Inspection unmanned aerial vehicle with obstacle avoidance function

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and discloses an inspection unmanned aerial vehicle with an obstacle avoidance function, which comprises a vehicle body, and a flight control module is fixedly mounted at the top end of the vehicle body. In the flight process of the inspection unmanned aerial vehicle with the obstacle avoidance function, the four groups of ultrasonic distance measuring sensors arranged on the vehicle body can emit ultrasonic waves to the periphery, measure the distance between nearby obstacles and transmit measured data to a flight control system of the flight control module, and when the distance between the front obstacles is measured to be too close, the flight control module sends the measured data to the unmanned aerial vehicle. The flight control module controls the rotating speed of rotors through motors, timely changes the flight state of the unmanned aerial vehicle for automatic obstacle avoidance, and meanwhile, the arranged attitude recognition module can obtain the flight attitude and the flight height of the unmanned aerial vehicle and transmit the flight attitude and the flight height to a flight control system of the flight control module, so that the flight stability of the unmanned aerial vehicle is improved; the problem that automatic obstacle avoidance is inconvenient during flight inspection of the inspection unmanned aerial vehicle is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an inspection unmanned aerial vehicle with an obstacle avoidance function. Background Art

[0002] The full name of UAV is unmanned aerial vehicle. It is an unmanned aircraft that can be controlled by radio remote control equipment and self-contained program control devices. UAVs can be used to perform many tasks that are inconvenient for people to operate, such as aerial photography, power inspections, news gathering and reporting, and environmental monitoring. When using UAVs to perform some inspection work, by replacing inspection personnel to conduct large-scale shooting inspections, it not only improves the safety of the inspection, but also greatly reduces manual labor.

[0003] However, when inspection drones are used for flight photography and inspection, and when conducting inspections in areas with complex terrain conditions, due to the drone's limited obstacle avoidance capabilities, some protruding branches or some very small obstacles cannot be quickly and effectively avoided by the drone, which will affect the normal flight of the inspection drone and cause collision damage to the inspection drone. The obstacle avoidance is not enough to avoid most obstacles. Utility Model Content

[0004] In order to solve the above-mentioned technical defects, the purpose of the utility model is to provide an inspection UAV with an obstacle avoidance function, which can automatically avoid obstacles when the inspection UAV is flying, meet the protection pressure ball during landing, and at the same time realize the functional requirements of hiding and storing the inspection components.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a patrol drone with obstacle avoidance function, comprising a body, a flight control module is fixedly mounted on the top of the body, an ultrasonic driving device is fixedly mounted on the left side of the top of the flight control module, a posture recognition module is fixedly mounted on the right side of the top of the flight control module, and an ultrasonic ranging module is fixedly mounted on the top of the posture recognition module, and ultrasonic ranging sensors are respectively fixedly mounted on both sides and both ends of the top of the body.

[0006] Furthermore, the ultrasonic ranging sensor is electrically connected to the ultrasonic driving device, and the ultrasonic driving device, the ultrasonic ranging module and the attitude recognition module are electrically connected to the flight control module respectively.

[0007] Bottom cylinders are respectively installed and fixed on both sides and both ends of the bottom of the body, and legs are inserted into the bottom of the bottom cylinder, compression springs are arranged on the outside of the legs, support feet are welded and fixed to the bottom ends of the legs, and limiting rods are welded and fixed to the top ends of the legs, and side grooves are respectively opened inside the two sides of the bottom cylinder.

[0008] The top end of the compression spring is fixedly welded to the bottom end of the bottom tube, and the bottom end of the compression spring is fixedly welded to the top end of the support leg.

[0009] The side grooves respectively penetrate the interior of both sides of the bottom tube, and both sides of the limiting rod respectively penetrate the interior of the side grooves.

[0010] A bottom cavity is provided inside the bottom end of the body, and a mounting frame is provided inside the bottom cavity, a patrol camera is installed inside the mounting frame, electric push rods are respectively fixedly installed on both sides of the top end of the bottom cavity, and mounting plates are respectively fixedly installed on the bottom ends of both sides of the mounting frame.

[0011] The output end of the bottom of the electric push rod is fixedly mounted between the top of the mounting plate, guide rods are fixedly mounted on both sides of the top of the mounting frame, and a guide groove is arranged at the top of the bottom cavity.

[0012] Support arms are fixedly mounted at both ends of both sides of the exterior of the fuselage, and a motor is fixedly mounted on the left side of the support arm. A rotor is fixedly mounted on the output shaft on the top of the motor. A control circuit board is fixedly mounted inside the flight control module, and an image transmission module is arranged on the control circuit board. Batteries are fixedly mounted on both sides of the interior of the fuselage.

[0013] The utility model is provided with an organism, an ultrasonic distance measuring sensor, a flight control module, an ultrasonic driving device, an ultrasonic distance measuring module, a posture recognition module, a motor, a rotor, an arm and a battery. When the inspection unmanned aerial vehicle is flying, the ultrasonic distance measuring module and the posture recognition module are respectively connected to the flight control system of the flight control module, and the ultrasonic driving device is electrically connected to the four ultrasonic distance measuring sensors. During the flight, the flight control module controls the unmanned aerial vehicle to fly according to a predetermined route. The four groups of ultrasonic distance measuring sensors arranged on the organism can emit ultrasonic waves to all directions, measure the distances to nearby obstacles and transmit the measured data to the flight control system of the flight control module. When it is measured that the distance to the obstacle in front is too close, the flight control module controls the rotation speed of the rotor through the motor, changes the flight state of the unmanned aerial vehicle in time to automatically avoid obstacles, and the posture recognition module can obtain the flight posture and flight altitude of the unmanned aerial vehicle and transmit them to the flight control system of the flight control module, thereby improving the stability of the unmanned aerial vehicle during flight. By avoiding obstacles during the inspection flight of the unmanned aerial vehicle, the use safety of the unmanned aerial vehicle during inspection can be improved.

[0014] The utility model provides a body, support feet, a bottom tube, legs, side grooves, limit rods and compression springs. When the UAV lands on the ground, the four groups of support feet will first contact the ground, and the bottom tube will move downward outside the legs at the same time, and the compression springs will be crushed to buffer the landing impact force, thereby reducing the damage to the UAV caused by the impact force when the UAV lands hard on the ground, and conveniently protecting the UAV from landing.

[0015] The utility model is provided with a body, a guide groove, an electric push rod, a mounting frame, an inspection camera, a mounting plate and a guide rod. After the inspection of the UAV is finished, the electric push rod can be controlled to start the output end to retract upward, and at the same time, the mounting plate can be used to drive the mounting frame and the inspection camera to be retracted into the bottom cavity for hiding, so as to facilitate the storage and protection of the inspection shooting components.

[0016] The beneficial effects of the utility model are: not only can the automatic obstacle avoidance of the inspection UAV be realized when the inspection UAV is flying for inspection, which is convenient for landing protection of the UAV, but also the inspection components on the inspection UAV can be conveniently hidden and stored. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the cross-sectional structure of the utility model.

[0018] Figure 2 It is a schematic diagram of the top view structure of the support arm of the utility model.

[0019] Figure 3 for Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

[0020] Figure 4 It is a schematic diagram of an enlarged partial cross-section of the bottom cavity of the utility model from the front view.

[0021] Figure 1-4 In: 1. Support leg; 2. Airframe; 3. Motor; 4. Rotor; 5. Support arm; 6. Ultrasonic ranging sensor; 7. Flight control module; 8. Ultrasonic drive device; 9. Ultrasonic ranging module; 10. Attitude recognition module; 11. Battery; 12. Bottom cavity; 13. Bottom tube; 14. Support leg; 15. Mounting frame; 16. Inspection camera; 17. Control circuit board; 18. Image transmission module; 19. Side groove; 20. Limit rod; 21. Compression spring; 22. Guide groove; 23. Electric push rod; 24. Mounting plate; 25. Guide rod. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] See attached Figure 1-4 It is an embodiment of the utility model, which discloses an inspection drone with obstacle avoidance function, including a body 2, a flight control module 7 is fixedly mounted on the top of the body 2, and an ultrasonic driving device 8 is fixedly mounted on the left side of the top of the flight control module 7, a posture recognition module 10 is fixedly mounted on the right side of the top of the flight control module 7, and an ultrasonic ranging module 9 is fixedly mounted on the top of the posture recognition module 10, ultrasonic ranging sensors 6 are respectively fixedly mounted on both sides and both ends of the top of the body 2, supporting arms 5 are respectively fixedly mounted on both ends of both sides of the outside of the body 2, and a motor 3 is fixedly mounted on the left side of the supporting arm 5, a rotor 4 is fixedly mounted on the output shaft at the top of the motor 3, a control circuit board 17 is fixedly mounted inside the flight control module 7, and an image transmission module 18 is arranged on the control circuit board 17, and batteries 11 are respectively fixedly mounted on both sides of the inside of the body 2;

[0024] The ultrasonic distance measuring sensor 6 is electrically connected to the ultrasonic driving device 8, and the ultrasonic driving device 8, the ultrasonic distance measuring module 9 and the attitude recognition module 10 are electrically connected to the flight control module 7 respectively;

[0025] Specifically, Figure 1 and Figure 2As shown, the UAV controller edits the flight route to the flight control system in the flight control module 7, and then the battery 11 supplies power to the motor 3 to drive the rotor 4 to rotate and take off. The inspection camera 16 can be used to shoot inspections during flight. At the same time, the control circuit board 17 and the image transmission module 18 can be used to transmit the video image information shot during the inspection to the screen of the UAV controller of the UAV operator. When the inspection UAV is flying, the ultrasonic ranging module 9 and the posture recognition module 10 are respectively connected to the flight control system of the flight control module 7, and the ultrasonic driving device 8 is electrically connected to the four ultrasonic ranging sensors 6. During the flight, the flight control module 7 controls the UAV to fly according to the predetermined route. The four groups of ultrasonic ranging sensors 6 arranged on the body 2 can emit ultrasonic waves in all directions, measure the distance to nearby obstacles and transmit the measured data to the flight control system of the flight control module 7. When the distance to the obstacle in front is measured to be too close, the flight control module 7 controls the rotation speed of the rotor 4 through the motor 3, and changes the flight state of the UAV in time to automatically avoid obstacles. At the same time, the attitude recognition module 10 can obtain the flight attitude and flight altitude of the UAV and transmit them to the flight control system of the flight control module 7, thereby improving the stability of the UAV during flight.

[0026] like Figure 1 and Figure 3 As shown, the bottom of the body 2 is respectively fixed with a bottom cylinder 13 on both sides and both ends, and the bottom of the bottom cylinder 13 is plugged with a leg 14, the outside of the leg 14 is provided with a compression spring 21, the bottom of the leg 14 is welded and fixed with a support foot 1, the top of the leg 14 is welded and fixed with a limit rod 20, the inside of both sides of the bottom cylinder 13 is respectively provided with side grooves 19, the top of the compression spring 21 is welded and fixed to the bottom of the bottom cylinder 13, the bottom of the compression spring 21 is welded and fixed to the top of the support foot 1, the side grooves 19 respectively penetrate the inside of both sides of the bottom cylinder 13, and the two sides of the limit rod 20 respectively penetrate the inside of the side grooves 19;

[0027] Specifically, when the drone lands on the ground, the four sets of legs 1 will first contact the ground, and the bottom tube 13 will move downward outside the legs 14, and the impact force of landing will be buffered by crushing the compression spring 21, thereby reducing the damage to the drone caused by the impact force when the drone lands hard on the ground.

[0028] like Figure 1 and Figure 4As shown, a bottom cavity 12 is provided inside the bottom end of the body 2, and a mounting frame 15 is provided inside the bottom cavity 12, and a patrol camera 16 is installed inside the mounting frame 15, electric push rods 23 are respectively fixedly installed on both sides of the top of the bottom cavity 12, and mounting plates 24 are respectively fixedly installed on the bottom ends of both sides of the mounting frame 15, and the output end of the bottom of the electric push rod 23 is fixedly installed between the top of the mounting plate 24, and guide rods 25 are respectively fixedly installed on both sides of the top of the mounting frame 15, and a guide groove 22 is provided at the top of the bottom cavity 12;

[0029] Specifically, after the use of the drone is over, the electric push rod 23 can be controlled to start the output end to retract upward, and at the same time, the mounting plate 24 can be used to drive the mounting frame 15 and the inspection camera 16 to be retracted into the bottom cavity 12 for hidden storage and protection.

[0030] When the embodiment of the utility model is working, the UAV controller edits the flight route into the flight control system in the flight control module 7, and then the battery 11 supplies power to the motor 3 to drive the rotor 4 to rotate for takeoff and flight. The inspection camera 16 can be used to shoot inspections during flight, and the video image information shot during the inspection can be transmitted to the screen of the UAV controller of the UAV operator through the control circuit board 17 and the image transmission module 18. When the inspection UAV is flying, the ultrasonic ranging module 9 and the attitude recognition module 10 are respectively connected to the flight control system of the flight control module 7, and the ultrasonic driving device 8 is electrically connected to the four ultrasonic ranging sensors 6. During the flight, the flight control module 7 controls the UAV to fly according to the predetermined route, and the four groups of ultrasonic ranging sensors 6 set on the body 2 can emit ultrasonic waves to the surroundings to measure the distance to nearby obstacles. The drone is measured and the measured data is transmitted to the flight control system of the flight control module 7. When the distance to the obstacle in front is measured to be too close, the flight control module 7 controls the rotation speed of the rotor 4 through the motor 3, and promptly changes the flight state of the drone to automatically avoid obstacles. At the same time, the attitude recognition module 10 can obtain the flight attitude and flight altitude of the drone and transmit them to the flight control system of the flight control module 7. When the drone lands on the ground, the four sets of legs 1 will first contact the ground, and the bottom tube 13 will move down on the outside of the legs 14, and the landing impact force will be buffered by crushing the compression spring 21, so as to protect the drone from landing. After the inspection drone is used, the electric push rod 23 can be controlled to start the output end to retract upward, and at the same time, the mounting plate 24 can be used to drive the mounting frame 15 and the inspection camera 16 to be retracted into the bottom cavity 12 for hiding, so as to store and protect the inspection shooting components.

[0031] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. An inspection drone with obstacle avoidance function, comprising a body, characterized in that: A flight control module is fixedly mounted on the top of the fuselage, and an ultrasonic driving device is fixedly mounted on the left side of the top of the flight control module; a posture recognition module is fixedly mounted on the right side of the top of the flight control module, and an ultrasonic ranging module is fixedly mounted on the top of the posture recognition module; ultrasonic ranging sensors are respectively fixedly mounted on both sides and both ends of the top of the fuselage.

2. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: The ultrasonic distance measuring sensor is electrically connected to the ultrasonic driving device, and the ultrasonic driving device, the ultrasonic distance measuring module and the attitude recognition module are electrically connected to the flight control module respectively.

3. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: Bottom cylinders are respectively installed and fixed on both sides and both ends of the bottom of the body, and legs are inserted into the bottom of the bottom cylinder, compression springs are arranged on the outside of the legs, support feet are welded and fixed to the bottom ends of the legs, and limiting rods are welded and fixed to the top ends of the legs, and side grooves are respectively opened inside the two sides of the bottom cylinder.

4. The inspection drone with obstacle avoidance function according to claim 3, characterized in that: The top end of the compression spring is fixedly welded to the bottom end of the bottom tube, and the bottom end of the compression spring is fixedly welded to the top end of the support leg.

5. The inspection drone with obstacle avoidance function according to claim 3, characterized in that: The side grooves respectively penetrate the interior of both sides of the bottom tube, and both sides of the limiting rod respectively penetrate the interior of the side grooves.

6. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: A bottom cavity is provided inside the bottom end of the body, and a mounting frame is provided inside the bottom cavity, a patrol camera is installed inside the mounting frame, electric push rods are respectively fixedly installed on both sides of the top end of the bottom cavity, and mounting plates are respectively fixedly installed on the bottom ends of both sides of the mounting frame.

7. The inspection drone with obstacle avoidance function according to claim 6, characterized in that: The output end of the bottom of the electric push rod is fixedly mounted between the top of the mounting plate, guide rods are fixedly mounted on both sides of the top of the mounting frame, and a guide groove is arranged at the top of the bottom cavity.

8. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: Support arms are fixedly mounted at both ends of both sides of the exterior of the fuselage, and a motor is fixedly mounted on the left side of the support arm. A rotor is fixedly mounted on the output shaft on the top of the motor. A control circuit board is fixedly mounted inside the flight control module, and an image transmission module is arranged on the control circuit board. Batteries are fixedly mounted on both sides of the interior of the fuselage.

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