An unmanned aerial vehicle obstacle avoidance structure

Abstract

The utility model relates to an unmanned plane technical field provides an unmanned plane obstacle avoidance structure, include: install the shell and ultrasonic sensor, the both ends of install shell are all fixedly connected with the connecting plate for with the unmanned plane fuselage connection, install the shell in fixedly connected with two symmetrical distribution's partition board, install the shell in and divide into motor chamber, battery chamber and storage cavity, install the shell in and divide into motor chamber, battery chamber and storage cavity, the storage cavity is provided with the ejection mechanism, the output of ejection mechanism installs the connecting block for install ultrasonic sensor passes through setting ejection mechanism cooperation install shell, can freely control the position of sensor, can prevent the long -term exposure of sensor, have the function that prevents the sensor from being contaminated, can always be located in install shell under the non obstacle avoidance mode and protect, only eject when using, can according to the intelligent switching of flight state, give consideration to high -speed flight aerodynamic performance and low -speed obstacle avoidance sensing efficiency's function.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an obstacle avoidance structure for UAVs. Background Technology

[0002] Currently, multi-rotor drones have become important tools in fields such as aerial photography, surveying, and inspection. To ensure flight safety, especially during low-altitude flight and precise landing, ultrasonic sensors are widely used for drone altitude hold and bottom obstacle avoidance.

[0003] The common installation method is to directly expose and fix the ultrasonic sensor to the bottom fuselage or landing gear of the drone. However, the protruding sensor disrupts the aerodynamic shape of the drone's bottom, generating additional wind resistance and turbulence during flight, resulting in decreased flight stability, increased noise, increased power consumption, and shortened drone's endurance. Secondly, with the sensor exposed to the outside for a long time, it is very easy to get dust, dirt, water droplets, or collisions with insects, plants, etc. during takeoff and landing, which can cause the sensor probe to be contaminated or physically damaged, resulting in distorted ranging data. Utility Model Content

[0004] The purpose of this invention is to address the problems in the existing technology where protruding sensors disrupt the aerodynamic shape of the drone's bottom, generating additional wind resistance and turbulence during flight, leading to decreased flight stability, increased noise, increased power consumption, and shortened drone endurance. Secondly, the sensors are exposed to the elements for extended periods, making them highly susceptible to dust, dirt, water droplets, or impacts with insects and vegetation during takeoff and landing, resulting in contamination or physical damage to the sensor probe and distortion of ranging data.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an obstacle avoidance structure for unmanned aerial vehicles (UAVs): including a mounting shell and an ultrasonic sensor, wherein both ends of the mounting shell are fixedly connected to connecting plates for connecting to the UAV body, and two symmetrically distributed partition plates are fixedly connected inside the mounting shell, dividing the interior of the mounting shell into a motor cavity, a battery cavity and a storage cavity;

[0006] The storage cavity is equipped with a pop-out mechanism, and the output end of the pop-out mechanism is fitted with a connecting block for mounting an ultrasonic sensor.

[0007] In a preferred embodiment, the pop-out mechanism includes:

[0008] A drive threaded rod is rotatably connected between two partition plates. The two ends of the drive threaded rod have opposite threads and are each threadedly connected to a threaded connecting block. A connecting rod is rotatably connected to the lower end of the threaded connecting block. The other end of the connecting rod is rotatably connected to the connecting block. A drive motor for driving the threaded rod is installed inside the motor cavity.

[0009] In a preferred embodiment, a guide frame is fixedly connected to the end of the threaded connecting block, and a guide rod is fixedly connected to the partition plate corresponding to the axis of the guide frame. The guide frame and the guide rod are slidably connected, and the guide frame cooperates with the guide rod to make the moving direction of the threaded connecting block the same as the axis of the thread rod.

[0010] In a preferred embodiment, four evenly distributed sliding rods are fixedly connected inside the mounting housing. The connecting block is slidably connected to the sliding rods, and the sliding rods limit the connecting block to only slide out and retract.

[0011] In a preferred embodiment, a closing plate for sealing the bottom opening is rotatably connected to the bottom opening of the mounting housing via a torsion spring shaft, thereby providing a sealing and protective function.

[0012] In one preferred embodiment, the overall shape of the mounting housing is a streamlined arc-shaped structure, which is used to reduce wind resistance generated during the flight of the UAV.

[0013] In a preferred embodiment, a storage battery is provided inside the battery cavity, which powers the drive motor and the ultrasonic sensor. A charging port is provided on the mounting housing corresponding to the position of the battery cavity. A protective plate for sealing the charging port is rotatably connected to the charging port via a torsion spring shaft. The design of the storage battery can simplify the complexity of installation.

[0014] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0015] This utility model, by setting up a pop-out mechanism in conjunction with the mounting shell, allows for free control of the sensor's position, preventing long-term exposure of the sensor; it also has the function of preventing sensor contamination, and in non-obstacle avoidance mode, it can always remain within the mounting shell for protection, popping out only when in use. It can intelligently switch according to the flight status, taking into account both high-speed flight aerodynamic performance and low-speed obstacle avoidance perception efficiency. Attached Figure Description

[0016] Figure 1 A three-dimensional structural diagram of an obstacle avoidance structure for a drone provided by this utility model;

[0017] Figure 2 A three-dimensional structural diagram of an obstacle avoidance structure for a drone provided by this utility model;

[0018] Figure 3 A partial cross-sectional view of an obstacle avoidance structure for an unmanned aerial vehicle (UAV) provided by this utility model;

[0019] Figure 4This is a half-sectional structural diagram of an obstacle avoidance structure for a drone provided by this utility model.

[0020] Legend:

[0021] 1. Housing; 2. Connecting plate; 3. Divider plate; 4. Drive motor; 5. Connecting block; 6. Battery; 7. Protection plate; 8. Closing plate; 9. Ultrasonic sensor; 10. Storage cavity; 11. Drive threaded rod; 12. Slide rod; 13. Connecting block; 14. Guide frame; 15. Guide rod; 16. Connecting rod. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example 1

[0023] Please see Figures 1-4 This embodiment provides an obstacle avoidance structure for unmanned aerial vehicles (UAVs), the specific idea of ​​which is as follows:

[0024] An obstacle avoidance structure for a drone includes: a mounting shell 1 and an ultrasonic sensor 9. Both ends of the mounting shell 1 are fixedly connected to a connecting plate 2 for connecting to the drone body. Two symmetrically distributed partition plates 3 are fixedly connected inside the mounting shell 1, dividing the interior of the mounting shell 1 into a motor cavity, a battery cavity, and a storage cavity 10.

[0025] The material for the outer shell 1 needs to be a lightweight material such as aluminum alloy to minimize the impact of the shell's weight on the drone's flight.

[0026] The overall shape of the mounting housing 1 is a streamlined arc structure, which is used to reduce wind resistance generated during drone flight; it can also prevent long-term exposure of sensors; and it has the function of preventing sensors from being contaminated.

[0027] The storage cavity 10 is equipped with a pop-out mechanism, and the output end of the pop-out mechanism is equipped with a connecting block 5 for installing an ultrasonic sensor 9.

[0028] The mounting housing 1 houses the ultrasonic sensor 9, which remains inside the housing for protection in non-obstacle avoidance mode and is only ejected when in use. It can intelligently switch according to the flight status, combining high-speed flight aerodynamic performance with low-speed obstacle avoidance and perception capabilities.

[0029] The pop-up mechanism includes:

[0030] A drive threaded rod 11 is rotatably connected between two partition plates 3. The two ends of the drive threaded rod 11 have opposite threads and are respectively threaded to a threaded connecting block 13. A connecting rod 16 is rotatably connected to the lower end of the threaded connecting block 13. The other end of the connecting rod 16 is rotatably connected to the connecting block 5. A drive motor 4 for driving the threaded rod 11 is installed in the motor cavity.

[0031] The ejection mechanism is controlled by drive motor 4; it should be noted that both drive motor 4 and ultrasonic sensor 6 need to be connected to the UAV control system and are subject to its control.

[0032] The specific working principle of the pop-out mechanism is as follows: when the drive threaded rod 11 rotates, the two threaded connecting blocks 13 can move synchronously towards or away from each other along the threaded rod 11; thereby causing the connecting rod 16 to change angle, thereby driving the connecting block 5 to move vertically, thereby causing the ultrasonic sensor 6 to move to the outside of the mounting housing 1 or retract into the mounting housing 1.

[0033] It should be noted that the movement of mounting block 5 and threaded connection block 13 also needs to be limited: specifically as follows:

[0034] The end of the threaded connecting block 13 is fixedly connected to a guide frame 14, and a guide rod 15 is fixedly connected to the partition plate 3 corresponding to the axis of the guide frame 14. The guide frame 14 and the guide rod 15 are slidably connected.

[0035] Inside the housing 1, four evenly distributed slide rods 12 are fixedly connected, and the connecting block 5 is slidably connected to the slide rods 12;

[0036] The guide frame 14, in conjunction with the guide rod 15, ensures that the movement direction of the threaded connecting block 13 is the same as the axial direction of the threaded rod 11; the slide rod 12 restricts the connecting block 5 to only sliding out and retracting.

[0037] Example 2 is an optimization based on Example 1:

[0038] The battery compartment houses a storage battery 6, which powers the drive motor 4 and the ultrasonic sensor 9.

[0039] A closing plate 8 for sealing the bottom opening is rotatably connected to the bottom opening of the housing 1 via a torsion spring shaft;

[0040] The mounting housing 1 has a charging port at the position corresponding to the battery cavity, and a protective plate 7 for sealing the charging port is rotatably connected to the charging port via a torsion spring shaft.

[0041] The battery 6 is not a necessary design, but if it is difficult to electrically connect the drone power supply to the drive motor 4 and the ultrasonic sensor 9, then using the space inside the mounting shell 1 as the power supply can save the complexity of installation; if a battery is installed, then a charging port is also provided for charging.

[0042] The closing plate 8 and the protective plate 7 are designed to seal the mounting housing 1. A torsion spring shaft is used for connection so that the protective plate 7 and the closing plate 8 are normally closed, but can be opened by external force to facilitate the ejection of the ultrasonic sensor 6 and the charging of the battery 6.

[0043] Working principle:

[0044] When the drone is in high-speed cruise or flight phase where obstacle avoidance is not required: the drive motor 4 controls the drive threaded rod 11 to rotate, causing the two threaded connecting blocks 13 to move away from each other. The connecting rod 16 pulls the connecting block 5 upward along the slide rod 12 to the highest point. At this time, the ultrasonic sensor 9 is completely retracted into the storage cavity 10. At the same time, the closing plate 8 is not under internal force. Under the action of the torsion spring, the closing plate 8 is tightly closed at the lower end of the mounting shell 1. At this time, the mounting shell 1 has no protruding parts and has a streamlined structure, which can reduce wind resistance during flight.

[0045] When the UAV needs to perform low-altitude detection, obstacle avoidance, or landing: the control system issues a command to drive motor 4 to rotate in the opposite direction, driving two threaded connecting blocks 13 to move towards the center. Through the connecting rod 16, it pushes connecting block 5 to move downward along slide rod 12. When connecting block 5 moves downward, its bottom will contact and push the closing plate 8, overcoming the torsion force of the torsion spring and causing it to flip downward and open. Finally, connecting block 5 drives ultrasonic sensor 9 to descend to the lowest working position, so that its probe is fully extended outside the shell, obtaining an unobstructed and complete detection field of view.

[0046] All standard parts used in this utility model can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0047] The above are merely preferred embodiments of this utility model and are not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from the technical solution of this utility model shall still fall within the protection scope of this utility model.

Claims

1. An obstacle avoidance structure for unmanned aerial vehicles (UAVs), characterized in that, The device includes a mounting housing (1) and an ultrasonic sensor (9), characterized in that: both ends of the mounting housing (1) are fixedly connected to a connecting plate (2) for connecting to the fuselage of the UAV, and two symmetrically distributed partition plates (3) are fixedly connected inside the mounting housing (1) to divide the interior of the mounting housing (1) into a motor cavity, a battery cavity and a storage cavity (10). The storage cavity (10) is provided with a pop-out mechanism, and the output end of the pop-out mechanism is equipped with a connecting block (5) for installing an ultrasonic sensor (9).

2. The obstacle avoidance structure for a drone according to claim 1, characterized in that, The pop-out mechanism includes: A drive threaded rod (11) is rotatably connected between two partition plates (3). The two ends of the drive threaded rod (11) have opposite threads and are respectively threaded to a threaded connecting block (13). A connecting rod (16) is rotatably connected to the lower end of the threaded connecting block (13). The other end of the connecting rod (16) is rotatably connected to the connecting block (5). A drive motor (4) for driving the threaded rod (11) is installed in the motor cavity.

3. The obstacle avoidance structure for a drone according to claim 2, characterized in that, The end of the threaded connecting block (13) is fixedly connected to a guide frame (14), and a guide rod (15) is fixedly connected to the partition plate (3) corresponding to the axis of the guide frame (14). The guide frame (14) and the guide rod (15) are slidably connected.

4. The obstacle avoidance structure for a drone according to claim 1, characterized in that, The mounting housing (1) is also fixedly connected with four evenly distributed slide rods (12), and the connecting block (5) is slidably connected to the slide rods (12).

5. The obstacle avoidance structure for a drone according to claim 2, characterized in that, The battery cavity is equipped with a storage battery (6), which supplies power to the drive motor (4) and the ultrasonic sensor (9).

6. The obstacle avoidance structure for a drone according to claim 1, characterized in that, The bottom opening of the mounting housing (1) is rotatably connected to a closing plate (8) for sealing the bottom opening via a torsion spring shaft.

7. The obstacle avoidance structure for a drone according to claim 1, characterized in that, The overall shape of the mounting housing (1) is a streamlined arc structure.

8. The obstacle avoidance structure for a drone according to claim 5, characterized in that, The mounting housing (1) is provided with a charging port at the position corresponding to the battery cavity, and a protective plate (7) for sealing the charging port is rotatably connected to the charging port via a torsion spring shaft.

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