Inspection unmanned aerial vehicle with obstacle avoidance function

Abstract

The inspection unmanned aerial vehicle with the obstacle avoidance function comprises a vehicle body main frame, a flight control main board is arranged at the bottom end of the interior of the vehicle body main frame, and an obstacle avoidance assembly capable of monitoring in multiple directions is arranged at the bottom end of the vehicle body main frame. According to the inspection unmanned aerial vehicle with the obstacle avoidance function, by arranging the first millimeter wave sensor, the ultrasonic sensor, the second millimeter wave sensor, the flight control mainboard and the camera module, when the inspection unmanned aerial vehicle is used, the flight control mainboard integrates information to avoid obstacles on a path, the first millimeter wave sensor collects ground information, and when an object rapidly gets close to the lower portion, the camera module is started; the first millimeter wave sensor senses the information above the first millimeter wave sensor and can feed back signals to the flight control mainboard in time, the second millimeter wave sensor senses the information above the first millimeter wave sensor and feeds back the signals to the flight control mainboard in time when an object is found to be close to the first millimeter wave sensor quickly, the function of collecting information in an omnibearing mode for three-dimensional obstacle avoidance is achieved, and the problem that the device does not have the function of collecting information in an omnibearing mode for three-dimensional obstacle avoidance 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] Inspection drones are based on drones and integrate advanced flight control systems to achieve autonomous take-off and landing, path planning, etc., and then realize automatic inspection during the production or maintenance process, thereby freeing up manpower and improving efficiency and accuracy.

[0003] At present, the flight control systems of common inspection drones on the market are equipped with obstacle avoidance programs. The realization of their functions depends on the images collected by the camera and the information fed back by the ultrasonic radar in front of the drone. The information is integrated through algorithms to judge and avoid obstacles. Cameras and ultrasonic radars are the basis for the realization of obstacle avoidance capabilities. Their limited information acquisition sources result in a low upper limit on obstacle avoidance capabilities. They can only judge obstacles directly in front of the flight path. When working outdoors, especially at high altitudes in the wild, such as wire and cable inspections, the operating altitude is relatively high. When entering the territory of birds of prey such as golden eagles and eagles, these birds of prey sometimes swoop on drones from the top in order to maintain their territory. Drones have no judgment source for the information on the top and are easily damaged by the swoop, or when working at low altitudes, they are poked and shot down by nearby residents with sticks. There are few sources of information below the drone, and it is difficult to avoid in advance. It does not have the function of collecting information in all directions and avoiding obstacles in three dimensions.

[0004] Now, a new type of inspection UAV with obstacle avoidance function is proposed to solve the above problems. Utility Model Content

[0005] The utility model aims to provide an inspection drone with obstacle avoidance function, so as to solve the problem that the above-mentioned background technology does not have the function of all-round information collection and three-dimensional obstacle avoidance.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a patrol drone with obstacle avoidance function, comprising a body main frame, a flight control mainboard is arranged at the bottom end inside the body main frame, motor mounting arms are fixedly connected to both sides of the front and rear ends of the body main frame respectively, a brushless motor is installed at the end of the motor mounting arm, and a motor blade is fixedly connected to the output end of the brushless motor, two groups of signal transmission antennas are installed on one side of the top of the body main frame, a lithium battery is inserted from right to left on the other side of the top of the body main frame, and an obstacle avoidance component with multi-directional monitoring is arranged at the bottom of the body main frame.

[0007] The obstacle avoidance component includes two groups of first millimeter wave sensors, which are vertically installed at the front and rear ends of the bottom of one side of the main frame of the body, and ultrasonic sensors are horizontally installed at the front and rear ends of the bottom of the other side of the main frame of the body. A camera module is installed at the bottom end of the main frame of the body, and second millimeter wave sensors are installed at the front and rear ends of the middle position of the top of the main frame of the body.

[0008] Preferably, the first millimeter wave sensor, the ultrasonic sensor, and the second millimeter wave sensor have the same specifications, and the first millimeter wave sensor, the ultrasonic sensor, the second millimeter wave sensor, and the flight control mainboard are electrically connected.

[0009] Preferably, the main frame of the machine body and the camera module are connected via a pan-tilt platform, and the camera module can realize left and right rotation and pitch angle adjustment by relying on the pan-tilt platform.

[0010] Preferably, the front and rear ends of the bottom of the main frame of the machine body are respectively fixedly connected with bottom tripods, and the bottom end of the camera module is higher than the bottom end of the bottom tripod.

[0011] Preferably, a reflective mirror is glued at the middle position of the top of the main frame of the machine body, and two groups of reserved eyes are arranged at the top of the reflective mirror.

[0012] Preferably, the top of the reflective mirror is flush with the top of the main frame of the machine body, and the position size of the reserved eye corresponds to the position size of the second millimeter wave sensor one by one.

[0013] Preferably, a side fixing shell is fixedly connected to one side of the main frame of the body, laser lamps are respectively installed at the upper and lower ends of the side fixing shell, the top end of one side of the side fixing shell is fixedly connected to a power connector, and the bottom end of one side of the side fixing shell is fixedly connected to a flight control connector.

[0014] Preferably, the power connector is electrically connected to the lithium battery, and the flight control connector is electrically connected to the flight control mainboard.

[0015] Compared with the prior art, the utility model has the following beneficial effects: the inspection drone with obstacle avoidance function not only realizes the function of all-round information collection and three-dimensional obstacle avoidance, but also realizes the function of bird-repelling by top reflective function, and also realizes the function of easy positioning and finding at night;

[0016] (1) The first millimeter wave sensor, the ultrasonic sensor, the second millimeter wave sensor, the flight control mainboard and the camera module are provided. When in use, the brushless motor drives the motor blades to rotate at high speed to provide the UAV with flight power. The flight control mainboard is used as a program carrier to control the UAV to install the path planning reciprocating inspection flight. During the flight, the ultrasonic sensor and the camera module collect information in front of the UAV path, and the flight control mainboard integrates the information to avoid obstacles on the path. The first millimeter wave sensor collects ground information. When an object approaches quickly from below, the signal can be fed back to the flight control mainboard in time, and the UAV rises quickly to avoid attacks from below. The second millimeter wave sensor senses the information above. When an object is found to be approaching quickly, the signal is fed back to the flight control mainboard in time, and the UAV accelerates or descends quickly to avoid it, preventing the raptor from attacking. By collecting all-round information, three-dimensional obstacle avoidance is achieved, and the function of all-round information collection and three-dimensional obstacle avoidance is realized;

[0017] (2) By providing a reflective mirror and a reserved eye, the top of the main frame of the drone faces upward during flight. When flying during the day, the reflective mirror on the top reflects sunlight, forming a dazzling light spot. When a bird of prey swoops down, it will see the dazzling light spot once it approaches the drone, and will automatically move away if frightened. The reserved eye reserves space for the installation of the signal transmission antenna, thus realizing the function of top reflective bird repelling.

[0018] (3) By providing a side fixed shell, laser light, power connector and flight control connector, when operating at night, it is necessary to determine the actual position of the UAV. In addition to checking at the flight control center, the upper and lower sets of laser lights on the side fixed shell can be started. The UAV forms a slender light column during flight, which can be directly observed by ground personnel with the naked eye. Especially when the UAV explodes at night or the signal is interrupted, the ground search personnel can also quickly find and bring it back through the laser light to reduce losses. The power connector and flight control connector provide support for the opening and closing of the laser light, so that it can be connected to the battery and flight control, realizing the function of easy positioning and finding at night. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front view structural schematic diagram of the utility model;

[0020] Figure 2 It is a schematic diagram of a partial cross-sectional structure of a main frame of the machine body of the utility model when viewed from above;

[0021] Figure 3 This is a schematic diagram of the reflective mirror structure of the utility model from a top view;

[0022] Figure 4 It is a front view structural schematic diagram of the side fixing shell of the utility model.

[0023] In the figure: 1. Main frame; 2. First millimeter wave sensor; 3. Ultrasonic sensor; 4. Second millimeter wave sensor; 5. Flight control main board; 6. Camera module; 7. Bottom tripod; 8. Motor mounting arm; 9. Brushless motor; 10. Motor blades; 11. Signal transmission antenna; 12. Lithium battery; 13. Reflective mirror; 14. Reserved eye; 15. Side fixing shell; 16. Laser light; 17. Power connector; 18. Flight control connector. DETAILED DESCRIPTION

[0024] 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.

[0025] Example 1: Please refer to Figure 1-4 , a patrol drone with obstacle avoidance function, comprising a main frame 1, a flight control mainboard 5 is arranged at the bottom of the main frame 1, motor mounting arms 8 are fixedly connected to both sides of the front and rear ends of the main frame 1, a brushless motor 9 is installed at the end of the motor mounting arm 8, and a motor blade 10 is fixedly connected to the output end of the brushless motor 9, two groups of signal transmission antennas 11 are installed on one side of the top of the main frame 1, a lithium battery 12 is inserted from right to left on the other side of the top of the main frame 1, and an obstacle avoidance component with multi-directional monitoring is arranged at the bottom of the main frame 1;

[0026] See also Figure 1-4 , a patrol drone with obstacle avoidance function also includes an obstacle avoidance component, which includes two groups of first millimeter wave sensors 2, which are vertically installed at the front and rear ends of the bottom of one side of the main frame 1 of the body, and the front and rear ends of the bottom of the other side of the main frame 1 are horizontally installed with ultrasonic sensors 3, a camera module 6 is installed at the bottom of the main frame 1, and the front and rear ends of the top middle position of the main frame 1 are respectively installed with second millimeter wave sensors 4;

[0027] The first millimeter wave sensor 2, the ultrasonic sensor 3, and the second millimeter wave sensor 4 have the same specifications. The first millimeter wave sensor 2, the ultrasonic sensor 3, the second millimeter wave sensor 4, and the flight control main board 5 are electrically connected. The body main frame 1 and the camera module 6 are connected through a gimbal. The camera module 6 can realize left and right rotation and pitch angle adjustment by relying on the gimbal. The front and rear ends of the bottom of the body main frame 1 are respectively fixedly connected with the bottom tripod 7. The bottom end of the camera module 6 is higher than the bottom end of the bottom tripod 7. By collecting information in all directions, three-dimensional obstacle avoidance is realized;

[0028] Specifically, Figure 1and Figure 2 As shown, the ultrasonic sensor 3 and the camera module 6 collect information in front of the UAV path, the flight control main board 5 integrates the information to avoid obstacles on the path, the first millimeter wave sensor 2 collects ground information, when there is an object approaching quickly below, the signal can be fed back to the flight control main board 5 in time, the UAV rises quickly to avoid attacks from below, the second millimeter wave sensor 4 senses the information above, when it finds an object approaching quickly, the signal is fed back to the flight control main board 5 in time, the UAV accelerates or descends quickly to avoid, to prevent birds of prey from attacking, and by collecting all-round information, three-dimensional obstacle avoidance is achieved.

[0029] Embodiment 2: A reflective mirror 13 is glued at the middle position of the top of the main frame 1 of the machine body, and two groups of reserved eyes 14 are set at the top of the reflective mirror 13. The top of the reflective mirror 13 is flush with the top of the main frame 1 of the machine body. The position and size of the reserved eyes 14 correspond to the position and size of the second millimeter wave sensor 4 one by one, and birds are scared away by reflection;

[0030] Specifically, Figure 2 and Figure 3 As shown, the reflective mirror 13 reflects sunlight to form a dazzling light spot. When a bird of prey swoops down, it will see the dazzling light spot once it approaches the drone, and will automatically move away if frightened. The reserved eye 14 reserves space for the installation of the signal transmission antenna 11.

[0031] Embodiment 3: A side fixing shell 15 is fixedly connected to one side of the main frame 1 of the fuselage, and laser lights 16 are respectively installed at the upper and lower ends of the side fixing shell 15. A power connector 17 is fixedly connected to the top of one side of the side fixing shell 15, and a flight control connector 18 is fixedly connected to the bottom of one side of the side fixing shell 15. The power connector 17 is electrically connected to the lithium battery 12, and the flight control connector 18 is electrically connected to the flight control mainboard 5. The laser beam can be used to quickly locate the position of the drone, which is convenient for finding at night;

[0032] Specifically, Figure 1 and Figure 4 As shown, the upper and lower groups of laser lights 16 of the side fixed shell 15 are started, and the UAV forms a slender light column during flight, which can be directly observed by ground personnel with the naked eye. Especially when the UAV explodes at night or the signal is interrupted, the ground search personnel can also quickly find and bring back the UAV through the laser light 16 to reduce losses. The power connector 17 and the flight control connector 18 provide support for the opening and closing of the laser light 16, so that it can be connected to the battery and the flight control.

[0033] Working principle: When the utility model is in use, first, the brushless motor 9 drives the motor blades 10 to rotate at high speed to provide flying power for the UAV. The flight control mainboard 5 serves as a program carrier to control the installation path planning of the UAV for reciprocating inspection flight. During the flight, the ultrasonic sensor 3 and the camera module 6 collect information in front of the UAV path. The flight control mainboard 5 integrates the information to avoid obstacles on the path. The first millimeter wave sensor 2 collects ground information. When an object approaches quickly below, the signal can be fed back to the flight control mainboard 5 in time. The UAV rises quickly to avoid attacks from below. The second millimeter wave sensor 4 senses the information above. When an object is found approaching quickly, the signal is fed back to the flight control mainboard 5 in time. The UAV accelerates or descends quickly to avoid it and prevents birds of prey from attacking. By collecting all-round information, three-dimensional obstacle avoidance is achieved. During the flight of the drone, the top of the main frame 1 faces upward. During daytime flight, the reflective mirror 13 on the top reflects sunlight to form a dazzling light spot. When a raptor swoops, it will see the dazzling light spot once it approaches the drone, and will automatically move away when frightened. The reserved eye 14 reserves space for the installation of the signal transmission antenna 11. When operating at night, it is necessary to determine the actual position of the drone. In addition to checking at the flight control center, the upper and lower groups of laser lights 16 of the side fixed shell 15 can be started. The drone forms a slender light column during flight, which can be directly observed by ground personnel with the naked eye. Especially when the drone explodes at night or the signal is interrupted, ground search personnel can also quickly find and bring it back through the laser light 16 to reduce losses. The power connector 17 and the flight control connector 18 provide support for the opening and closing of the laser light 16, so that it can be connected to the battery and the flight control.

[0034] 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 main frame (1), characterized in that: A flight control mainboard (5) is arranged at the bottom of the body main frame (1), motor mounting arms (8) are fixedly connected to both sides of the front and rear ends of the body main frame (1), a brushless motor (9) is installed at the end of the motor mounting arm (8), and a motor blade (10) is fixedly connected to the output end of the brushless motor (9), two groups of signal transmission antennas (11) are installed on one side of the top of the body main frame (1), a lithium battery (12) is inserted from right to left on the other side of the top of the body main frame (1), and a multi-directional monitoring obstacle avoidance component is arranged at the bottom of the body main frame (1); The obstacle avoidance component comprises two groups of first millimeter wave sensors (2), the two groups of first millimeter wave sensors (2) are vertically mounted at the front and rear ends of the bottom of one side of the main frame (1), the front and rear ends of the bottom of the other side of the main frame (1) are respectively horizontally mounted with ultrasonic sensors (3), the bottom end of the main frame (1) is mounted with a camera module (6), and the front and rear ends of the top middle position of the main frame (1) are respectively mounted with second millimeter wave sensors (4).

2. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: The first millimeter wave sensor (2), the ultrasonic sensor (3), and the second millimeter wave sensor (4) have the same specifications, and the first millimeter wave sensor (2), the ultrasonic sensor (3), the second millimeter wave sensor (4), and the flight control mainboard (5) are electrically connected.

3. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: The machine body main frame (1) and the camera module (6) are connected to each other via a pan-tilt platform, and the camera module (6) can realize left-right rotation and pitch angle adjustment by relying on the pan-tilt platform.

4. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: The front and rear ends of the bottom of the main body frame (1) are respectively fixedly connected to a bottom tripod (7), and the bottom end of the camera module (6) is higher than the bottom end of the bottom tripod (7).

5. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: A reflective mirror surface (13) is glued to the middle position of the top of the main frame (1) of the machine body, and two groups of reserved eyes (14) are arranged at the top of the reflective mirror surface (13).

6. The inspection drone with obstacle avoidance function according to claim 5, characterized in that: The top of the reflective mirror surface (13) is flush with the top of the main frame (1) of the machine body, and the position size of the reserved eye (14) corresponds one-to-one to the position size of the second millimeter wave sensor (4).

7. The inspection drone with obstacle avoidance function according to claim 1, characterized in that: A side fixing shell (15) is fixedly connected to one side of the main frame (1) of the machine body, and laser lamps (16) are respectively installed at the upper and lower ends of the side fixing shell (15), a power connector (17) is fixedly connected to the top end of one side of the side fixing shell (15), and a flight control connector (18) is fixedly connected to the bottom end of one side of the side fixing shell (15).

8. The inspection drone with obstacle avoidance function according to claim 7, characterized in that: The power connector (17) is electrically connected to the lithium battery (12), and the flight control connector (18) is electrically connected to the flight control mainboard (5).

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