Unmanned aerial vehicle with active obstacle avoidance function

Abstract

The utility model discloses an unmanned aerial vehicle with an active obstacle avoidance function, belongs to the technical field of unmanned aerial vehicles, aims at solving the problem that a laser radar is inconvenient to store after the unmanned aerial vehicle finishes flying, and comprises an unmanned aerial vehicle body, a bottom hole is formed in the bottom face of the unmanned aerial vehicle body, and side openings are formed in the two opposite side faces of the inner side wall of the bottom hole respectively. Symmetrically-distributed fixing blocks are fixed to the bottoms of the two opposite side faces of the inner side wall of the bottom hole correspondingly, and positioning columns are fixed between the fixing blocks and the side faces, close to each other, of the inner side wall of the bottom hole; according to the unmanned aerial vehicle, the unmanned aerial vehicle body can actively avoid obstacles through the arranged laser radar, the unmanned aerial vehicle body can be supported through the arranged tooth-shaped column rod, the tooth-shaped column rod can be folded and unfolded through the arranged electric push rod and the arranged second rack, and therefore when the unmanned aerial vehicle body finishes flying, the unmanned aerial vehicle body can be supported by the tooth-shaped column rod. The tooth-shaped column rod can support the unmanned aerial vehicle body, and damage to the laser radar caused by contact between the laser radar and the ground when the unmanned aerial vehicle body lands is avoided.

Description

Technical Field

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

[0002] When the existing obstacle avoidance drone is in use, the laser radar realizes the drone's active obstacle avoidance function. However, since the laser radar is fixed on the bottom of the drone, it is inconvenient to store the laser radar after the drone ends its flight.

[0003] Therefore, there is a need for a drone with active obstacle avoidance to solve the problem in the prior art that it is inconvenient to store the laser radar after the drone ends its flight. Utility Model Content

[0004] The purpose of the utility model is to provide a drone with active obstacle avoidance to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a drone with active obstacle avoidance, comprising a drone body, a bottom hole is provided on the bottom surface of the drone body, side openings are provided on opposite sides of the inner wall of the bottom hole, symmetrically distributed fixed blocks are fixed on the bottoms of the opposite sides of the inner wall of the bottom hole, a positioning column is fixed between the fixed block and the inner wall of the bottom hole close to one side, a spring is provided on the periphery of the positioning column, one end of the spring is fixed to the top surface of the inner wall of the bottom hole, a positioning frame is movably connected between the outer walls of adjacent positioning columns, connecting rods are respectively fixed to the side close to one side of the two positioning frames, a laser radar is fixed between the side close to one side of the connecting rods on both sides, an annular groove is provided on the bottom surface of the positioning frame, a clamping hole is provided on the top surface of the inner wall of the annular groove, a rotating column is rotatably connected between the top surface and the bottom surface of the inner wall of the side opening, one end of the rotating column movably passes through the bottom surface of the drone body, and an L-shaped clamping column is fixed on the top of the outer wall of the rotating column.

[0006] It should be noted in the scheme that a gear is fixed at one end of the rotating column, sleeve rods are fixed on both sides of the bottom surface of the drone body, a first rack is movably engaged in the sleeve rod, two first racks are symmetrically distributed, the two first racks are respectively meshed with the gear, and a fixed rod is fixed at one end of the two first racks.

[0007] It is further worth noting that symmetrically distributed side blocks are fixed on both sides of the bottom surface of the drone body, and a rotating shaft is rotatably connected between adjacent side surfaces of the side blocks, and toothed column rods are fixed on both sides of the outer side walls of the rotating shaft.

[0008] It should be further explained that side panels are fixed to the bottom of the two opposite sides of the outer side wall of the drone body, an electric push rod is fixed to the middle of the bottom of the side panel, a mounting rod is fixed to the output end of the electric push rod, and second racks are fixed on both sides of the mounting rod close to one side of the laser radar, and the second racks are meshed with the toothed column rod.

[0009] As a preferred embodiment, a PLC controller is fixed near the middle of the bottom surface of the drone body, a distance sensor is fixed to one side of the bottom surface of the drone body, the distance sensor is electrically connected to the PLC controller, the laser radar is electrically connected to the drone body, and the electric push rod is electrically connected to the PLC controller.

[0010] As a preferred embodiment, limit openings are respectively provided on both sides of the bottom surface of the mounting rod, symmetrically distributed limit rods are fixed to the bottom surface of the side panel, one side of the top surface of the limit rod is fixed to the bottom surface of the drone body, and the limit rod is correspondingly engaged in the limit openings.

[0011] Compared with the prior art, the utility model provides a drone with active obstacle avoidance, which has at least the following beneficial effects:

[0012] (1) The laser radar is set up so that the drone body can actively avoid obstacles, the toothed column is set up so that the drone body can be supported, and the electric push rod and the second rack are set up so that the toothed column can be folded and stretched, so that when the drone body ends its flight, the toothed column can support the drone body, thereby avoiding damage to the laser radar caused by contact with the ground when the drone body lands.

[0013] (2) The laser radar position can be flexibly limited by the positioning column, positioning frame and connecting rod, and the laser radar can be stored in the bottom hole by the bottom hole. The position of the positioning frame can be limited or cancelled by the rotating column, L-shaped locking column, annular groove and locking hole. The two rotating columns can rotate at the same time by the gears and the symmetrically distributed first rack, thereby driving the L-shaped locking columns on both sides to rotate clockwise and counterclockwise respectively, so that the laser radar can be conveniently stored and taken out, thereby improving the convenience of laser radar storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the fixing rod of the utility model;

[0016] Figure 3This is a schematic diagram of the limit opening structure of the utility model;

[0017] Figure 4 This is a schematic diagram of the side port structure of the utility model;

[0018] Figure 5 This is a schematic diagram of the positioning frame structure of the utility model.

[0019] In the figure:

[0020] 100, drone body; 101, bottom hole; 102, positioning column; 103, spring; 104, positioning frame; 105, side port;

[0021] 200, rotating column; 201, L-shaped engaging column; 202, annular groove; 203, engaging hole;

[0022] 300, laser radar; 301, connecting rod; 302, fixing block;

[0023] 400, gear; 401, first rack; 402, sleeve rod; 403, fixed rod;

[0024] 500, toothed column; 501, rotating shaft; 502, side block; 503, second rack; 504, mounting rod;

[0025] 600, limit rod; 601, limit opening; 602, side plate; 603, electric push rod;

[0026] 700. PLC controller; 701. distance sensor. DETAILED DESCRIPTION

[0027] See also Figure 1-5The utility model provides a drone with active obstacle avoidance, including a drone body 100, a bottom hole 101 is opened on the bottom surface of the drone body 100, and side openings 105 are respectively opened on the opposite sides of the inner wall of the bottom hole 101, and symmetrically distributed fixing blocks 302 are respectively fixed to the bottom of the opposite sides of the inner wall of the bottom hole 101, and a positioning column 102 is fixed between the fixing block 302 and the inner wall of the bottom hole 101 close to each other. A spring 103 is arranged on the periphery of the positioning column 102, and one end of the spring 103 is fixed to the top surface of the inner wall of the bottom hole 101, and the adjacent positioning A positioning frame 104 is movably connected between the outer walls of the column 102, and a connecting rod 301 is fixed to each other on one side of the two positioning frames 104 close to each other, and a laser radar 300 is fixed between the connecting rods 301 on both sides close to each other. An annular groove 202 is provided on the bottom surface of the positioning frame 104, and a locking hole 203 is provided on the top surface of the inner wall of the annular groove 202. A rotating column 200 is rotatably connected between the top and bottom surfaces of the inner wall of the side opening 105, and one end of the rotating column 200 movably passes through the bottom surface of the drone body 100, and an L-shaped locking column 201 is fixed to the top of the outer wall of the rotating column 200.

[0028] Further as Figure 1 As shown, a gear 400 is fixed to one end of the rotating column 200, sleeve rods 402 are fixed to both sides of the bottom surface of the drone body 100, and a first rack 401 is movably engaged in the sleeve rod 402. The two first racks 401 are symmetrically distributed, and the two first racks 401 are respectively meshed with the gear 400, and a fixing rod 403 is fixed to one end of the two first racks 401.

[0029] By setting the symmetrically distributed first racks 401, when the fixing rod 403 is pushed, the two first racks 401 can move synchronously, thereby driving the gears 400 on both sides to rotate respectively, so that the L-shaped locking column 201 rotates into the annular groove 202 and locks in the locking hole 203, thereby limiting the position of the positioning frame 104.

[0030] Further as Figure 2 As shown, symmetrically distributed side blocks 502 are fixed on both sides of the bottom surface of the drone body 100, and a rotating shaft 501 is rotatably connected between adjacent side surfaces of the side blocks 502, and toothed column rods 500 are fixed on both sides of the outer side walls of the rotating shaft 501.

[0031] By providing the toothed column 500 , the toothed column 500 can support the drone body 100 when unfolded, and can be folded when the drone is flying.

[0032] This solution has the following working process: when the drone body 100 is flying, the drone body 100 is placed upside down on the bottom surface, and the laser radar 300 is manually pressed, so that the laser radar 300 moves and drives the positioning frame 104 to move, and the positioning frame 104 moves and compresses the spring 103. At this time, the L-shaped engaging column 201 is separated from the engaging hole 203, and then the fixing rod 403 is manually pushed, and the fixing rod 403 moves to drive the first racks 401 on both sides to move, and the first racks 401 move to drive the gear 400 to rotate, and the gear The wheel 400 rotates to drive the rotating column 200 to rotate, and the rotating column 200 rotates to drive the L-shaped engaging column 201 to rotate, so that the L-shaped engaging column 201 moves out of the annular groove 202. At this time, the position of the laser radar 300 is unrestricted, and then the laser radar 300 is pulled out of the bottom hole 101, and the PLC controller 700 is operated. The PLC controller 700 controls the electric push rods 603 on both sides to start synchronously, and the electric push rods 603 drive the installation rod 504 to move, and the movement of the installation rod 504 drives the second rack 503 to move. The toothed column 500 is rotated until the toothed column 500 changes from a folded state to an extended state. At this time, the drone body 100 is placed squarely on the ground, and the four toothed columns 500 support the drone body 100. At this time, the laser radar 300 will not contact the ground. By operating the remote control device of the drone body 100, the drone body 100 is made to fly. After the drone body 100 flies up, the PLC controller 700 controls the output end of the electric push rod 603 to move in the opposite direction, so that the second rack 503 moves in the opposite direction, and finally drives the toothed column 500 to rotate in the opposite direction, so that the toothed column 500 changes from an extended state to a folded state, so that the laser radar 300 will not be blocked by the toothed column 500 when emitting a laser beam. When the drone is flying, the laser radar 300 emits a laser beam in real time for obstacle detection. When the laser radar 300 detects an obstacle, the laser radar 300 will transmit a signal to the drone body 100, and the drone body 100 will avoid the obstacle to fly, thereby achieving the purpose of active obstacle avoidance.

[0033] When the flight is about to end, the distance sensor 701 obtains the distance between the drone body 100 and the ground, and transmits a signal to the PLC controller 700. The PLC controller 700 controls the electric push rod 603 to start, so that the toothed column 500 changes from a folded state to an extended state. After the drone body 100 lands, the toothed column 500 supports the drone body 100. When the laser radar 300 is stored, the drone body 100 is placed upside down on the ground and the laser radar 300 is pressed so that the laser radar 300 is located at the bottom. In the hole 101, the spring 103 is compressed at this time, and then the fixing rod 403 is pulled to make the rotating column 200 rotate. The rotation of the rotating column 200 drives the L-shaped locking column 201 to rotate. The L-shaped locking column 201 rotates into the annular groove 202 and corresponds to the locking hole 203. Then, the pressure on the laser radar 300 is released, and the spring 103 releases the elastic force to push the laser radar 300, so that the L-shaped locking column 201 is locked in the locking hole 203. At this time, the position of the laser radar 300 is fixed, and the storage of the laser radar 300 is completed.

[0034] According to the above working process, it can be known that: through the setting of the laser radar 300, the drone body 100 can actively avoid obstacles, through the setting of the toothed column 500, the drone body 100 can be supported, and through the setting of the electric push rod 603 and the second rack 503, the toothed column 500 can be folded and stretched, so that when the drone body 100 ends the flight, the toothed column 500 can support the drone body 100, thereby avoiding damage to the laser radar 300 caused by the contact between the laser radar 300 and the ground when the drone body 100 lands.

[0035] By means of the positioning column 102, the positioning frame 104 and the connecting rod 301, the position of the laser radar 300 can be movably limited, and by means of the bottom hole 101, the laser radar 300 can be stored in the bottom hole 101. By means of the rotating column 200, the L-shaped locking column 201, the annular groove 202 and the locking hole 203, the position of the positioning frame 104 can be limited or unlimited. By means of the gear 400 and the symmetrically distributed first rack 401, the two rotating columns 200 can rotate at the same time, thereby driving the L-shaped locking columns 201 on both sides to rotate clockwise and counterclockwise respectively, so that the laser radar 300 can be conveniently stored and taken out, thereby improving the convenience of storing the laser radar 300.

[0036] Further as Figure 2As shown, side panels 602 are fixed to the bottom of the two opposite sides of the outer wall of the drone body 100, an electric push rod 603 is fixed to the middle of the bottom of the side panel 602, a mounting rod 504 is fixed to the output end of the electric push rod 603, and second racks 503 are fixed to both sides of the mounting rod 504 close to a side of the laser radar 300, and the second racks 503 are correspondingly engaged with the toothed column 500.

[0037] By setting the electric push rod 603, the installation rod 504 can be pushed by the electric push rod 603, thereby driving the second rack 503 to move. By setting the second rack 503, the toothed column 500 can be rotated, thereby facilitating the toothed column 500 to be unfolded and folded.

[0038] Further as Figure 2 As shown, a PLC controller 700 is fixed near the middle of the bottom surface of the drone body 100, a distance sensor 701 is fixed to one side of the bottom surface of the drone body 100, the distance sensor 701 is electrically connected to the PLC controller 700, the laser radar 300 is electrically connected to the drone body 100, and the electric push rod 603 is electrically connected to the PLC controller 700.

[0039] By setting up the distance sensor 701, the drone body 100 can obtain the distance from the ground through the distance sensor 701 when the flight ends, and then transmit the distance signal to the PLC controller 700, so that the PLC controller 700 controls the electric push rod 603 to start, and then the toothed column 500 changes from a folded state to an unfolded state, thereby supporting the drone body 100 when it lands.

[0040] Further as Figure 3 As shown, limiting openings 601 are respectively provided on both sides of the bottom surface of the mounting rod 504, and symmetrically distributed limiting rods 600 are fixed to the bottom surface of the side panel 602. One side of the top surface of the limiting rod 600 is fixed to the bottom surface of the drone body 100, and the limiting rod 600 is correspondingly engaged in the limiting opening 601.

[0041] By providing the limiting opening 601 and the limiting rod 600 , the position of the installation rod 504 can be limited, thereby facilitating the stable movement of the installation rod 504 .

[0042] In summary, when the drone body 100 is flying, the drone body 100 is placed upside down on the bottom surface, and the laser radar 300 is pressed manually, so that the laser radar 300 moves and drives the positioning frame 104 to move, and the positioning frame 104 moves and compresses the spring 103. At this time, the L-shaped engaging column 201 is separated from the engaging hole 203, and then the fixing rod 403 is pushed manually, and the fixing rod 403 moves and drives the first racks 401 on both sides to move, and the movement of the first rack 401 drives the gear 400 to rotate, and the rotation of the gear 400 drives the The rotating column 200 rotates, and the rotating column 200 drives the L-shaped engaging column 201 to rotate, so that the L-shaped engaging column 201 moves out of the annular groove 202. At this time, the position of the laser radar 300 is unrestricted, and then the laser radar 300 is pulled out of the bottom hole 101, and the PLC controller 700 is operated. The PLC controller 700 controls the electric push rods 603 on both sides to start synchronously, and the electric push rods 603 drive the installation rod 504 to move, and the installation rod 504 moves to drive the second rack 503 to move, so that the toothed column 201 moves out of the annular groove 202. The rod 500 rotates until the toothed column 500 changes from a folded state to an extended state. At this time, the drone body 100 is placed squarely on the ground, and the four toothed columns 500 support the drone body 100. At this time, the laser radar 300 will not contact the ground. By operating the remote control device of the drone body 100, the drone body 100 is made to fly. After the drone body 100 flies up, the PLC controller 700 controls the output end of the electric push rod 603 to move in the opposite direction, so that the second rack 503 moves in the opposite direction, and finally drives the toothed column 500 to rotate in the opposite direction, so that the toothed column 500 changes from an extended state to a folded state, so that the laser radar 300 will not be blocked by the toothed column 500 when emitting a laser beam. When the drone is flying, the laser radar 300 emits a laser beam in real time for obstacle detection. When the laser radar 300 detects an obstacle, the laser radar 300 will transmit a signal to the drone body 100, and the drone body 100 will avoid the obstacle to fly, thereby achieving the purpose of active obstacle avoidance.

[0043] When the flight is about to end, the distance sensor 701 obtains the distance between the drone body 100 and the ground, and transmits a signal to the PLC controller 700. The PLC controller 700 controls the electric push rod 603 to start, so that the toothed column 500 changes from a folded state to an extended state. After the drone body 100 lands, the toothed column 500 supports the drone body 100. When the laser radar 300 is stored, the drone body 100 is placed upside down on the ground and the laser radar 300 is pressed so that the laser radar 300 is located at the bottom. In the hole 101, the spring 103 is compressed at this time, and then the fixing rod 403 is pulled to make the rotating column 200 rotate. The rotation of the rotating column 200 drives the L-shaped locking column 201 to rotate. The L-shaped locking column 201 rotates into the annular groove 202 and corresponds to the locking hole 203. Then, the pressure on the laser radar 300 is released, and the spring 103 releases the elastic force to push the laser radar 300, so that the L-shaped locking column 201 is locked in the locking hole 203. At this time, the position of the laser radar 300 is fixed, and the storage of the laser radar 300 is completed.

[0044] The drone body 100, the laser radar 300, the electric push rod 603, the PLC controller 700 and the distance sensor 701 can all be purchased on the market. They are mature technologies in this field and have been fully disclosed, so they are not repeated in the specification.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A drone with active obstacle avoidance, comprising a drone body (100), characterized in that: The bottom surface of the drone body (100) is provided with a bottom hole (101), and the inner wall of the bottom hole (101) is provided with side openings (105) on two opposite sides thereof. The bottoms of the inner wall of the bottom hole (101) are respectively fixed with symmetrically distributed fixing blocks (302), and a positioning column (102) is fixed between the fixing block (302) and the inner wall of the bottom hole (101) close to each other. A spring (103) is arranged on the periphery of the positioning column (102), and one end of the spring (103) is fixed to the top surface of the inner wall of the bottom hole (101). A positioning frame (103) is movably connected between the outer walls of adjacent positioning columns (102). 104), a connecting rod (301) is fixed to each other on one side of the two positioning frames (104) close to each other, a laser radar (300) is fixed between the connecting rods (301) on both sides close to each other, an annular groove (202) is provided on the bottom surface of the positioning frame (104), a locking hole (203) is provided on the top surface of the inner wall of the annular groove (202), a rotating column (200) is rotatably connected between the top surface and the bottom surface of the inner wall of the side opening (105), one end of the rotating column (200) movably passes through the bottom surface of the drone body (100), and an L-shaped locking column (201) is fixed to the top of the outer wall of the rotating column (200).

2. The UAV with active obstacle avoidance according to claim 1, characterized in that: A gear (400) is fixed to one end of the rotating column (200), sleeve rods (402) are fixed to both sides of the bottom surface of the drone body (100), and a first rack (401) is movably engaged in the sleeve rod (402), and the two first racks (401) are symmetrically distributed, and the two first racks (401) are respectively meshed with the gear (400), and a fixing rod (403) is fixed to one end of the two first racks (401).

3. The UAV with active obstacle avoidance according to claim 2, characterized in that: Symmetrically distributed side blocks (502) are fixed to both sides of the bottom surface of the drone body (100); a rotation shaft (501) is rotatably connected between adjacent side surfaces of the side blocks (502) that are close to each other; and toothed column rods (500) are fixed to both sides of the outer side walls of the rotation shaft (501).

4. The UAV with active obstacle avoidance according to claim 3, characterized in that: Side panels (602) are fixed to the bottom of two opposite sides of the outer wall of the drone body (100), an electric push rod (603) is fixed to the middle of the bottom of the side panel (602), a mounting rod (504) is fixed to the output end of the electric push rod (603), and second racks (503) are fixed to both sides of a side of the mounting rod (504) close to the laser radar (300), and the second racks (503) are meshed with the toothed column rod (500) respectively.

5. The UAV with active obstacle avoidance according to claim 4, characterized in that: A PLC controller (700) is fixed near the middle of the bottom surface of the drone body (100), a distance sensor (701) is fixed on one side of the bottom surface of the drone body (100), the distance sensor (701) is electrically connected to the PLC controller (700), the laser radar (300) is electrically connected to the drone body (100), and the electric push rod (603) is electrically connected to the PLC controller (700).

6. The UAV with active obstacle avoidance according to claim 5, characterized in that: Limit openings (601) are respectively provided on both sides of the bottom surface of the mounting rod (504); symmetrically distributed limit rods (600) are fixed to the bottom surface of the side plate (602); one side of the top surface of the limit rod (600) is fixed to the bottom surface of the drone body (100); and the limit rod (600) is correspondingly engaged in the limit opening (601).

Images