Spherical obstacle avoidance unmanned aerial vehicle

Abstract

The utility model provides a spherical obstacle avoidance unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the spherical obstacle avoidance unmanned aerial vehicle comprises an unmanned aerial vehicle assembly, the unmanned aerial vehicle assembly comprises a fuselage, and the two ends of the fuselage are symmetrically and fixedly connected with a plurality of first vehicle arms; the spherical obstacle avoidance assembly is arranged on the outer side of the unmanned aerial vehicle assembly, the spherical protection frame is made of light high-strength carbon fiber materials, good structural strength and light self weight are achieved, the flight stability of the unmanned aerial vehicle is guaranteed, meanwhile, the fixing ring and the protection pad are additionally arranged on the spherical protection frame, and the safety of the unmanned aerial vehicle is improved. According to the unmanned aerial vehicle, good protection and obstacle avoidance effects can be achieved on the unmanned aerial vehicle assembly, and meanwhile when the unmanned aerial vehicle lands on the ground, if the unmanned aerial vehicle falls to the ground unstably and rolls over, the unmanned aerial vehicle can be stopped in time when turned over to the ground through the fixing rings and the protection pads made of rubber materials; the unmanned aerial vehicle assembly is prevented from colliding with obstacles in the flight process and the landing process, and the flight safety of the unmanned aerial vehicle is improved through combination of the visual sensor and the millimeter wave radar sensor.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially relates to a spherical obstacle avoidance unmanned plane. BACKGROUND

[0002] With the wide application of unmanned plane in aerial photography, inspection, logistics distribution and many other fields, its flight safety is more and more concerned, in the actual flight process, unmanned plane often encounters various obstacles, buildings, trees, telegraph poles and the like, although the existing unmanned plane is equipped with simple obstacle avoidance sensors, but still has many deficiencies.

[0003] For example, Chinese patent CN218113007U discloses an unmanned plane obstacle avoidance device, which comprises: an unmanned plane rack, driving mechanisms installed at the four corners of the unmanned plane rack, an assembly shaft installed at the bottom end of the driving mechanism, a bearing bush installed on the assembly shaft, a collision rotating wheel installed on the bearing bush, a fixing piece installed at the bottom end of the assembly shaft, a bearing frame installed at the bottom end of the unmanned plane rack, a control casing installed at the middle position of the top end of the unmanned plane rack, a power supply, a flight controller and a main controller installed inside the control casing, and the power supply located on one side of the flight controller and the main controller.

[0004] The existing unmanned plane has limited obstacle avoidance range, and can only avoid obstacles in the front or specific angle direction, and the reaction to obstacles on the side and at an angle is not timely, and some unmanned planes cannot land smoothly on uneven ground, which can easily cause the unmanned plane to roll over and be damaged, resulting in collision accidents during flight or landing, and further causing damage to the unmanned plane and other potential safety hazards, in view of the above problems, a spherical obstacle avoidance unmanned plane is provided. UTILITY MODEL CONTENTS

[0005] The utility model mainly provides a spherical obstacle avoidance unmanned plane which is convenient to improve processing efficiency and prevent deviation.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme: a spherical obstacle avoidance unmanned plane, comprising an unmanned plane assembly, the unmanned plane assembly comprising a fuselage, a plurality of arm one is fixedly connected at both ends of the fuselage in a symmetrical manner, and a propeller is arranged at the top of the arm one, one end of the arm one penetrates an installation hole one, a spherical obstacle avoidance assembly is arranged outside the unmanned plane assembly, the spherical obstacle avoidance assembly comprises two symmetrically arranged spherical protection frames and a plurality of insertion blocks, both ends of the spherical protection frame are rotatably connected with a movable ball one in a symmetrical manner, one end of the movable ball one is rotatably connected with a bolt one, one end of the bolt one is threadedly connected with the inside of the installation hole one, a plurality of assembly plates are fixedly connected to the outer edge of the spherical protection frame in a symmetrical manner, one end of the assembly plate penetrates an insertion slot, the insertion block is inserted into the insertion slot from the outside, and the other end of the insertion block is threadedly connected with a fixed plate through the insertion slot.

[0007] Preferably, the two ends of the fuselage are symmetrically fixedly connected with two machine arms, a visual sensor is arranged at the top of one end of the machine arms, and a millimeter wave radar sensor is fixedly connected with the top of one end of the machine arms, the high-resolution visual sensor can capture image information of the surrounding environment in real time, form a visual monitoring range without dead angle, the millimeter wave radar has the ability to penetrate through clouds, fog, dust and other bad weather conditions, and can accurately measure the distance, speed and relative angle of the obstacle, and reliable obstacle detection data can be provided even in complex environment.

[0008] Preferably, two mounting holes two are symmetrically arranged at the top of the machine arms, and two movable balls two are symmetrically rotatably arranged at the ends of the spherical protective frame, the mounting hole two and the movable ball two are combined, so that the unmanned aerial vehicle assembly and the spherical obstacle avoidance assembly can be conveniently mounted and dismounted.

[0009] Preferably, one end of the movable ball two is rotatably connected with a bolt two, and the other end of the bolt two is threadedly connected with the inner side of the mounting hole two, so that the machine arms are connected with the movable ball two through the mounting hole two and the bolt two, and the unmanned aerial vehicle assembly and the spherical obstacle avoidance assembly can be conveniently and quickly mounted and dismounted.

[0010] Preferably, one end of the spherical protective frame is fixedly connected with a fixed ring, and the outer edge of the fixed ring is annularly and fixedly connected with a plurality of protective pads, the fixed ring and the protective pads are arranged on the spherical protective frame, not only can the unmanned aerial vehicle assembly be well protected and avoided from obstacles, but also when the unmanned aerial vehicle lands on the ground and is unstable and rolls over, the fixed ring and the protective pads made of rubber material can make the unmanned aerial vehicle stop in time when it rolls over to the side.

[0011] Preferably, the plurality of movable balls one and the plurality of movable balls two are located on the same plane, the plurality of movable balls one and the plurality of movable balls two can be conveniently assembled with the machine arms one and the machine arms two, so that the unmanned aerial vehicle assembly is assembled in the spherical obstacle avoidance assembly.

[0012] Compared with the prior art, the utility model has the advantages and positive effects that,

[0013] 1、In the utility model, the spherical obstacle avoidance assembly is arranged outside the unmanned aerial vehicle assembly, the spherical protective frame is made of light and high-strength carbon fiber material, has good structural strength and light self weight, ensures flight stability of the unmanned aerial vehicle, the fixed ring and the protective pads are arranged on the spherical protective frame, not only can the unmanned aerial vehicle assembly be well protected and avoided from obstacles, but also when the unmanned aerial vehicle lands on the ground and is unstable and rolls over, the fixed ring and the protective pads made of rubber material can make the unmanned aerial vehicle stop in time when it rolls over to the side, and the unmanned aerial vehicle assembly is prevented from colliding with obstacles in the flight process and the landing process.

[0014] 2、The utility model discloses a kind of ball-shaped obstacle avoidance unmanned aerial vehicles, comprising unmanned aerial vehicle assembly, ball-shaped obstacle avoidance assembly and ball-shaped protection frame, unmanned aerial vehicle assembly is connected with ball-shaped obstacle avoidance assembly, ball-shaped obstacle avoidance assembly is connected with ball-shaped protection frame, unmanned aerial vehicle assembly is connected with ball-shaped protection frame. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 A perspective view of a ball-shaped obstacle avoidance unmanned aerial vehicle is provided for the utility model;

[0016] Figure 2 A structure schematic view of unmanned aerial vehicle assembly of a ball-shaped obstacle avoidance unmanned aerial vehicle is provided for the utility model;

[0017] Figure 3 A structure schematic view of ball-shaped obstacle avoidance assembly of a ball-shaped obstacle avoidance unmanned aerial vehicle is provided for the utility model;

[0018] Figure 4 A structure schematic view of ball-shaped protection frame of a ball-shaped obstacle avoidance unmanned aerial vehicle is provided for the utility model.

[0019] Legend: 1, unmanned aerial vehicle assembly;2, ball-shaped obstacle avoidance assembly;11, fuselage;12, arm one;13, propeller;14, mounting hole one;15, arm two;16, visual sensor;17, millimeter wave radar sensor;18, mounting hole two;21, ball-shaped protection frame;22, fixed ring;23, protection pad;24, assembly plate;25, plug;26, fixed plate;27, slot;28, movable ball one;29, bolt one;210, movable ball two;211, bolt two. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned purposes, features and advantages of the utility model, the utility model is further described below in conjunction with the drawings and examples. It should be noted that the embodiments of the present application and the features in the examples can be combined with each other without conflict.

[0021] In the following description, many specific details are set forth in order to fully understand the utility model, but the utility model can also be implemented in other ways different from those described herein, therefore, the utility model is not limited to the specific embodiments disclosed in the following disclosure.

[0022] Please refer to Figure 1 - Figure 4The utility model provides a technical scheme: a spherical obstacle avoidance unmanned plane, including unmanned plane subassembly 1, unmanned plane subassembly 1 includes fuselage 11, the both ends symmetry fixed connection multiple machine arms one 12 of fuselage 11, and the top of machine arm one 12 sets up propeller 13, and one end of machine arm one 12 penetrates and set up mounting hole one 14, and the outside of unmanned plane subassembly 1 sets up spherical obstacle avoidance subassembly 2, spherical obstacle avoidance subassembly 2 includes two symmetry set up spherical protection frame 21 and multiple insert block 25, and the both ends symmetry swing joint movable ball one 28 of spherical protection frame 21, and one end swing joint bolt one 29 of movable ball one 28, and the inside screw connection of one end outside of bolt one 29 and mounting hole one 14, and the outside edge symmetry fixed connection multiple assembly plate 24 of spherical protection frame 21, and one end of assembly plate 24 penetrates and set up slot 27, and one end outside of insert block 25 and the inside insertion of slot 27, and another end of insert block 25 passes through slot 27 and is fixed with plate 26.

[0023] As Figure 2 shown, the both ends symmetry fixed connection two machine arms two 15 of fuselage 11, and the top of one end of machine arm two 15 sets up visual sensor 16, and the top fixed connection millimeter wave radar sensor 17 of one end of machine arm two 15, and high resolution visual sensor 16 can capture the image information of surrounding environment in real time, forms 360 ° dead angle of vision monitoring range, and millimeter wave radar has the ability to penetrate cloud, dust and other bad weather conditions, and can measure the distance, speed and relative angle of obstacle with high precision, can provide reliable obstacle detection data even in complex environment.

[0024] As Figure 2 and Figure 4 shown, the top both ends symmetry of machine arm two 15 penetrates and sets up two mounting hole two 18, and the both ends symmetry swing installation movable ball two 210 of spherical protection frame 21, and the installation and disassembly of unmanned plane subassembly 1 and spherical obstacle avoidance subassembly 2 can be facilitated in mounting hole two 18 and movable ball two 210 combination.

[0025] As Figure 2 and Figure 4 shown, one end swing joint bolt two 211 of movable ball two 210, and the inside screw connection of one end outside of bolt two 211 and mounting hole two 18, connect machine arm two 15 through mounting hole two 18 and bolt two 211 and movable ball two 210, facilitate the quick installation and disassembly of unmanned plane subassembly 1 and spherical obstacle avoidance subassembly 2.

[0026] As Figure 1As shown, one end of the spherical protective frame 21 is fixedly connected with the fixing ring 22, and the outer edge of the fixing ring 22 is fixedly connected with a plurality of protective pads 23 in an annular array. The addition of the fixing ring 22 and the protective pads 23 on the spherical protective frame 21 can not only achieve good protection and obstacle avoidance effect for the unmanned aerial vehicle assembly 1, but also can stop the unmanned aerial vehicle from overturning to the side when the unmanned aerial vehicle lands on the ground and is not stable.

[0027] As shown, Figure 4 The plurality of movable balls one 28 and movable balls two 210 are located in the same plane, and the plurality of movable balls one 28 and movable balls two 210 can be conveniently assembled with the arm one 12 and the arm two 15, so as to assemble the unmanned aerial vehicle assembly 1 inside the spherical obstacle avoidance assembly 2.

[0028] The use method and working principle of the device: the unmanned aerial vehicle is composed of the unmanned aerial vehicle assembly 1 and the spherical obstacle avoidance assembly 2. The outer side of the unmanned aerial vehicle body 11 is respectively provided with a plurality of arm one 12 and arm two 15. One end of the arm one 12 is provided with a mounting hole one 14, and one end of the arm two 15 is provided with a mounting hole two 18. When the unmanned aerial vehicle assembly 1 is installed inside the spherical obstacle avoidance assembly 2, first, the first spherical protective frame 21 is installed with the unmanned aerial vehicle assembly 1. The arm one 12 is connected with the movable ball one 28 through the mounting hole one 14 and the bolt one 29. Then, the arm two 15 is connected with the movable ball two 210 through the mounting hole two 18 and the bolt two 211. Then, the second spherical protective frame 21 is placed at the installation position. After the two spherical protective frames 21 are attached to each other, the assembly plates 24 at the corresponding positions correspond to each other. According to the above steps, the second spherical protective frame 21 is installed with the unmanned aerial vehicle assembly 1. Finally, one end of the plug block 25 is inserted through the slot 27. After the outer side of the plug block 25 is inserted into the inner side of the slot 27, one end of the plug block 25 is screwed with the fixed plate 26. Thus, the two spherical protective frames 21 are fixed together through the plurality of plug blocks 25, so as to complete the assembly of the unmanned aerial vehicle assembly 1 and the spherical obstacle avoidance assembly 2. By arranging a spherical spherical obstacle avoidance assembly 2 outside the unmanned aerial vehicle assembly 1, the spherical protective frame 21 is made of lightweight high-strength carbon fiber material, which has good structural strength and light weight, and ensures the flight stability of the unmanned aerial vehicle. At the same time, the addition of the fixing ring 22 and the protective pad 23 on the spherical protective frame 21 can not only achieve good protection and obstacle avoidance effect for the unmanned aerial vehicle assembly 1, but also can stop the unmanned aerial vehicle from overturning to the side when the unmanned aerial vehicle lands on the ground and is not stable. Thus, the unmanned aerial vehicle assembly 1 can avoid colliding with obstacles during flight and landing.

[0029] Meanwhile, the unmanned aerial vehicle assembly 1 is provided with the visual sensor 16 and the millimeter wave radar sensor 17, the high-resolution visual sensor 16 can capture image information of the surrounding environment in real time, form a 360° visual monitoring range without dead angle, the visual sensor 16 can clearly identify different types, different shapes and sizes of obstacles, and can accurately judge the distance between the obstacles and the unmanned aerial vehicle, the millimeter wave radar sensor 17 cooperates with the visual sensor 16, the millimeter wave radar has the ability to penetrate clouds, fog, dust and other bad weather conditions, and can accurately measure the distance, speed and relative angle of the obstacles, and can provide reliable obstacle detection data even in complex environments; through the combination of multiple sensors, 360° non-dead angle monitoring of the surrounding environment is realized, no matter where the obstacles appear, the unmanned aerial vehicle can discover and make obstacle avoidance reaction in time, so that the unmanned aerial vehicle has strong environmental adaptability and greatly improves the flight safety.

[0030] The above is only a preferred embodiment of the present application, and does not limit the present application in other forms, and any skilled person in the art can change or modify the above disclosed technical content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification of the above embodiments made according to the technical essence of the present application without departing from the technical scheme of the present application still belongs to the protection scope of the technical scheme of the present application.

Claims

1. A spherical obstacle avoidance unmanned aerial vehicle, comprising an unmanned aerial vehicle assembly (1), the unmanned aerial vehicle assembly (1) comprising a fuselage (11), a plurality of arm assemblies (12) being symmetrically fixedly connected to both ends of the fuselage (11), and a propeller (13) being arranged at the top of the arm assembly (12), characterized in that, One end of the arm one (12) penetrates the installation hole one (14), the outer side of the unmanned aerial vehicle assembly (1) is provided with a spherical obstacle avoidance assembly (2), the spherical obstacle avoidance assembly (2) comprises two symmetrically arranged spherical protective frames (21) and a plurality of plug blocks (25), both ends of the spherical protective frame (21) are symmetrically connected with movable balls one (28), one end of the movable ball one (28) is rotatably connected with a bolt one (29), one end of the bolt one (29) is threadedly connected with the inner side of the installation hole one (14), the outer edge of the spherical protective frame (21) is symmetrically connected with a plurality of assembly plates (24), one end of the assembly plate (24) penetrates the slot (27), one end of the plug block (25) is inserted into the slot (27), and the other end of the plug block (25) passes through the slot (27) and is threadedly connected with a fixed plate (26).

2. The spherical obstacle avoidance drone of claim 1, wherein: Both ends of the fuselage (11) are symmetrically connected with two arm two (15), one end of the arm two (15) is provided with a visual sensor (16), and one end of the arm two (15) is fixedly connected with a millimeter wave radar sensor (17).

3. The spherical obstacle avoidance drone of claim 2, wherein: Both ends of the arm two (15) are symmetrically provided with two installation hole two (18), both ends of the spherical protective frame (21) are symmetrically rotatably installed with movable balls two (210).

4. The spherical obstacle avoidance drone of claim 3, wherein: One end of the movable ball two (210) is rotatably connected with a bolt two (211), one end of the bolt two (211) is threadedly connected with the inner side of the installation hole two (18).

5. The spherical obstacle avoidance drone of claim 1, wherein: One end of the spherical protective frame (21) is fixedly connected with a fixed ring (22), and the outer edge of the fixed ring (22) is annularly arranged with a plurality of protective pads (23).

6. The spherical obstacle avoidance drone of claim 4, wherein: A plurality of movable balls one (28) and movable balls two (210) are located in the same plane.

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