Autonomous obstacle avoidance device applied to electric power inspection unmanned aerial vehicle

Abstract

The utility model relates to an autonomous obstacle avoidance device applied to an electric power inspection unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, an autonomous obstacle avoidance box and a quick release assembly, the autonomous obstacle avoidance box is arranged at the top of the unmanned aerial vehicle body, and an autonomous obstacle avoidance device is arranged in the autonomous obstacle avoidance box; the quick dismounting assembly comprises a positioning block arranged at the top of the unmanned aerial vehicle body, a dismounting base fixedly arranged at the bottom of the autonomous obstacle avoidance box and a quick dismounting structure arranged in the dismounting base, a quick dismounting column drives a reset column to move, the reset column drives a reset plate to move, and the reset plate extrudes a reset spring and drives a limiting column to move; the relative positions of the limiting columns and the limiting holes are controlled, and then the relative positions of the positioning blocks and the positioning grooves are controlled, so that the disassembly and assembly base and the unmanned aerial vehicle body are conveniently separated, the autonomous obstacle avoidance box is conveniently taken down to overhaul the autonomous obstacle avoidance device, the unmanned aerial vehicle body is prevented from being stopped during overhaul, the cost is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an autonomous obstacle avoidance device applied to electric power inspection unmanned aerial vehicles. Background Art

[0002] The power inspection drone is a drone system specially used for the inspection of power facilities (such as transmission lines, substations and wind turbines, etc.). The power inspection drone uses autonomous obstacle avoidance to ensure that the drone can safely and efficiently avoid obstacles when performing power line inspection tasks. The autonomous obstacle avoidance structure is usually composed of a sensor system, a computing unit, an obstacle avoidance algorithm and a control system.

[0003] After searching, a drone obstacle avoidance device with announcement number CN205910594U is found, which relates to the field of drone technology and solves the technical problem in the prior art that drones cannot effectively avoid obstacles. The drone obstacle avoidance device includes a detector module, an information processing module, a data fusion module and a flight control module connected in sequence; the detector module includes an ultrasonic unit and a binocular vision unit, and the ultrasonic unit and the binocular vision unit are used to simultaneously obtain obstacle information; the information processing module is used to process the obstacle information obtained by the ultrasonic unit to obtain obstacle distance information, and to process the obstacle information obtained by the binocular vision unit to obtain obstacle depth information; the data fusion module is used to fuse obstacle distance information and obstacle depth information to obtain comprehensive obstacle information, so that the flight control module controls the drone to avoid obstacles according to the comprehensive obstacle information. The utility model is applied to drone obstacle avoidance.

[0004] The autonomous obstacle avoidance structure in the disclosed patent is usually fixedly mounted on the top of the drone. When the autonomous obstacle avoidance structure needs to be inspected and maintained, it is inconvenient to remove the autonomous obstacle avoidance structure, and the drone needs to be stopped, which increases costs. Utility Model Content

[0005] In view of the technical problem in existing patents that the autonomous obstacle avoidance structure is usually fixedly installed on the top of the UAV, it is inconvenient to remove the autonomous obstacle avoidance structure when it needs to be inspected and maintained, and the UAV needs to be stopped, which increases the cost, the utility model provides an autonomous obstacle avoidance device for power inspection UAVs.

[0006] The technical solution adopted by the utility model is: an autonomous obstacle avoidance device applied to a power inspection drone, comprising:

[0007] The drone itself;

[0008] An autonomous obstacle avoidance box, which is mounted on the top of the drone body and has an autonomous obstacle avoider installed inside;

[0009] A quick-release assembly, the quick-release assembly being mounted on the bottom of the autonomous obstacle avoidance box and being used to control the relative position of the autonomous obstacle avoidance box and the drone body;

[0010] The quick-release assembly comprises a positioning block mounted on the top of the drone body, a disassembly seat fixedly mounted on the bottom of the autonomous obstacle avoidance box, and a quick-release structure mounted inside the disassembly seat.

[0011] Furthermore, a positioning groove is provided at the bottom of the disassembly and assembly seat, a quick-release groove is provided on one side of the positioning groove, the positioning block cooperates with the positioning groove, and the quick-release structure is installed inside the quick-release groove.

[0012] Furthermore, the quick release structure includes a reset plate welded to the inner wall of the quick release slot through a reset spring, a limit column and a reset column fixedly welded on one side of the reset plate, and a quick release column fixedly welded on one end of the reset column.

[0013] Furthermore, a limiting hole is provided on the positioning block, and the limiting column cooperates with the limiting hole.

[0014] Furthermore, a storage groove is provided on one side of the autonomous obstacle avoidance box, a guide groove is provided on the inner side wall of the storage groove, a threaded hole is provided on one side of the storage groove, and a storage component is installed inside the storage groove, and the storage component is used to control the position of the autonomous obstacle avoider.

[0015] Furthermore, the storage assembly includes a guide block slidably connected in the guide groove, a displacement plate fixedly welded between the two guide blocks, a support plate fixedly welded on one side of the bottom of the displacement plate, and a screw fixedly welded on the back side of the displacement plate, the screw thread is engaged inside the threaded hole, and the autonomous obstacle avoider is installed on the top of the support plate.

[0016] The beneficial effects of the utility model are:

[0017] The quick-release column drives the reset column to move, the reset column drives the reset plate to move, the reset plate squeezes the reset spring and drives the limit column to move, the relative position of the limit column and the limit hole is controlled, and then the relative position of the positioning block and the positioning groove is controlled, so that the disassembly seat is conveniently separated from the drone body, and the autonomous obstacle avoidance box is conveniently removed to overhaul the autonomous obstacle avoider, so as to avoid the drone body being parked during maintenance, thereby reducing costs and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the working state of the utility model;

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the utility model in the storage state;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the utility model after being disassembled;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the utility model when viewed from above;

[0022] Figure 5 It is a three-dimensional structural schematic diagram of the quick-release assembly in the utility model;

[0023] Figure 6 It is a three-dimensional structural schematic diagram of the storage component in the utility model.

[0024] The markings in the figure are:

[0025] 1. Drone body; 2. Autonomous obstacle avoidance box; 3. Autonomous obstacle avoidance device;

[0026] 4. Quick release assembly; 401. Positioning block; 402. Disassembly seat; 403. Quick release structure; 4031. Reset spring; 4032. Reset plate; 4033. Limiting column; 4034. Reset column; 4035. Quick release column;

[0027] 5. Positioning slot;

[0028] 6. Limiting hole;

[0029] 7. Storage slot; 8. Guide slot;

[0030] 9. Storage assembly; 901. Guide block; 902. Displacement plate; 903. Support plate; 904. Screw. DETAILED DESCRIPTION

[0031] In the description of the present invention, it should be noted that the terms "front", "up", "down", "left", "right", "vertical", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The following is combined with Figure 1-6The utility model is further described.

[0034] In order to solve the problems existing in the background technology, the present application proposes the following technical solution: an autonomous obstacle avoidance device applied to a power inspection drone,

[0035] Embodiment 1

[0036] This embodiment provides a technical solution: Figure 1-Figure 5 As shown, it includes: a drone body 1, an autonomous obstacle avoidance box 2 and a quick-release component 4;

[0037] The autonomous obstacle avoidance box 2 is installed on the top of the drone body 1. The autonomous obstacle avoider 3 is installed inside the autonomous obstacle avoidance box 2. The top of the autonomous obstacle avoider 3 is a triangular slope, which is convenient for debris and rainwater to fall along both sides, thereby improving the detection stability performance.

[0038] like Figure 3 , Figure 4 , Figure 5 As shown, the quick-release assembly 4 is installed at the bottom of the autonomous obstacle avoidance box 2 , and the quick-release assembly 4 is used to control the relative position of the autonomous obstacle avoidance box 2 and the drone body 1 .

[0039] The quick-release assembly 4 includes a positioning block 401 mounted on the top of the drone body 1, a disassembly and assembly seat 402 fixedly mounted on the bottom of the autonomous obstacle avoidance box 2, and a quick-release structure 403 mounted inside the disassembly and assembly seat 402. A positioning groove 5 is provided at the bottom of the disassembly and assembly seat 402, a quick-release groove is provided on one side of the positioning groove 5, the positioning block 401 cooperates with the positioning groove 5, and the quick-release structure 403 is installed inside the quick-release groove.

[0040] Furthermore, the quick-release structure 403 includes a reset plate 4032 welded to the inner wall of the quick-release groove through a reset spring 4031, a limiting column 4033 and a reset column 4034 fixedly welded on one side of the reset plate 4032, and a quick-release column 4035 fixedly welded on one end of the reset column 4034. A limiting hole 6 is opened on the positioning block 401, and the limiting column 4033 cooperates with the limiting hole 6.

[0041] Working principle: When in use, the autonomous obstacle avoider 3 in the autonomous obstacle avoidance box 2 is moved by the drone body 1. The autonomous obstacle avoider 3 can autonomously avoid obstacles when encountering obstacles through the sensor system, computing unit, obstacle avoidance algorithm and control system inside the autonomous obstacle avoider 3. After long-term use, the autonomous obstacle avoider 3 needs to be inspected and maintained. By squeezing the quick-release column 4035, the quick-release column 4035 drives the reset column 4034 to move, and the reset column 4034 drives the reset plate 4032 to move. The reset plate 4032 squeezes the reset spring 4031 and drives the limit column 4033 to move, and the relative position of the limit column 4033 and the limit hole 6 is controlled, and then the relative position of the positioning block 401 and the positioning groove 5 is controlled, so that the disassembly seat 402 is separated from the drone body 1, and the autonomous obstacle avoidance box 2 is removed to inspect the autonomous obstacle avoider 3, so as to avoid the drone body 1 from being parked during inspection, thereby reducing costs and improving work efficiency.

[0042] Embodiment 2

[0043] This embodiment is further optimized on the basis of the first embodiment, and the same parts as the above technical solution will not be repeated here. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 As shown, in order to better realize the present utility model, a function of controlling the position of the autonomous obstacle avoider 3 is provided to avoid damage to the autonomous obstacle avoider 3 when not in use.

[0044] like Figure 4 , Figure 6 As shown, a storage groove 7 is provided on one side of the autonomous obstacle avoidance box 2 , a guide groove 8 is provided on the inner side wall of the storage groove 7 , a threaded hole is provided on one side of the storage groove 7 , and a storage assembly 9 is installed inside the storage groove 7 .

[0045] Furthermore, the storage assembly 9 includes a guide block 901 slidably connected in the guide groove 8, a displacement plate 902 fixedly welded between the two guide blocks 901, a support plate 903 fixedly welded to one side of the bottom of the displacement plate 902, and a screw 904 fixedly welded to the back side of the displacement plate 902, the screw 904 is threadedly engaged inside the threaded hole, and the autonomous obstacle avoider 3 is installed on the top of the support plate 903.

[0046] Working principle: When in use, by rotating the screw 904, the screw 904 drives the displacement plate 902 to move, the displacement plate 902 drives the guide block 901 to slide in the guide groove 8, and the displacement plate 902 drives the supporting plate 903 to move, thereby controlling the relative position of the autonomous obstacle avoider 3 and the storage groove 7, so as to facilitate the storage of the autonomous obstacle avoider 3 when not working, avoid damage to the autonomous obstacle avoider 3, and improve safety performance.

[0047] The standard parts used in the utility model can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0048] Although the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An autonomous obstacle avoidance device for a power inspection drone, characterized in that: include: UAV body (1); An autonomous obstacle avoidance box (2), the autonomous obstacle avoidance box (2) being mounted on the top of the drone body (1), and an autonomous obstacle avoider (3) being mounted inside the autonomous obstacle avoidance box (2); A quick-release component (4), the quick-release component (4) being mounted on the bottom of the autonomous obstacle avoidance box (2), and the quick-release component (4) being used to control the relative position of the autonomous obstacle avoidance box (2) and the drone body (1); The quick-release assembly (4) comprises a positioning block (401) mounted on the top of the drone body (1), a disassembly seat (402) fixedly mounted on the bottom of the autonomous obstacle avoidance box (2), and a quick-release structure (403) mounted inside the disassembly seat (402).

2. The autonomous obstacle avoidance device for electric power inspection drone according to claim 1 is characterized in that: A positioning groove (5) is provided at the bottom of the disassembly seat (402), a quick-release groove is provided on one side of the positioning groove (5), the positioning block (401) cooperates with the positioning groove (5), and the quick-release structure (403) is installed inside the quick-release groove.

3. The autonomous obstacle avoidance device for electric power inspection drone according to claim 2 is characterized in that: The quick-release structure (403) comprises a reset plate (4032) welded to the inner wall of the quick-release slot via a reset spring (4031), a limit column (4033) and a reset column (4034) fixedly welded to one side of the reset plate (4032), and a quick-release column (4035) fixedly welded to one end of the reset column (4034).

4. The autonomous obstacle avoidance device for electric power inspection drone according to claim 3 is characterized in that: The positioning block (401) is provided with a limiting hole (6), and the limiting column (4033) cooperates with the limiting hole (6).

5. The autonomous obstacle avoidance device for electric power inspection drone according to claim 1 is characterized in that: A storage groove (7) is provided on one side of the autonomous obstacle avoidance box (2), a guide groove (8) is provided on the inner side wall of the storage groove (7), a threaded hole is provided on one side of the storage groove (7), and a storage assembly (9) is installed inside the storage groove (7), and the storage assembly (9) is used to control the position of the autonomous obstacle avoider (3).

6. The autonomous obstacle avoidance device for electric power inspection drone according to claim 5 is characterized in that: The storage assembly (9) comprises a guide block (901) slidably connected in the guide groove (8), a displacement plate (902) fixedly welded between the two guide blocks (901), a support plate (903) fixedly welded to one side of the bottom of the displacement plate (902), and a screw rod (904) fixedly welded to the back side of the displacement plate (902), wherein the screw rod (904) is threadedly engaged inside the threaded hole, and the autonomous obstacle avoider (3) is mounted on the top of the support plate (903).

Images