Anti-collision device for drawing of unmanned aerial vehicle

Abstract

The utility model provides an unmanned aerial vehicle painting anti-collision device, and belongs to the technical field of unmanned aerial vehicle equipment. Comprising an unmanned aerial vehicle body; the fixing block is stably connected to one side of the unmanned aerial vehicle body, and the fixing block is used for fixing a paintbrush; the sliding barrel is connected into the fixing block in a sliding mode, and the sliding barrel is used for providing a painting brush mounting position; and the force sensor is stably installed in the fixing block, and the force sensor is used for detecting the pressure transmitted by the sliding cylinder. Through the cooperation of the millimeter wave radar and the force sensor, the overall weight of the unmanned aerial vehicle is reduced on the premise that the anti-collision detection precision is not affected, the energy loss of the unmanned aerial vehicle is reduced, and through the cooperation of the electromagnetic suction block and the adsorption block, the stable fixing effect of the sliding cylinder in a non-working state is achieved; and misjudgment caused by extrusion of the sliding cylinder to the force sensor is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of UAV equipment, and particularly relates to an anti-collision device for UAV painting. Background Art

[0002] With the continuous development of technology, the application fields of UAVs are becoming increasingly wide; among them, using UAVs for painting is an innovative and artistic application form; during the process of UAV painting, ensuring the safe operation of the UAV is of crucial importance.

[0003] In the prior art, most of the anti-collision devices for UAVs achieve the purpose of protecting the UAV by adding anti-collision structures to the UAV. However, this protection method often means increasing the weight of the UAV itself. When the power of the UAV itself is limited, this undoubtedly increases the energy consumption of the UAV; for example, commonly adding anti-collision strips made of plastic or rubber around the UAV. These anti-collision strips can reduce the impact of collisions to a certain extent, but due to their large volume and weight, the UAV needs to consume more electric energy to maintain stability during flight, thereby shortening the duration of a single flight and the operation range. Content of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide an anti-collision device for UAV painting, which solves the technical problems that the weight gain of the existing UAV anti-collision device leads to an increase in energy consumption, and the sliding of the sliding cylinder during the flight of the UAV is likely to squeeze the pressure sensor and cause misjudgment.

[0005] Technical solution: To achieve the above objectives, the present utility model is realized through the following technical solutions: An anti-collision device for an unmanned aerial vehicle (UAV) to draw pictures, comprising: a UAV main body; a fixing block firmly connected to one side of the UAV main body, and the fixing block is used to fix a paintbrush; a sliding cylinder slidably connected to the fixing block, and the sliding cylinder is used to provide a mounting position for the paintbrush; a force sensor stably installed in the fixing block, and the force sensor is used to detect the pressure transmitted by the sliding cylinder; at least six millimeter-wave radars, and the millimeter-wave radars are stably installed on the UAV main body, and the millimeter-wave radars are distributed around and at the upper and lower ends of the UAV main body, and the millimeter-wave radars are used to detect the surrounding environment of the UAV. The fixing block is made of high-strength and lightweight materials, such as carbon fiber composite materials, to ensure that while providing a firm connection, its own weight is minimized as much as possible, reducing the burden on the flight of the UAV. Its connection method with the UAV main body is specially designed to be able to withstand large vibrations and impacts, ensuring reliability under complex flight conditions; the material of the sliding cylinder is selected to be wear-resistant and have a certain elasticity, such as engineering plastics, which can not only reduce frictional losses but also provide a certain buffer when being collided; the force sensor adopts a high-sensitivity and fast-response model, which can accurately measure tiny pressure changes; its installation position is carefully adjusted to ensure that it can accurately receive the pressure signal transmitted by the sliding cylinder and is not interfered by other components; the millimeter-wave radar should have good waterproof, dustproof and anti-electromagnetic interference capabilities to adapt to various complex outdoor environments; its data update rate and detection range should meet the requirements of the UAV for high-speed flight and avoiding obstacles at close range, and the millimeter-wave radar can adopt the IWR6843 model.

[0006] In a further embodiment, an auxiliary block is arranged on the sliding cylinder, and the auxiliary block is firmly connected to the sliding cylinder; a sliding groove is opened in the fixing block, and the sliding groove is used to provide a sliding space for the auxiliary block, and the sliding groove is adapted to the auxiliary block. The connection between the auxiliary block and the sliding cylinder adopts high-strength screws or welding methods to ensure the firmness of the connection; the inner wall of the sliding groove is smoothed and coated with a low-friction coefficient coating to reduce the resistance when the auxiliary block slides; the dimensional tolerances of the auxiliary block and the sliding groove should be controlled within a small range to ensure the accuracy and stability of the sliding. The length and shape of the sliding groove should be reasonably designed according to the movement requirements of the sliding cylinder.

[0007] In a further embodiment, an adsorption block is arranged on the auxiliary block, and the adsorption block is firmly connected to the auxiliary block; an electromagnetic adsorption block is stably installed in the fixing block, and the electromagnetic adsorption block is in contact with the adsorption block, and the electromagnetic adsorption block is used to adsorb the adsorption block so that the sliding cylinder is fixed in the fixing block. The adsorption block is made of a material with high magnetism, such as neodymium iron boron magnet, to ensure sufficient adsorption force between it and the electromagnetic adsorption block; the power supply line of the electromagnetic adsorption block is shielded to prevent electromagnetic interference from affecting other components.

[0008] In a further embodiment, a cavity is opened in the fixed block, and the cavity is used to provide a force sensor installation position, the cavity is adapted to the force sensor, wherein the interior of the cavity is subjected to shock-absorbing treatment, such as filling with shock-absorbing rubber or installing a spring shock absorber, so as to reduce the impact of external vibration on the force sensor; the cavity has good sealing performance, which can effectively prevent dust and moisture from entering, thereby protecting the force sensor.

[0009] In a further embodiment, there are a plurality of limit grooves, and the plurality of limit grooves are opened in the fixed block; there are a plurality of limit blocks, and the plurality of limit blocks are respectively located in the limit grooves, one end of the limit block is firmly connected to the slide, the limit block is adapted to the limit groove, and the limit block is used to limit the moving track of the slide, wherein the matching accuracy of the limit groove and the limit block is extremely high, and the excessive movement of the slide can be effectively limited. The surface of the limit block is treated with wear resistance to extend the service life; the number and distribution of the limit grooves and the limit blocks should be reasonably arranged according to the length of the slide and the required range of motion, to ensure that the normal operation of the slide is not affected while limiting the movement of the slide.

[0010] In a further embodiment, a mounting groove is provided in the slide, and the mounting groove is used to provide a space for installing a paintbrush. An opening is provided at one end of the mounting groove away from the force sensor, and the opening is used for inserting and removing the paintbrush, wherein the internal shape of the mounting groove matches the outer shape of the paintbrush to ensure the stability of the installation of the paintbrush; an elastic clamping device is provided at the opening, which can automatically clamp the paintbrush after the paintbrush is inserted to prevent the paintbrush from falling off; the depth and diameter of the mounting groove should be standardized according to the specifications of common paintbrushes to improve the versatility of the device. The size and shape of the opening should facilitate the quick insertion and removal of the paintbrush.

[0011] In a further embodiment, the end of the slide cylinder close to the drone body contacts the force sensor, and the contact portion between the slide cylinder and the force sensor is specially designed to ensure uniform and stable force transmission; the contact surface is finely polished to achieve high standards of flatness and smoothness to reduce force transmission errors caused by surface unevenness; in order to increase the sensitivity of force transmission, elastic buffer elements such as micro springs or rubber pads may also be provided in the contact area, which can both protect the force sensor and optimize the force transmission effect.

[0012] Beneficial effects: 1. Through the cooperation of millimeter-wave radar and force sensor, the overall weight of the drone is reduced without affecting the accuracy of anti-collision detection, thereby achieving the purpose of reducing drone energy loss, enhancing drone anti-collision performance, and protecting painting tools from excessive collision damage. It avoids a significant shortening of the drone's flight and painting time due to excessive weight gain of the anti-collision device, ensuring that the drone can fly safely and complete high-quality paintings while avoiding damage caused by uncontrolled brush collision force.

[0013] 2. Through the cooperation of the electromagnetic suction block and the adsorption block, the stable fixing effect of the sliding cylinder in the non-working state is achieved, the purpose of ensuring the normal operation of the force sensor is achieved, and the misjudgment caused by the extrusion of the sliding cylinder on the force sensor is avoided. When the drone is not performing painting operations, the electromagnetic suction block is in the state of being energized to adsorb the adsorption block, so that the sliding cylinder is firmly fixed in the fixed block and cannot slide randomly; when the drone moves to the painting position and is ready to start painting, the electromagnetic suction block is powered off, and the adsorption force on the adsorption block is released. At this time, the sliding cylinder can slide freely, and the force sensor can accurately detect the pressure transmitted by the sliding cylinder, thereby providing accurate data for the force control during the painting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0015] Figure 1 Structural schematic diagram of the present utility model.

[0016] Figure 2 is Figure 1 Main sectional structural schematic diagram of

[0017] Figure 3 is Figure 1 Front sectional structural schematic diagram of

[0018] Figure 4 is Figure 2 Structural schematic diagram at position A of

[0019] Figure 5 is Figure 3 Structural schematic diagram at position B of

[0020] The reference numerals in the drawings are: 1, drone body; 2, fixed block; 201, cavity; 202, chute; 203, limit groove; 3, millimeter wave radar; 4, sliding cylinder; 401, mounting groove; 402, auxiliary block; 403, limit block; 5, adsorption block; 6, electromagnetic suction block; 7, force sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present utility model.

[0022] In an embodiment of the present application, by providing an anti-collision device for a drone painting, the technical problems that the weight increase of the existing drone anti-collision device leads to an increase in energy consumption and the sliding of the sliding cylinder during the flight of the drone easily squeezes the pressure sensor and causes misjudgment are solved. In actual use, the weight of the drone anti-collision device is reduced, thereby reducing energy consumption, and the sliding cylinder is fixed, thereby avoiding misjudgment caused by the sliding of the sliding cylinder easily squeezing the pressure sensor during the flight of the drone.

[0023] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the specification drawings and specific embodiments.

[0024] Referring to Figures 1-5 , an anti-collision device for a drone painting includes: a drone main body 1; a fixing block 2, stably connected to one side of the drone main body 1, and the fixing block 2 is used to fix a paintbrush; a sliding cylinder 4, slidably connected to the fixing block 2, and the sliding cylinder 4 is used to provide a mounting position for the paintbrush; a force sensor 7, stably installed in the fixing block 2, and the force sensor 7 is used to detect the pressure transmitted by the sliding cylinder 4; at least six millimeter-wave radars 3, stably installed on the drone main body 1, the millimeter-wave radars 3 are distributed around and at the upper and lower ends of the drone main body 1, and the millimeter-wave radars 3 are used to detect the surrounding environment of the drone.

[0025] Through the cooperation of the above structures, during the drone painting process, it is possible to provide a mounting position and pressure detection for the paintbrush, and to comprehensively monitor the surrounding environment to achieve an anti-collision effect.

[0026] An auxiliary block 402 is provided on the sliding cylinder 4, and the auxiliary block 402 is stably connected to the sliding cylinder 4; a sliding groove 202 is opened in the fixing block 2, and the sliding groove 202 is used to provide a sliding space for the auxiliary block 402, and the sliding groove 202 is adapted to the auxiliary block 402.

[0027] Through the cooperation of the auxiliary block 402 and the sliding cylinder 4, the effect of stably sliding the auxiliary sliding cylinder 4 is achieved.

[0028] An adsorption block 5 is provided on the auxiliary block 402, and the adsorption block 5 is stably connected to the auxiliary block 402; an electromagnetic adsorption block 6 is stably installed in the fixing block 2, and the electromagnetic adsorption block 6 is in contact with the adsorption block 5, and the electromagnetic adsorption block 6 is used to adsorb the adsorption block 5 so that the sliding cylinder 4 is fixed in the fixing block 2.

[0029] Through the cooperation between the adsorption block 5 and the electromagnetic adsorption block 6, the stable fixing effect of the sliding cylinder 4 in the non-working state is achieved, the purpose of ensuring the normal operation of the force sensor 7 is achieved, and misjudgment caused by the extrusion of the sliding cylinder 4 on the force sensor 7 is avoided.

[0030] The cavity 201 is formed in the fixed block 2, and the cavity 201 is used to provide an installation position for the force sensor 7, and the cavity 201 is adapted to the force sensor 7.

[0031] By forming in the fixed block 2 a cavity 201 that provides an installation position for the force sensor 7 and is adapted to the force sensor 7, the purpose of providing an installation position for the force sensor 7 is achieved.

[0032] A plurality of limiting grooves 203 are formed in the fixed block 2; a plurality of limiting blocks 403 are provided, and the plurality of limiting blocks 403 are respectively located in the limiting grooves 203. One end of the limiting block 403 is firmly connected to the sliding cylinder 4. The limiting block 403 is adapted to the limiting groove 203, and the limiting block 403 is used to define the movement track of the sliding cylinder 4.

[0033] By forming a plurality of limiting grooves 203 in the fixed block 2 and providing a plurality of limiting blocks 403 that are respectively located in the limiting grooves 203, have one end firmly connected to the sliding cylinder 4 and are adapted to each other, the purpose of defining the movement track of the sliding cylinder 4 is achieved.

[0034] The installation groove 401 is formed in the sliding cylinder 4. The installation groove 401 is used to provide an installation space for the paintbrush. An opening is formed at one end of the installation groove 401 away from the force sensor 7, and the opening is used for inserting and removing the paintbrush.

[0035] By forming in the sliding cylinder 4 an installation groove 401 that provides an installation space for the paintbrush and has an opening at one end away from the force sensor 7 for inserting and removing the paintbrush, the purpose of facilitating the installation and replacement of the paintbrush is achieved.

[0036] One end of the sliding cylinder 4 close to the UAV body 1 is in contact with the force sensor 7.

[0037] Through the structural design in which one end of the sliding cylinder 4 close to the UAV body 1 is in direct contact with the force sensor 7, the purpose of enabling the force sensor 7 to accurately sense in real time the pressure transmitted by the sliding cylinder 4 is achieved.

[0038] During use, first, insert the paintbrush through the opening of the sliding cylinder 4 installation groove 401 into the installation groove 401 and fix it; then, start the drone. At this time, the electromagnetic suction block 6 adsorbs the adsorption block 5, fixing the sliding cylinder 4 inside the fixed block 2. The force sensor 7 is in the initial state without being squeezed, and the millimeter-wave radar 3 starts to work, detecting the surrounding environment of the drone in real time; when the drone moves to the position where painting is required, control the electromagnetic suction block 6 to cut off the power, release the adsorption of the adsorption block 5, and the sliding cylinder 4 can slide freely; during the painting process, the pressure generated by the contact between the paintbrush and the object is transmitted to the sliding cylinder 4. One end of the sliding cylinder 4 close to the drone body 1 transmits the pressure to the force sensor 7. The force sensor 7 detects the pressure change and transmits the data to the control system to achieve the control of the painting force; at the same time, the millimeter-wave radars 3 distributed around and at the upper and lower ends of the drone body 1 continuously monitor the obstacle information in the surrounding environment; once a possible collision risk is detected, immediately transmit the signal to the control system, and the control system adjusts the flight attitude and position of the drone in a timely manner according to the received information to avoid the occurrence of collision accidents; after the painting is completed, control the electromagnetic suction block 6 to adsorb the adsorption block 5 again, fix the sliding cylinder 4, then turn off the drone and take out the paintbrush.

[0039] The control system, power supply module, feedback module, paintbrush and other structures required above belong to the prior art and are non-essential technical features in this application. Therefore, they are not described and drawn in the documents and drawings of this application.

[0040] In summary, compared with the prior art, it has the following beneficial effects: First, by adopting a new type of thin and light millimeter-wave radar and optimizing the structural design of each component, the overall weight of the drone is effectively reduced, the load on the drone caused by the anti-collision device is reduced, the energy consumption is lowered, and the flight and painting time of the drone are extended; second, multiple millimeter-wave radars are distributed in all directions, combined with the detection of the collision force of the paintbrush by the force sensor, improving the accuracy and reliability of anti-collision detection, being able to more comprehensively and accurately sense the surrounding environment and the working state of the paintbrush, and timely avoiding collision accidents to ensure the safety of the drone and painting tools; third, the cooperation of the electromagnetic suction block and the adsorption block can firmly fix the sliding cylinder, preventing it from sliding randomly and squeezing the force sensor in the non-working state, preventing misjudgment of the force sensor, ensuring the data accuracy of the force sensor, and thus achieving precise control of the painting force and improving the painting quality.

[0041] The present utility model covers any alternatives, modifications, equivalent methods and solutions made to the essence and scope of the present utility model. In order to enable the public to have a thorough understanding of the present utility model, specific details are described in detail in the above preferred embodiments of the present utility model, and those skilled in the art can fully understand the present utility model without the description of these details. In addition, well-known methods, processes, procedures, components and circuits, etc. are not described in detail in order to avoid unnecessary confusion to the essence of the present utility model.

[0042] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present utility model, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present utility model.

Claims

1. A UAV painting anti-collision device, characterized in that: include: UAV body (1); A fixing block (2) is firmly connected to one side of the drone body (1), and the fixing block (2) is used to fix the paintbrush; A slide cylinder (4) is slidably connected in the fixed block (2), and the slide cylinder (4) is used to provide a brush installation position; A force sensor (7) is stably mounted in the fixed block (2), and the force sensor (7) is used to detect the pressure transmitted by the slide cylinder (4); At least six millimeter wave radars (3) are provided, and the millimeter wave radars (3) are stably mounted on the drone body (1). The millimeter wave radars (3) are distributed around the drone body (1) and at the upper and lower ends. The millimeter wave radars (3) are used to detect the surrounding environment of the drone.

2. The UAV painting anti-collision device according to claim 1, characterized in that: include: An auxiliary block (402) is disposed on the slide cylinder (4), and the auxiliary block (402) is firmly connected to the slide cylinder (4); The slide groove (202) is provided in the fixed block (2), and the slide groove (202) is used to provide a sliding space for the auxiliary block (402), and the slide groove (202) is adapted to the auxiliary block (402).

3. The anti-collision device for painting by a drone according to claim 2, characterized in that: include: The adsorption block (5) is arranged on the auxiliary block (402), and the adsorption block (5) and the auxiliary block (402) are firmly connected; The electromagnetic suction block (6) is stably installed in the fixed block (2), and the electromagnetic suction block (6) is in contact with the adsorption block (5). The electromagnetic suction block (6) is used to adsorb the adsorption block (5) so that the slide cylinder (4) is fixed in the fixed block (2).

4. The UAV painting anti-collision device according to claim 1, characterized in that: include: The cavity (201) is opened in the fixed block (2), and the cavity (201) is used to provide a mounting position for the force sensor (7), and the cavity (201) is compatible with the force sensor (7).

5. The UAV painting anti-collision device according to claim 1, characterized in that: include: A plurality of limiting grooves (203) are provided, and the plurality of limiting grooves (203) are opened in the fixing block (2); A plurality of limit blocks (403) are provided, and the plurality of limit blocks (403) are respectively located in the limit grooves (203); one end of the limit block (403) is firmly connected to the slide (4); the limit block (403) is adapted to the limit groove (203); and the limit block (403) is used to limit the moving track of the slide (4).

6. The UAV painting anti-collision device according to claim 1, characterized in that: include: The mounting groove (401) is provided in the slide cylinder (4), and the mounting groove (401) is used to provide a paintbrush mounting space. An opening is provided at one end of the mounting groove (401) away from the force sensor (7), and the opening is used for inserting and removing the paintbrush.

7. The anti-collision device for painting by a drone according to claim 1, characterized in that: One end of the slide cylinder (4) close to the drone body (1) is in contact with the force sensor (7).

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