle plate;

[0023] The power module is arranged on the other side of the middle plate, and the weight of the host computer and the power module located on the middle plate is evenly distributed.

[0024] According to the dual-radar full-space obstacle avoidance drone described above, the middle plate is provided with a first mounting slot and a second mounting slot, the host computer is arranged in the first mounting slot, and the upper surface of the host computer and the lower surface of the host computer are symmetrically arranged relative to the middle plate, and the power module is arranged in the second mounting slot, and the upper surface of the power module and the lower surface of the power module are symmetrically arranged relative to the middle plate.

[0025] According to the dual-radar full-space obstacle avoidance drone described above, the upper protective shell is provided with an installation notch, the installation notch is arranged above the power module and covers the power module, and the drone also includes a power compartment cover, and the power compartment cover is sleeved on the installation notch.

[0026] According to the above dual-radar full-space obstacle avoidance drone, the drone also includes:

[0027] A plurality of upper support columns, which are arranged between the middle plate and the upper laser radar and form a first accommodating cavity, wherein one end of the plurality of upper support columns is connected to the middle plate and the other end is connected to the upper laser radar;

[0028] A lower support column, which is arranged between the middle plate and the lower laser radar and forms a second accommodating cavity, wherein one end of a plurality of the lower support columns is connected to the middle plate and the other end is connected to the lower laser radar;

[0029] A flight controller, which is disposed in the first accommodating cavity;

[0030] The power distribution board assembly is arranged in the second accommodating cavity.

[0031] According to the above dual-radar full-space obstacle avoidance drone, a first installation opening is provided through the middle of the upper protective shell, a second installation opening is provided through the middle of the lower protective shell, and the drone further comprises:

[0032] An upper laser radar protection frame, which is sleeved on the upper laser radar, one end of the upper laser radar protection frame is connected to the upper laser radar, and the other end passes through the first installation opening;

[0033] The lower laser radar protection frame is sleeved on the lower laser radar, one end of the lower laser radar protection frame is connected to the lower laser radar, and the other end passes through the second installation port.

[0034] According to the above dual-radar full-space obstacle avoidance drone, the drone also includes:

[0035] A plurality of landing gear bodies, which are arranged on the middle plate and below the propeller duct;

[0036] A plurality of connecting seats, one end of which is connected to the middle plate and the other end of which is connected to the corresponding landing gear body;

[0037] A plurality of landing gear buffer layers, which are arranged on one end of the landing gear body away from the connecting seat;

[0038] A third fastening connection component, wherein the connection seat is provided with a mounting hole, a connection end groove is provided on one side of the connection seat located at the mounting hole, the mounting hole is sleeved on the landing gear body, the third fastening connection component passes through the connection seat and is located on one side of the connection end groove, and is fixed to the connection seat and is located on the other side of the connection end groove.

[0039] The beneficial effects of the dual-radar full-space obstacle avoidance drone provided by the present application are at least:

[0040] The present application installs an upper laser radar and a lower laser radar on the upper and lower surfaces of the fuselage protection shell respectively, and both the upper laser radar and the lower laser radar adopt solid-state laser radar. It can be foreseen that the present application fully considers the low-load characteristics of the UAV platform through the dual solid-state laser radar mounting design, and fully improves the endurance of the UAV by utilizing the characteristics that the solid-state laser radar is smaller and lighter than the mechanical multi-line laser radar. While obtaining a faster data acquisition speed, it will be respectively arranged at the highest and lowest points of the elliptical fuselage protection shell, and the upper laser radar and the lower laser radar are mounted in an unobstructed manner to provide the UAV with all-round spatial perception information, so that it can plan the path more efficiently during the flight, and compared with a single solid Solid-state laser radars drift in some scenarios where local spatial information is insufficient or limited (such as large open spaces with insufficient vertical spatial information or vertical pipe corridors with limited lateral spatial perception). This product fully considers the information complementary advantages of dual radars, obtains data from different angles to supplement each other's blind spots, and in the process of executing the mission, if one solid-state laser radar fails or is blocked, the other solid-state laser radar can continue to work to maintain the normal operation of the UAV, fully improving the stability and fault tolerance of the UAV system. In addition, this application hides the propeller in the propeller duct of the fuselage protective shell, perfectly solving the problem of propellers or other components blocking the upper and lower laser radars from collecting laser point clouds. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A schematic structural diagram of one angle of a UAV with dual radars and full-space obstacle avoidance is provided for an embodiment of the present application.

[0043] Figure 2A schematic structural diagram of a drone with dual radars and full-space obstacle avoidance from another angle is provided for an embodiment of the present application.

[0044] Figure 3 An exploded diagram of a drone with dual radars and full-space obstacle avoidance is provided for an embodiment of the present application.

[0045] Figure 4 A schematic structural diagram of a dual-radar full-space obstacle avoidance drone with the upper protective shell and the lower protective shell removed is provided for an embodiment of the present application.

[0046] Figure 5 for Figure 4 Exploded diagram.

[0047] Figure 6 A schematic structural diagram of a landing gear body in a UAV with dual-radar full-space obstacle avoidance is provided for an embodiment of the present application.

[0048] Among them, the reference numerals in the figure are:

[0049] 1. Fuselage protection shell; 11. Propeller duct; 12. Upper protection shell; 121. First sub-shell; 122. Second sub-shell; 123. Third sub-shell; 124. Fourth sub-shell; 125. Installation notch; 126. Power supply compartment cover; 13. Lower protection shell; 131. Fifth sub-shell; 132. Sixth sub-shell; 133. Seventh sub-shell; 134. Eighth sub-shell; 14. Middle plate; 141. First installation slot; 142. Two installation slots; 2. Upper laser radar; 3. Lower laser radar; 4. Propeller; 5. Host computer; 6. Power module; 71. Upper laser radar base plate; 72. Lower laser radar base plate; 73. Upper support column; 74. Lower support column; 75. Upper laser radar protection frame; 76. Lower laser radar protection frame; 81. Flight controller; 82. Distribution board assembly; 9. Drive component; 101. Landing gear body; 102. Connecting seat; 1021. Connecting end slot; 103. Landing gear buffer layer. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly located on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on the present technical solution. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0052] Traditional solutions that use laser radar as the main sensing device to serve drones for positioning and mapping are often based on a single laser radar, which is mainly divided into two forms: traditional mechanical multi-line laser radar and solid-state laser radar. Among them, the mechanical multi-line laser radar consists of multiple laser transmitters and receivers, which sense the surrounding environment information by rotating the central axis. It usually has 360-degree lateral perception capabilities, but is limited by the angle of laser emission. It is difficult to achieve a high perception range and denser point cloud data in the vertical direction, which often causes the laser odometer constructed by it to drift due to insufficient z-axis constraints;

[0053] Solid-state laser radar, thanks to its unique point cloud collection method, can often achieve a higher collection frequency and richer vertical observation information than mechanical multi-line laser radar, but its perception range is smaller than that of mechanical multi-line laser radar, making it difficult to achieve omnidirectional perception.

[0054] For this purpose, see Figure 1 and Figure 2 The present embodiment provides a dual-radar full-space obstacle avoidance UAV, comprising a fuselage protection shell 1, an upper laser radar 2, a lower laser radar 3 and a plurality of propellers 4, wherein the fuselage protection shell 1 is elliptical in shape, with the middle cross section of the fuselage protection shell 1 in the vertical direction as the horizontal reference plane, the middle of the upper surface of the fuselage protection shell 1 is the highest point, and the middle of the lower surface of the fuselage protection shell 1 is the lowest point, the upper laser radar 2 is arranged above the middle of the upper surface of the fuselage protection shell 1, and the lower laser radar 3 is arranged below the middle of the lower surface of the fuselage protection shell 1, and a plurality of propeller ducts 11 are provided between the upper surface of the fuselage protection shell 1 and the lower surface of the fuselage protection shell 1, and a plurality of propeller ducts 11 are respectively rotatably arranged in the corresponding propeller ducts 11, wherein the upper laser radar 2 and the lower laser radar 3 are both solid-state laser radars;

[0055] In this embodiment, an upper laser radar 2 and a lower laser radar 3 are installed on the upper surface and the lower surface of the fuselage protection shell 1 respectively, and both the upper laser radar 2 and the lower laser radar 3 are solid-state laser radars. It can be foreseen that this embodiment fully considers the low-load characteristics of the UAV platform through the mounting design of dual solid-state laser radars, and fully improves the endurance of the UAV by utilizing the characteristics that the solid-state laser radar is smaller and lighter than the mechanical multi-line laser radar. While obtaining a faster data acquisition speed, they are respectively arranged at the highest and lowest points of the elliptical fuselage protection shell 1, and the upper laser radar 2 and the lower laser radar 3 are mounted in an unobstructed manner to provide the UAV with all-round spatial perception information, so that it can plan the path more efficiently during the flight, and, compared with a single Solid-state laser radars drift in some scenarios where local spatial information is insufficient or limited (such as large open spaces with insufficient vertical spatial information or vertical pipe corridors with limited lateral spatial perception). This product fully considers the information complementary advantages of dual radars, obtains data from different angles to supplement each other's blind spots, and in the process of executing the mission, if one solid-state laser radar fails or is blocked, the other solid-state laser radar can continue to work to maintain the normal operation of the UAV, fully improving the stability and fault tolerance of the UAV system. In addition, this embodiment hides the propeller 4 in the propeller duct 11 of the fuselage protective shell 1, perfectly solving the problem of the propeller 4 or other components blocking the upper laser radar 2 and the lower laser radar 3 from collecting laser point clouds.

[0056] Optionally, a plurality of the propeller ducts 11 are evenly distributed on the fuselage protection shell 1, see Figure 1 In this embodiment, the number of propeller ducts 11 can be four.

[0057] Optional, see Figure 2 and Figure 3 The fuselage protection shell 1 includes an upper protection shell 12, a lower protection shell 13 and a middle plate 14. The lower protection shell 13 is arranged below the upper protection shell 12, and the middle plate 14 is arranged between the upper protection shell 12 and the lower protection shell 13, and is respectively connected to the upper protection shell 12 and the lower protection shell 13.

[0058] Among them, the upper protective shell 12 and the lower protective shell 13 are symmetrically arranged relative to the middle plate 14. In this embodiment, the upper protective shell 12 and the lower protective shell 13 are symmetrically arranged so that the UAV is subjected to balanced force during flight, and the arrangement is easy to manufacture and has relatively low cost.

[0059] Optionally, the drone also includes a first fastening connection component, which passes through the lower protective shell 13 and the middle plate 14 in sequence and is fixedly connected to the upper protective shell 12. In this embodiment, the first fastening connection component is set to connect the upper protective shell 12, the middle plate 14 and the lower protective shell 13 together.

[0060] For further information, see Figure 2 and Figure 3 The first fastening connection assembly can be a plurality of first nuts and first bolts, and the plurality of first nuts are fixedly embedded in the periphery of the upper protective shell 12, and each of the first bolts passes through the lower protective shell 13 and the middle plate 14 in sequence and is fixedly connected to the corresponding first nut.

[0061] Optional, see Figure 2 and Figure 3 The UAV further includes a second fastening connection assembly, which includes a plurality of second nuts and second bolts, which are distributed on the inner walls of each propeller duct 11 formed by the upper protective shell 12, wherein each propeller duct 11 may be provided with a second nut, and each propeller duct 11 may also be provided with a plurality of second nuts. In this embodiment, preferably, a plurality of second nuts are provided on each propeller duct 11, and the specific number may be set to three, and each of the second bolts passes through the lower protective shell 13 and the middle plate 14 in sequence, and is fixedly connected to the corresponding second nut;

[0062] It can be foreseen that this embodiment can strengthen the propeller duct 11 and prevent the propeller duct 11 from deformation by arranging multiple second nuts on the inner wall of each propeller duct 11 formed by the upper protective shell 12, and passing the second bolts through the middle plate 14 and the lower protective shell 13 in sequence to be fixedly connected to the corresponding second nuts.

[0063] Optional, see Figure 2 and Figure 3The upper protective shell 12 includes a first sub-shell 121, a second sub-shell 122, a third sub-shell 123 and a fourth sub-shell 124 connected in sequence, and the lower protective shell 13 includes a fifth sub-shell 131, a sixth sub-shell 132, a seventh sub-shell 133 and an eighth sub-shell 134 connected in sequence, wherein the first sub-shell 121 is symmetrically arranged with respect to the middle plate 14 and the fifth sub-shell 131, the second sub-shell 122 is symmetrically arranged with respect to the middle plate 14 and the sixth sub-shell 132, the third sub-shell 123 is symmetrically arranged with respect to the middle plate 14 and the seventh sub-shell 133, and the fourth sub-shell 124 is symmetrically arranged with respect to the middle plate 14 and the eighth sub-shell 134.

[0064] Optional, see Figure 4 The UAV further includes a host computer 5 and a power module 6, wherein the host computer 5 is arranged on one side of the middle plate 14, and the power module 6 is arranged on the other side of the middle plate 14, and the weight of the host computer 5 and the power module 6 located on the middle plate 14 is evenly distributed. Through this arrangement, the center of gravity of the middle plate 14 can be located at the center of the middle plate 14, and the middle plate 14 is located at the center of the UAV in the vertical direction, thereby ensuring that the center of gravity of the UAV is located at the center of the UAV. The power module 6 can be a battery.

[0065] For further, optional, see Figure 4 In order to save the space occupied by the host computer 5 and the power module 6 and make the drone miniaturized, the middle plate 14 is provided with a first mounting groove 141 and a second mounting groove 142. The host computer 5 is arranged in the first mounting groove 141, and the upper surface of the host computer 5 and the lower surface of the host computer 5 are symmetrically arranged relative to the middle plate 14. The power module 6 is arranged in the second mounting groove 142, and the upper surface of the power module 6 and the lower surface of the power module 6 are symmetrically arranged relative to the middle plate 14.

[0066] For further information, see Figure 5 The UAV also includes an upper laser radar base plate 71 and a lower laser radar base plate 72. The upper laser radar base plate 71 is arranged above the middle plate 14, the upper laser radar 2 is fixedly arranged on the upper laser radar base plate 71, the lower laser radar base plate 72 is arranged below the middle plate 14, and the lower laser radar 3 is fixedly arranged on the lower laser radar base plate 72.

[0067] For further information, see Figure 3 and Figure 5The upper protective shell 12 is provided with an installation notch 125, and the installation notch 125 is arranged above the power module 6 and covers the power module 6. The UAV also includes a power compartment cover 126, and the power compartment cover 126 is sleeved on the installation notch 125. In this embodiment, the power compartment cover 126 is provided to facilitate the disassembly and assembly of the power module 6, wherein the installation notch 125 can be arranged between the first sub-shell 121 and the second sub-shell 122.

[0068] Furthermore, the upper protective shell 12 is provided with an installation step at the installation notch 125, and the power compartment cover 126 is provided with an installation groove matching the installation step on one side close to the upper protective shell 12, and the power compartment cover 126 is embedded in the installation notch 125 through the installation groove. In this embodiment, the power compartment cover 126 is embedded in the installation notch 125 to avoid air resistance of the power compartment cover 126 during flight of the UAV, thereby reducing the air resistance of the UAV and ensuring that the air resistance of the upper protective shell 12 and the lower protective shell 13 of the UAV are equivalent, thereby improving the flight stability of the UAV.

[0069] Furthermore, in order to facilitate the removal of the power compartment cover 126 , a notch may be provided on the power compartment cover 126 , or a notch may be provided on the upper protective shell 12 near the power compartment cover 126 .

[0070] For further information, see Figure 4 and Figure 5 , the UAV also includes a flight controller 81, a distribution board assembly 82, a plurality of upper support columns 73 and a lower support column 74, a plurality of the upper support columns 73 are arranged between the middle plate 14 and the upper laser radar bottom plate 71, and form a first accommodating cavity (not shown in the figure), one end of a plurality of the upper support columns 73 is connected to the middle plate 14, and the other end is connected to the upper laser radar bottom plate 71, the flight controller 81 is arranged in the first accommodating cavity, a plurality of the lower support columns 74 are arranged between the middle plate 14 and the lower laser radar bottom plate 72, and form a second accommodating cavity (not shown in the figure), one end of a plurality of the lower support columns 74 is connected to the middle plate 14, and the other end is connected to the lower laser radar bottom plate 72, and the distribution board assembly 82 is arranged in the second accommodating cavity;

[0071] It can be foreseen that this embodiment, by setting a plurality of upper support columns 73 and lower support columns 74, can not only extend the distance between the upper laser radar base plate 71 and the lower laser radar base plate 72 and the middle plate 14 respectively, so that the upper laser radar 2 and the lower laser radar 3 can protrude from the outer side of the fuselage protection shell 1 without being blocked by the fuselage protection shell 1, but also can make room for the flight controller 81 and the distribution board assembly 82, which makes full use of the remaining space in the fuselage protection shell 1, thereby reducing the volume of the fuselage protection shell 1 and realizing the miniaturization of the UAV.

[0072] The flight controller 81 is provided with an inertial measurement unit (IMU), which includes an accelerometer and a gyroscope, and is used to measure the acceleration data and angular velocity data of the drone.

[0073] Optional, see Figure 4 and Figure 5 The UAV also includes an upper laser radar protection frame 75 and a lower laser radar protection frame 76. A first installation opening (not shown in the figure) is opened through the middle of the upper protective shell 12, and a second installation opening (not shown in the figure) is opened through the middle of the lower protective shell 13. The upper laser radar protection frame 75 is sleeved on the upper laser radar 2, one end of the upper laser radar protection frame 75 is connected to the upper laser radar bottom plate 71, and the other end passes through the first installation opening. The lower laser radar protection frame 76 is sleeved on the lower laser radar 3, one end of the lower laser radar protection frame 76 is connected to the lower laser radar bottom plate 72, and the other end passes through the second installation opening.

[0074] Optional, see Figure 1 and Figure 3 The UAV further includes a plurality of driving members 9, wherein the driving members 9 are arranged on the intermediate plate 14 and located in the propeller duct 11, and the propeller 4 is connected to the driving end of the corresponding driving member 9, wherein the driving member 9 can be a motor, and the intermediate plate 14 can be a circular plate. In this embodiment, by setting the intermediate plate 14 as a circular plate, it is helpful to bear the force of the UAV.

[0075] Optional, see Figure 3 and Figure 6 The UAV also includes a plurality of landing gear bodies 101 and connecting seats 102. The landing gear bodies 101 correspond to the propellers 4 one by one and are arranged on the middle plate 14 below the propeller duct 11. One end of the connecting seat 102 is connected to the middle plate 14 and the other end is connected to the corresponding landing gear body 101. The landing gear body 101 can be a carbon body and the connecting seat 102 can be an aluminum alloy connecting seat 102.

[0076] For further information, see Figure 6 The connecting seat 102 is provided with a mounting hole (not shown in the figure), and the connecting seat 102 is provided with a connecting end groove 1021 on one side of the mounting hole, and the mounting hole is sleeved on the landing gear body 101. The UAV also includes a third fastening connection component, and the third fastening connection component passes through the connecting seat 102 and is located on one side of the connecting end groove 1021, and is fixed to the connecting seat 102 and is located on the other side of the connecting end groove 1021. In this embodiment, the landing gear body 101 is connected to the connecting seat 102 by setting the third fastening connection component.

[0077] Among them, the third fastening connection assembly includes a plurality of third nuts and third bolts, and the third nuts are arranged on the connection seat 102 on one side of the connection end groove 1021, and the third bolts pass through the connection seat 102 on one side of the connection end groove 1021, and are fixed on the corresponding third nuts, wherein multiple third nuts and third bolts can be arranged on each connection seat 102, for example, the third nuts can be arranged as two.

[0078] For further information, see Figure 6 The UAV further includes a landing gear buffer layer 103, and the landing gear buffer layer 103 is arranged on the end of the landing gear body 101 away from the connecting seat 102. In this embodiment, by setting the landing gear buffer layer 103, the UAV can be buffered when landing, wherein the material of the landing gear buffer layer 103 can be thermoplastic polyurethane elastomer rubber.

[0079] In summary, the present application provides a dual-radar full-space obstacle avoidance UAV, including a fuselage protection shell 1, an upper laser radar 2, a lower laser radar 3 and a plurality of propellers 4, wherein the fuselage protection shell 1 is elliptical, with the middle cross section of the fuselage protection shell 1 in the vertical direction as the horizontal reference plane, the middle of the upper surface of the fuselage protection shell 1 is the highest point, and the middle of the lower surface of the fuselage protection shell 1 is the lowest point, the upper laser radar 2 is arranged above the middle of the upper surface of the fuselage protection shell 1, and the lower laser radar 3 is arranged below the middle of the lower surface of the fuselage protection shell 1 A plurality of propeller ducts 11 are provided between the upper surface of the fuselage protection shell 1 and the lower surface of the fuselage protection shell 1, and a plurality of propellers 4 are rotatably arranged in the corresponding propeller ducts 11, wherein the upper laser radar 2 and the lower laser radar 3 are both solid-state laser radars; the present application installs the upper laser radar 2 and the lower laser radar 3 on the upper surface and the lower surface of the fuselage protection shell 1 respectively, and the upper laser radar 2 and the lower laser radar 3 are both solid-state laser radars. It can be foreseen that the present application fully considers the low-load characteristics of the UAV platform through the dual solid-state laser radar mounting design. The solid-state laser radar is smaller and lighter than the mechanical multi-line laser radar to fully improve the endurance of the UAV. While obtaining faster data collection speed, it is respectively arranged at the highest and lowest points of the elliptical fuselage protection shell 1. The upper laser radar 2 and the lower laser radar 3 are unobstructedly carried to provide the UAV with all-round spatial perception information, so that it can plan the path more efficiently during the flight. In addition, compared with a single solid-state laser radar, it can be used in some places where local spatial information is insufficient or limited (such as large scene open spaces with insufficient vertical spatial information or vertical pipe galleries with limited horizontal spatial perception, etc.). ) in the scenario of drift, this product fully considers the information complementary advantages of dual radars, obtains data from different angles to supplement each other's blind spots, and in the process of executing the mission, if one solid-state laser radar fails or is blocked, the other solid-state laser radar can continue to work to maintain the normal operation of the UAV, which fully improves the stability and fault tolerance of the UAV system. In addition, the present application hides the propeller 4 in the propeller duct 11 of the fuselage protection shell 1, which perfectly solves the problem that the propeller 4 or other components block the upper laser radar 2 and the lower laser radar 3 from collecting laser point clouds.

[0080] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A dual-radar full-space obstacle avoidance UAV, characterized in that: include: The fuselage protection shell is elliptical in shape, with the middle cross section of the fuselage protection shell in the vertical direction as the horizontal reference plane, the middle of the upper surface of the fuselage protection shell being the highest point, and the middle of the lower surface of the fuselage protection shell being the lowest point, and a plurality of propeller ducts are provided between the upper surface of the fuselage protection shell and the lower surface of the fuselage protection shell; an upper laser radar, which is arranged above the middle of the upper surface of the fuselage protection shell; A lower laser radar, which is arranged below the middle of the lower surface of the fuselage protection shell; A plurality of propellers, each of which is rotatably disposed in the corresponding propeller duct; Among them, the upper laser radar and the lower laser radar are both solid-state laser radars.

2. The dual-radar full-space obstacle avoidance UAV according to claim 1 is characterized in that: A plurality of propeller ducts are evenly distributed on the fuselage protection shell.

3. The dual-radar full-space obstacle avoidance UAV according to claim 1 is characterized in that: The fuselage protection shell comprises: Upper protective shell; A lower protective shell, which is arranged below the upper protective shell; An intermediate plate, which is disposed between the upper protective shell and the lower protective shell and is connected to the upper protective shell and the lower protective shell respectively; Wherein, the upper protection shell and the lower protection shell are symmetrically arranged relative to the middle plate.

4. The dual-radar full-space obstacle avoidance UAV according to claim 3 is characterized in that: The drone also includes: a second fastening assembly, comprising a plurality of second nuts and second bolts, wherein the plurality of second nuts are distributed on the inner walls of the propeller ducts formed by the upper protective shell, and the second bolts pass through the lower protective shell and the intermediate plate in sequence and are fixedly connected to the corresponding second nuts; Wherein, at least three second nuts are arranged on the inner wall of each propeller duct formed by each of the upper protective shells.

5. The dual-radar full-space obstacle avoidance UAV according to claim 3 is characterized in that: The drone also includes: A host computer, which is arranged on one side of the middle plate; The power module is arranged on the other side of the middle plate, and the weight of the host computer and the power module located on the middle plate is evenly distributed.

6. The dual-radar full-space obstacle avoidance UAV according to claim 5, characterized in that: The middle plate is provided with a first mounting groove and a second mounting groove, the upper computer is arranged in the first mounting groove, and the upper surface of the upper computer and the lower surface of the upper computer are symmetrically arranged relative to the middle plate, the power module is arranged in the second mounting groove, and the upper surface of the power module and the lower surface of the power module are symmetrically arranged relative to the middle plate.

7. The dual-radar full-space obstacle avoidance UAV according to claim 5, characterized in that: The upper protective shell is provided with an installation notch, the installation notch is arranged above the power module and covers the power module, and the drone also includes a power compartment cover, the power compartment cover is sleeved on the installation notch.

8. The dual-radar full-space obstacle avoidance UAV according to claim 3, characterized in that: The drone also includes: A plurality of upper support columns, which are arranged between the middle plate and the upper laser radar and form a first accommodating cavity, wherein one end of the plurality of upper support columns is connected to the middle plate and the other end is connected to the upper laser radar; A lower support column, which is arranged between the middle plate and the lower laser radar and forms a second accommodating cavity, wherein one end of a plurality of the lower support columns is connected to the middle plate and the other end is connected to the lower laser radar; A flight controller, which is disposed in the first accommodating cavity; The power distribution board assembly is arranged in the second accommodating cavity.

9. The dual-radar full-space obstacle avoidance UAV according to claim 3, characterized in that: A first installation opening is formed through the middle of the upper protective shell, and a second installation opening is formed through the middle of the lower protective shell. The drone further comprises: An upper laser radar protection frame, which is sleeved on the upper laser radar, one end of the upper laser radar protection frame is connected to the upper laser radar, and the other end passes through the first installation opening; The lower laser radar protection frame is sleeved on the lower laser radar, one end of the lower laser radar protection frame is connected to the lower laser radar, and the other end passes through the second installation port.

10. The dual-radar full-space obstacle avoidance UAV according to claim 3, characterized in that: The drone also includes: A plurality of landing gear bodies, which are arranged on the middle plate and below the propeller duct; A plurality of connecting seats, one end of which is connected to the middle plate and the other end of which is connected to the corresponding landing gear body; A plurality of landing gear buffer layers, which are arranged on one end of the landing gear body away from the connecting seat; A third fastening connection component, wherein the connection seat is provided with a mounting hole, a connection end groove is provided on one side of the connection seat located at the mounting hole, the mounting hole is sleeved on the landing gear body, the third fastening connection component passes through the connection seat and is located on one side of the connection end groove, and is fixed to the connection seat and is located on the other side of the connection end groove.

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