An obstacle avoidance structure for an unmanned aerial vehicle hovering based on a wheeled device

Abstract

The utility model provides a hovering obstacle avoidance structure for an unmanned aerial vehicle based on a wheeled device. The utility model relates to the technical field of unmanned aerial vehicles, and includes a web member. The web member is a concave plate frame assembled by fitting. A machine disk is fixed in the middle of the web member. Side bins extend from the machine disk to both ends of the web member. Wheel disks are embedded at both ends of the web member. The beneficial effects of the utility model are as follows: The external wheeled structure can assist the unmanned aerial vehicle in measuring the left and right distance positions and the deflection angle during hovering. It is convenient for the unmanned aerial vehicle to adjust the hovering position by combining the displacement data fed back by the wheeled structure with manual operation. On this basis, it is convenient to protect the external structure of the unmanned aerial vehicle, provides a measurement structure and data support for the hovering adjustment operation of the unmanned aerial vehicle among obstacles, and is convenient for hovering obstacle avoidance by combining the aircraft control system of the unmanned aerial vehicle with manual control, thus improving the practicability and applicability of the structure.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a hovering obstacle avoidance structure for UAVs based on a wheeled device. Background Technology

[0002] A drone is an aircraft that does not require a pilot to board and fly. It flies autonomously through remote control or preset programs. It is usually made of lightweight materials and equipped with a power system (such as an electric motor or engine), a navigation and control system (GPS, gyroscope, etc.) and a mission payload (such as a camera, sensor, cargo hook, etc.).

[0003] In some application scenarios, to ensure the safety of drone takeoff and landing, anti-collision protective structures are usually set on the outer edge of the drone to avoid damage caused by collisions with obstacles. However, the existing obstacle avoidance methods mainly rely on external structures to prevent the drone body from directly contacting obstacles. Avoiding obstacles still requires manual visual operation, and the external structure does not help the drone avoid obstacles when hovering. There is a lack of an obstacle avoidance structure that allows the drone to adjust its position for obstacle avoidance while hovering. Utility Model Content

[0004] The technical problem to be solved by this utility model is that the obstacle avoidance effect of the existing drone hovering and adjustment protection structure is poor, that is, the protection effect of the drone is poor when hovering and adjusting. In order to solve the above problem, a drone hovering obstacle avoidance structure based on a wheel device is provided.

[0005] The purpose and effect of this utility model are achieved by the following specific technical means: including a web plate, the web plate being a concave plate frame that is fitted and assembled, a machine disk being fixed in the middle of the web plate, side compartments being provided on the machine disk extending to both ends of the web plate, and wheel disks being embedded in both ends of the web plate, with connecting arms passing through the wheel disks at both ends and the side compartments respectively.

[0006] An air chamber is axially arranged in the machine plate, and a cylinder shaft structure is provided extending from the air chamber to the two end side chambers. A sensor is fixed at the outer end of the air chamber at the horizontal position of the adjacent end side chamber, and a ranging plate is matched and fixed at the same horizontal position of the sensor on each connecting arm.

[0007] The connecting arm and the wheel are a rotating structure that is axially fixed at both ends. The wheel has an inner plate seat formed by the recess at the bottom of the connecting arm. The connecting arm is axially fitted with a core tube on the inner plate seat. The outer side and bottom surface of the inner plate seat are both formed with toothed grooves. A displacement sensor is rolled in the toothed groove of the inner plate seat. An electromagnetic locking rod is axially matched at the outer end of the toothed groove of the inner plate seat, and the electromagnetic locking rod and the core tube are linked by an internal electromagnetic switch.

[0008] A further preferred embodiment: the cylinder shaft structure includes an axially slidingly matched telescopic shaft tube and a piston shaft, the piston shaft is fixedly connected to the end of the connecting arm, and a valve tube is connected between the telescopic shaft tube and the air chamber.

[0009] A further preferred embodiment: the connecting arm and the inner wall of the side compartment are axially limited by a roller structure.

[0010] A further preferred embodiment: the sensor is an ultrasonic sensor, the ranging plate is a reflective baffle matched with the sensor, and the side compartment has a physical shielding layer between the ranging plate and the sensor.

[0011] A further preferred embodiment: the ranging plate is rotatably provided with guide wheels that roll in cooperation with the inner wall of the side compartment.

[0012] A further preferred embodiment: the electromagnetic locking rod is composed of an axially fixed T-shaped electromagnetic shaft and a gear plate. The gear plate is a cross-shaped gear plate, and the gear plate is axially matched with the internal tooth groove of the inner plate seat. The T-shaped electromagnetic shaft is matched with the shaft core tube in the axial structure to form a T-shaped slot.

[0013] The beneficial effects of this utility model are:

[0014] This type of drone hovering obstacle avoidance structure based on a wheeled device can assist the drone in measuring its left and right distance and deflection angle while hovering through the external wheel structure. It allows the drone to adjust its hovering position by combining the displacement data fed back by the wheel structure with manual operation. Furthermore, it facilitates the protection of the drone's external structure. It provides measurement structure and data support for the drone's hovering adjustment operation among obstacles, and facilitates hovering obstacle avoidance by combining the drone's control system with manual control, thus improving the practicality and applicability of the structure. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the internal planar structure of the chassis of this utility model;

[0018] Figure 3 This is a side view of the internal planar structure of the chassis and side compartment of this utility model;

[0019] Figure 4 This is a side view of the internal planar structure of the wheel of this utility model;

[0020] Figure 5This is a schematic diagram of the planar structure of the electromagnetic locking rod of this utility model.

[0021] Figures 1-5 In the middle: Web plate 1, machine plate 2, side compartment 3, wheel 4, connecting arm 5, air chamber 6, valve pipe 7, telescopic shaft pipe 8, piston shaft 9, distance measuring plate 10, guide wheel 11, sensor 12, inner plate seat 13, shaft core tube 14, electromagnetic locking rod 15, displacement sensor 16. Detailed Implementation

[0022] To better understand the above-mentioned objectives, features, and advantages of this utility model, the following description is provided in conjunction with the accompanying drawings. Figures 1-5 The present invention will be further described in detail below with specific embodiments. The following embodiments are merely examples for implementing the present invention. It must be noted that the disclosed embodiments do not limit the scope of the present invention. On the contrary, any modifications and refinements made without departing from the scope of the present invention are within the patent protection scope of the present invention.

[0023] A hovering obstacle avoidance structure for a drone based on a wheeled device includes a web plate 1, which is a concave plate frame that is fitted and assembled. A disk 2 is fixed in the middle of the web plate 1. Side compartments 3 are provided on the disk 2 extending to both ends of the web plate 1. Wheels 4 are embedded in both ends of the web plate 1. Connecting arms 5 are respectively provided between the wheel 4 at both ends and the side compartments 3.

[0024] An air chamber 6 is axially arranged in the machine plate 2, and a cylinder shaft structure is provided in the air chamber 6 extending into the two end side chambers 3. A sensor 12 is fixed at the outer end of the air chamber 6 at the horizontal position of the adjacent end side chamber 3, and a distance measuring plate 10 is matched and fixed at the same horizontal position of the sensor 12 on each connecting arm 5.

[0025] The connecting arm 5 and the wheel 4 are a rotating structure that is fixed by double-end fastening in the axial direction. The wheel 4 has an inner plate seat 13 recessed at the bottom fastening end of the connecting arm 5. The connecting arm 5 is axially rotated and fitted with the shaft core tube 14 in the inner plate seat 13. The outer side and bottom surface of the inner plate seat 13 are both formed with toothed grooves. The outer toothed groove of the inner plate seat 13 is fitted with a displacement sensor 16. The outer end of the inner toothed groove of the inner plate seat 13 is axially matched with an electromagnetic locking rod 15. The electromagnetic locking rod 15 and the shaft core tube 14 are linked by an internal electromagnetic switch.

[0026] The structure is installed in an overlay manner along the bottom surface of the UAV body. The disk 2 in the middle of the web plate 1 is deployed at the center of gravity of the UAV body. The web plate 1 can be fixed to the bottom surface of the body by multiple symmetrical interlocking combinations to expand the number and angle of the obstacle avoidance structure at the end of the web plate 1.

[0027] Based on this, the structure mainly uses the air chamber 6 in the chassis 2 to link the cylinder shaft structure at both ends. By deploying a micro feed cylinder externally to the air chamber 6, the position of the connecting arm 5 is adjusted by the feed extension and retraction of the air chamber 6 along the cylinder shaft. That is, when obstacle avoidance is required, the connecting arm 5 is pushed outward by the feed of the air chamber 6. The extension and retraction stroke of the connecting arm 5 is positively correlated with the air volume of the air chamber 6. After the connecting arm 5 extends and the wheel 4 contacts the obstacle, the position of the obstructed connecting arm 5 will be obtained by the displacement sliding distance sensed by the rangefinder plate 10 and the sensor 12. That is, the displacement data of the connecting arms 5 at both ends can be used to facilitate the operator or the drone control system to adjust the hovering left and right displacement of the drone by the data of the sensor 12, providing support for the precise adjustment of the drone.

[0028] Simultaneously, a wheel 4 is symmetrically arranged on the outside. Through its rotational engagement with the connecting arm 5, it allows the drone to be adjusted while hovering. The outer teeth of the wheel 4 roll against an obstacle, providing axial support for adjusting the angle of one end of the drone. When the drone needs unidirectional angular displacement adjustment while hovering, an electromagnetic switch can be used to lock the other wheel 4. Specifically, the electromagnetic switch is used inside the shaft core 14. After the shaft core 14 is energized, it axially attracts the electromagnetic locking rod 15, which is then inserted into the edge of the inner disc seat 13. Later, the rotating end of the inner disk seat 13 and the shaft core tube 14 is axially locked, namely the axially locked wheel 4. Since the outer tooth surface of the wheel 4 is in contact with the obstacle, the axially locked wheel 4 will use its tooth surface friction to maintain the position of the contact surface with the obstacle. At this time, when the UAV hovers and turns, the wheel 4 at the other end rolls along the obstacle, which will make the UAV swing relative to the locking end wheel 4, making it convenient for the UAV to adjust the turning position. During the process, the rotation of the wheel 4 will use the rotation of the inner disk seat 13 to collect the angular displacement data of the inner disk seat 13 by the displacement sensor 16, providing angular displacement data support for the manual operation or UAV control of the UAV.

[0029] Compared to traditional drone obstacle avoidance structures, this structure utilizes symmetrically arranged wheeled devices to provide data measurement and support for distance and angular displacement data between the drone and obstacles. This assists the drone in hovering between obstacles by providing data support for hovering adjustments while protecting the drone's body edges through the wheeled devices, thus improving the practicality and applicability of the obstacle avoidance structure.

[0030] Specifically, the cylinder shaft structure includes an axially slidingly matched telescopic shaft tube 8 and a piston shaft 9. The piston shaft 9 is fixedly connected to the end of the connecting arm 5. A valve tube 7 connects the telescopic shaft tube 8 and the air chamber 6. The feeding of the cylinder shaft structure is mainly achieved by the piston shaft 9 being affected by the air pressure in the air chamber 6 and moving axially along the telescopic shaft tube 8 to achieve the feeding braking of the connecting arm 5. The valve tube 7 is a solenoid valve structure, which can be opened and closed by electronic control to adjust one side of the connecting arm 5 in one direction according to the required displacement on both sides when the air chamber 6 is feeding.

[0031] Furthermore, a roller structure is provided for axial positioning between the connecting arm 5 and the inner wall of the side compartment 3, such as... Figure 2 As shown, the telescopic sliding of the connecting arm 5 and the side compartment 3 is specifically limited by the internal roller structure in a track-like manner to ensure the sliding displacement accuracy of the connecting arm 5 along the web plate 1.

[0032] Furthermore, sensor 12 is an ultrasonic sensor, and distance measuring plate 10 is a reflective baffle matched with sensor 12. The side compartment 3 has a physical shielding layer between distance measuring plate 10 and sensor 12. Sensor 12 and distance measuring plate 10 specifically use the principle of ultrasonic sensors to measure distance by using the echo reflected after ultrasonic waves come into contact with distance measuring plate 10. External interference is avoided by the physical shielding layer encapsulated in side compartment 3, ensuring the measurement stability and accuracy of sensor 12. At the same time, guide wheels 11 are rotatably set on distance measuring plate 10 and roll with the inner wall of side compartment 3. The guide wheels 11 connect distance measuring plate 10 and side compartment 3, ensuring the structural stability of distance measuring plate 10 on connecting arm 5 during use, that is, ensuring the corresponding accuracy of the sliding stroke of distance measuring plate 10 and connecting arm 5.

[0033] Furthermore, the electromagnetic locking rod 15 is composed of an axially fixed T-shaped electromagnetic shaft and a geared disc. The geared disc is a cross-shaped geared disc, and the geared disc axially matches the internal tooth grooves of the inner disc seat 13. The T-shaped electromagnetic shaft has a T-shaped slot that matches the axial structure of the shaft core tube 14, such as... Figure 4 , 5 As shown, after the spindle tube 14 is energized, the electromagnetic locking rod 15 uses axial magnetic attraction to attract and fix the T-shaped electromagnetic shaft part, thereby axially embedding the toothed disc part at the other end into the internal tooth groove at the bottom of the inner disc seat 13. The T-shaped electromagnetic shaft part and the T-shaped slot of the axial tube 14 are used to axially lock the entire electromagnetic locking rod 15, so as to indirectly lock the rotation of the inner disc seat 13 through the toothed disc part by using the axial locking structure of the electromagnetic locking rod 15.

[0034] The structure uses an external mounting method to deploy the web plate component 1 along the bottom surface of the UAV body, and the disk 2 in the middle of the web plate component 1 is deployed at the center of gravity of the UAV body.

[0035] When the drone needs to adjust its hovering position between hovering and obstacles, the operator can open the miniature feed cylinder deployed outside the air chamber 6 by operating a switch. The air chamber 6 is fed axially along the telescopic shafts 8 at both ends to pneumatically control the extension and retraction of the piston shaft 9. That is, the position of the connecting arm 5 is adjusted by the extension and retraction of the piston shaft 9. When the air chamber 6 feeds to push the connecting arm 5 outward, the connecting arm 5 extends and moves to make the wheel 4 contact the obstacle. At this time, the position of the obstructed connecting arm 5 will be obtained by the displacement sliding distance sensed by the rangefinder plate 10 and the sensor 12. That is, the displacement data of the connecting arms 5 at both ends can be used to facilitate the operator or the drone control system to adjust the left and right hovering displacement of the drone by the sensor data, providing support for the precise adjustment of the drone.

[0036] Meanwhile, after the two end discs 4 come into contact with the obstacle, they can roll relative to each other along the connecting shaft core tube 14 through the rolling contact between the outer tooth surface of the disc 4 and the obstacle, providing an external protective structure and a movable structure for the hovering angle position adjustment of the UAV, and adapting to the hovering angle adjustment of the UAV.

[0037] Furthermore, when the drone needs to make unidirectional angular displacement adjustments while hovering, the other end of the wheel 4 can be locked by an electromagnetic switch. Specifically, the electromagnetic switch is activated by the core tube 14, which axially attracts the electromagnetic locking rod 15. This electromagnetic locking rod 15 is then inserted into the edge of the inner disc seat 13. The insertion of the electromagnetic locking rod 15 then axially locks the rotating end of the inner disc seat 13 and the core tube 14, thus axially locking the wheel 4. Since the outer tooth surface of the wheel 4 is in contact with the obstacle, the axially locked wheel 4 will maintain its position in contact with the obstacle using the friction of its tooth surface. At this time, when the drone hovers and turns, the other end of the wheel 4 rolls along the obstacle, causing the drone to swing relative to the locked end of the wheel 4, facilitating the adjustment of the drone's turning position. During this process, the rotation of the wheel 4 will utilize the rotation of the inner disc seat 13, and the displacement sensor 16 will collect the angular displacement data of the inner disc seat 13, providing angular displacement data support for manual operation or drone control.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A hovering obstacle avoidance structure for unmanned aerial vehicles (UAVs) based on a wheeled device, characterized in that: Includes a web plate (1), which is a concave plate frame that is fitted and assembled. A machine disk (2) is fixed in the middle of the web plate (1). Side compartments (3) are provided on the machine disk (2) extending to both ends of the web plate (1). Wheels (4) are embedded in both ends of the web plate (1). Connecting arms (5) are respectively provided between the wheel (4) at both ends and the side compartments (3). An air chamber (6) is axially arranged in the machine plate (2), and a cylinder shaft structure is provided in the air chamber (6) extending into the two end side chambers (3). A sensor (12) is fixed at the outer end of the air chamber (6) at the horizontal position of the adjacent end side chamber (3), and a distance measuring plate (10) is matched and fixed at the same horizontal position of the sensor (12) of each connecting arm (5). The connecting arm (5) and the wheel (4) are a rotating structure with axial double-end fastening. The wheel (4) has an inner plate seat (13) recessed at the bottom fastening end of the connecting arm (5). The connecting arm (5) is axially rotated and fitted with a core tube (14) on the inner plate seat (13). The outer side and bottom surface of the inner plate seat (13) are both formed with toothed grooves. The outer toothed groove of the inner plate seat (13) is rolled and fitted with a displacement sensor (16). The outer end of the inner toothed groove of the inner plate seat (13) is axially matched with an electromagnetic locking rod (15). The electromagnetic locking rod (15) and the core tube (14) are linked by an internal electromagnetic switch.

2. The hovering obstacle avoidance structure for a UAV based on a wheeled device according to claim 1, characterized in that: The cylinder shaft structure includes an axially slidingly matched telescopic shaft tube (8) and a piston shaft (9). The piston shaft (9) is fixedly connected to the end of the connecting arm (5). A valve tube (7) is connected between the telescopic shaft tube (8) and the air chamber (6).

3. The hovering obstacle avoidance structure for a UAV based on a wheeled device according to claim 1, characterized in that: The connecting arm (5) and the inner wall of the side compartment (3) are axially limited by a roller structure.

4. The hovering obstacle avoidance structure for a UAV based on a wheeled device according to claim 1, characterized in that: The sensor (12) is an ultrasonic sensor, the ranging plate (10) is a reflective baffle matched with the sensor (12), and the side compartment (3) has a physical shielding layer between the ranging plate (10) and the sensor (12).

5. The hovering obstacle avoidance structure for a UAV based on a wheeled device according to claim 1, characterized in that: The ranging plate (10) is rotatably equipped with a guide wheel (11) that rolls with the inner wall of the side compartment (3).

6. The hovering obstacle avoidance structure for a UAV based on a wheeled device according to claim 1, characterized in that: The electromagnetic lock rod (15) is composed of an axially fixed T-shaped electromagnetic shaft rod and a toothed disc. The toothed disc is a cross-shaped toothed disc, and the toothed disc is axially matched with the internal tooth groove of the inner disc seat (13). The T-shaped electromagnetic shaft rod has a T-shaped slot that matches the axial structure of the shaft core tube (14).

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