Intelligent obstacle avoidance system adjustable ultrasonic sensor device for unmanned aerial vehicle

Abstract

The utility model relates to an unmanned plane technical field especially unmanned plane intelligence obstacle avoidance system adjustable ultrasonic wave sensing device, its technical scheme includes mounting panel, first C type frame and second C type frame, the first C type frame is provided with in mounting panel outer surface one side, the vertical pivot is rotationally installed to one side of first C type frame inside the side away from mounting panel, vertical motor is fixedly installed to first C type frame lower surface, second C type frame is fixedly installed to vertical pivot outer surface, the horizontal pivot is rotationally installed to one side of second C type frame inside the side away from first C type frame, horizontal motor is fixedly installed to second C type frame front surface. The utility model is convenient for adjusting the direction and angle of ultrasonic wave ranging detection, effectively eliminates the detection dead angle, improves the applicability, and can store and protect ultrasonic wave ranging sensor after the end of unmanned plane use, prevents the ultrasonic wave ranging sensor from being damaged due to knock.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an adjustable ultrasonic sensing device for an intelligent obstacle avoidance system for UAVs. Background Technology

[0002] The intelligent obstacle avoidance system for drones is a comprehensive protection system integrating environmental perception, data processing, and decision execution. It collects environmental information in real time through multiple types of sensors, analyzes the data using algorithms, and controls the drone to automatically adjust its flight path to avoid collisions. Among these technologies, ultrasonic sensing plays a crucial role due to its unique working mechanism. It uses an ultrasonic transmitter to emit high-frequency sound waves of about 40kHz into the surrounding space. When the sound waves encounter an obstacle, they are reflected, and the receiver captures the echo signal. By measuring the time difference between transmission and reception, combined with the speed of sound in the air (approximately 340m / s), the distance to the obstacle is accurately calculated. Because ultrasonic sensing has advantages such as low cost, low power consumption, fast response speed, and strong anti-interference ability, it complements visual sensors and millimeter-wave radar, working together to build a multi-layered, all-weather safety barrier for drones, ensuring stable flight in complex scenarios such as indoors and jungles.

[0003] Currently, ultrasonic sensors in UAV intelligent obstacle avoidance systems are usually fixed to the UAV, making it impossible to adjust the angle and orientation detected by the ultrasonic sensors. This results in a large detection blind spot and reduces the applicability of the system. To address this, we propose an adjustable ultrasonic sensor for UAV intelligent obstacle avoidance systems. Utility Model Content

[0004] The purpose of this invention is to provide an adjustable ultrasonic sensor for an intelligent obstacle avoidance system for unmanned aerial vehicles (UAVs). This sensor allows for easy adjustment of the orientation and angle of ultrasonic ranging detection, effectively eliminating blind spots and improving applicability. Furthermore, it allows for the safe storage and protection of the ultrasonic ranging sensor after the UAV is no longer in use, preventing damage from impacts. This invention solves the problem that current ultrasonic sensors in intelligent obstacle avoidance systems for UAVs are typically fixed to the UAV, making it impossible to adjust the angle and orientation detected by the ultrasonic sensor, resulting in significant blind spots and reduced applicability.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an adjustable ultrasonic sensing device for an intelligent obstacle avoidance system for unmanned aerial vehicles (UAVs), comprising a mounting plate, a first C-shaped frame, and a second C-shaped frame. The first C-shaped frame is disposed on one side of the outer surface of the mounting plate. A vertical rotating shaft is rotatably mounted inside the first C-shaped frame on the side opposite to the mounting plate. A vertical motor is fixedly mounted on the lower surface of the first C-shaped frame. A second C-shaped frame is fixedly mounted on the outer surface of the vertical rotating shaft. A horizontal rotating shaft is rotatably mounted inside the second C-shaped frame on the side opposite to the first C-shaped frame. A horizontal motor is fixedly mounted on the front surface of the second C-shaped frame. An ultrasonic ranging sensor is fixedly mounted on the outer surface of the horizontal rotating shaft.

[0006] Preferably, the end of the vertical motor output shaft and the end of the vertical rotating shaft are fixedly connected.

[0007] Preferably, the end of the horizontal motor output shaft and the end of the horizontal rotating shaft are fixedly connected.

[0008] Preferably, mounting holes are provided on the outer surface of the mounting plate near the four corners.

[0009] Preferably, a sleeve is fixedly installed on the outer surface of the mounting plate near the first C-shaped frame, and a helical buffer spring is provided inside the sleeve. A slider is fixedly installed on the side of the first C-shaped frame near the mounting plate, and the helical buffer spring is located between the slider and the mounting plate.

[0010] Preferably, a retaining ring is fixedly installed on the outside of the sleeve, and the first C-shaped bracket passes through the retaining ring.

[0011] Preferably, the outer surface of the sleeve is provided with air holes on the side near the mounting plate.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. This utility model, by setting up an installation plate, a first C-shaped frame, a vertical rotating shaft, a vertical motor, a second C-shaped frame, a horizontal rotating shaft, a horizontal motor, and an ultrasonic ranging sensor, achieves the effect of facilitating the adjustment of the ultrasonic ranging detection position and angle, effectively eliminating detection blind spots, improving applicability, and protecting the ultrasonic ranging sensor from damage caused by impact after the drone is used. The installation plate is installed on the drone, and the ultrasonic ranging sensor detects the distance between the drone and obstacles. The horizontal motor drives the ultrasonic ranging sensor to rotate through the horizontal rotating shaft, which can adjust the detection angle of the ultrasonic ranging sensor. The vertical motor drives the ultrasonic ranging sensor to rotate through the vertical rotating shaft, which can adjust the detection position of the ultrasonic ranging sensor, thus expanding the ultrasonic ranging range and effectively eliminating detection blind spots. After the drone is used, the ultrasonic ranging sensor can rotate into the second C-shaped frame, and the second C-shaped frame can rotate into the first C-shaped frame, thus protecting the ultrasonic ranging sensor from damage caused by impact.

[0014] 2. This utility model achieves the effect of buffering and protecting the ultrasonic ranging sensor from impact by setting up a sleeve, a spiral buffer spring and a slider. When the ultrasonic ranging sensor is impacted during the flight of the UAV, the slider slides into the sleeve, and the spiral buffer spring is compressed at the same time, so that the ultrasonic ranging sensor has a buffer stroke, effectively avoiding damage to the ultrasonic ranging sensor.

[0015] 3. By providing air holes, the air inside the sleeve can be discharged through the air holes when the slider slides inside the sleeve, or outside air can enter the sleeve through the air holes, so that the inside of the sleeve is connected to the outside, which facilitates the sliding of the slider inside the sleeve. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is a partial three-dimensional structural diagram of the first C-shaped frame and the second C-shaped frame of this utility model;

[0018] Figure 3 This is a schematic diagram of the main structure of this utility model;

[0019] Figure 4 This is a schematic diagram of the main cross-sectional structure of this utility model.

[0020] Reference numerals: 1. Mounting plate; 2. Mounting hole; 3. Sleeve; 4. First C-frame; 5. Second C-frame; 6. Ultrasonic ranging sensor; 7. Vertical rotating shaft; 8. Horizontal rotating shaft; 9. Horizontal motor; 10. Vertical motor; 11. Air hole; 12. Retaining ring; 13. Slider; 14. Helical buffer spring. Detailed Implementation

[0021] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] Example 1

[0023] like Figures 1-4 As shown, the adjustable ultrasonic sensor device of the UAV intelligent obstacle avoidance system proposed in this utility model includes a mounting plate 1, a first C-shaped frame 4, and a second C-shaped frame 5. Mounting holes 2 are provided on the outer surface of the mounting plate 1 near the four corners. Screws pass through the mounting holes 2 to fix the mounting plate 1 to the UAV. A first C-shaped frame 4 is provided on one side of the outer surface of the mounting plate 1. The first C-shaped frame 4 is C-shaped in front of view. A vertical rotating shaft 7 is rotatably mounted on the side of the first C-shaped frame 4 facing away from the mounting plate 1. The vertical rotating shaft 7 and the first C-shaped frame 4 are rotatably connected by a bearing. The first C-shaped frame 4 is shown in the table below. A vertical motor 10 is fixedly installed on the front surface. The output shaft of the vertical motor 10 is fixedly connected to the end of the vertical rotating shaft 7. A second C-shaped frame 5 is fixedly installed on the outer surface of the vertical rotating shaft 7. The second C-shaped frame 5 is C-shaped when viewed from above. A horizontal rotating shaft 8 is rotatably installed on the side of the second C-shaped frame 5 away from the first C-shaped frame 4. The horizontal rotating shaft 8 and the second C-shaped frame 5 rotate the motor through a bearing. A horizontal motor 9 is fixedly installed on the front surface of the second C-shaped frame 5. The output shaft of the horizontal motor 9 is fixedly connected to the end of the horizontal rotating shaft 8. An ultrasonic ranging sensor 6 is fixedly installed on the outer surface of the horizontal rotating shaft 8.

[0024] In use, the mounting plate 1 is installed on the drone. The ultrasonic ranging sensor 6 detects the distance between the drone and obstacles. The horizontal motor 9 drives the ultrasonic ranging sensor 6 to rotate via the horizontal rotating shaft 8, which can adjust the detection angle of the ultrasonic ranging sensor 6. The vertical motor 10 drives the ultrasonic ranging sensor 6 to rotate via the vertical rotating shaft 7, which can adjust the detection orientation of the ultrasonic ranging sensor 6, thereby expanding the ultrasonic ranging range and effectively eliminating detection blind spots. After the drone is finished using, the ultrasonic ranging sensor 6 can rotate into the second C-shaped frame 5, and the second C-shaped frame 5 can rotate into the first C-shaped frame 4, which can store and protect the ultrasonic ranging sensor 6 to prevent damage caused by bumps.

[0025] Example 2

[0026] like Figure 1 , Figure 3and Figure 4 As shown, the adjustable ultrasonic sensor device of the UAV intelligent obstacle avoidance system proposed in this utility model, compared with the first embodiment, further includes a sleeve 3 fixedly installed on the outer surface of the mounting plate 1 near the first C-shaped frame 4. A spiral buffer spring 14 is provided inside the sleeve 3. A slider 13 is fixedly installed on the first C-shaped frame 4 near the mounting plate 1, and the spiral buffer spring 14 is located between the slider 13 and the mounting plate 1. A retaining ring 12 is fixedly installed on the outer side of the sleeve 3, and the first C-shaped frame 4 passes through the retaining ring 12. The retaining ring 12 limits the slider 13 inside the sleeve 3 to prevent the slider 13 from sliding out of the sleeve 3. An air hole 11 is provided on the outer surface of the sleeve 3 near the mounting plate 1. When the slider 13 slides inside the sleeve 3, the air inside the sleeve 3 is discharged through the air hole 11, or the outside air enters the sleeve 3 through the air hole 11, so that the inside of the sleeve 3 is connected to the outside, which facilitates the sliding of the slider 13 inside the sleeve 3.

[0027] In this embodiment, when the ultrasonic ranging sensor 6 is impacted during the flight of the UAV, the slider 13 slides into the sleeve 3, and at the same time the helical buffer spring 14 is compressed, so that the ultrasonic ranging sensor 6 has a buffer stroke, effectively avoiding damage to the ultrasonic ranging sensor 6.

[0028] The above specific embodiments are merely several preferred embodiments of this utility model. Based on the technical solution of this utility model and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. An adjustable ultrasonic sensor for an intelligent obstacle avoidance system for unmanned aerial vehicles (UAVs), comprising a mounting plate (1), a first C-frame (4), and a second C-frame (5), characterized in that: A first C-shaped frame (4) is provided on one side of the outer surface of the mounting plate (1). A vertical rotating shaft (7) is rotatably installed inside the first C-shaped frame (4) on the side opposite to the mounting plate (1). A vertical motor (10) is fixedly installed on the lower surface of the first C-shaped frame (4). A second C-shaped frame (5) is fixedly installed on the outer surface of the vertical rotating shaft (7). A horizontal rotating shaft (8) is rotatably installed inside the second C-shaped frame (5) on the side opposite to the first C-shaped frame (4). A horizontal motor (9) is fixedly installed on the front surface of the second C-shaped frame (5). An ultrasonic ranging sensor (6) is fixedly installed on the outer surface of the horizontal rotating shaft (8).

2. The adjustable ultrasonic sensing device for the UAV intelligent obstacle avoidance system according to claim 1, characterized in that: The output shaft end of the vertical motor (10) and the end of the vertical rotating shaft (7) are fixedly connected.

3. The adjustable ultrasonic sensing device for the unmanned aerial vehicle (UAV) intelligent obstacle avoidance system according to claim 1, characterized in that: The output shaft end of the horizontal motor (9) and the end of the horizontal rotating shaft (8) are fixedly connected.

4. The adjustable ultrasonic sensing device for the unmanned aerial vehicle (UAV) intelligent obstacle avoidance system according to claim 1, characterized in that: Mounting holes (2) are provided on the outer surface of the mounting plate (1) near the four corners.

5. The adjustable ultrasonic sensing device for the unmanned aerial vehicle (UAV) intelligent obstacle avoidance system according to claim 1, characterized in that: A sleeve (3) is fixedly installed on the outer surface of the mounting plate (1) near the first C-shaped frame (4). A spiral buffer spring (14) is provided inside the sleeve (3). A slider (13) is fixedly installed on the side of the first C-shaped frame (4) near the mounting plate (1), and the spiral buffer spring (14) is located between the slider (13) and the mounting plate (1).

6. The adjustable ultrasonic sensing device for the unmanned aerial vehicle (UAV) intelligent obstacle avoidance system according to claim 5, characterized in that: A retaining ring (12) is fixedly installed on the outside of the sleeve (3), and the first C-shaped bracket (4) passes through the retaining ring (12).

7. The adjustable ultrasonic sensing device for the unmanned aerial vehicle (UAV) intelligent obstacle avoidance system according to claim 5, characterized in that: The outer surface of the sleeve (3) is provided with an air hole (11) on the side near the mounting plate (1).

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