A folding unmanned aerial vehicle integrated with a multi-directional obstacle avoidance sensor array

Abstract

The application relates to a folding unmanned aerial vehicle integrated with a multi-directional obstacle avoidance sensor array and relates to the field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a vehicle shell, four corners of the vehicle shell are provided with main arm rods, one end of the main arm rod is fixedly connected with the vehicle shell, the other end of the main arm rod is provided with a secondary arm rod, the secondary arm rod is rotationally connected with the main arm rod, and the lower end of the main arm rod is provided with a driving motor for driving the secondary arm rod to rotate and adjust; the bottom of the vehicle shell is further provided with a four-corner support, the four-corner support is further provided with a concave support plate, and the four-corner support is fixedly connected with the concave support plate through bolts. The application integrates front sensors, rear sensors, bottom sensors, left side sensors, right side sensors and top sensors, thereby forming a multi-directional obstacle avoidance sensor array in all directions. The sensors can monitor obstacle information in all directions around the unmanned aerial vehicle in real time and transmit the information to the controller of the unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a foldable UAV with an integrated multi-directional obstacle avoidance sensor array. Background Technology

[0002] In recent years, drones have been widely used in aerial surveying, delivery, and environmental monitoring due to their flexibility, maneuverability, and ease of operation. As drone applications expand into complex urban airspace and extreme outdoor environments, users are placing higher demands on their safety, obstacle avoidance, portability, and structural stability. However, traditional drones have significant shortcomings in obstacle avoidance performance, portability, and structural stability, severely restricting the expansion of their application scenarios and the improvement of the user experience.

[0003] Traditional drones often use obstacle avoidance sensors in a single direction or for a limited area, such as ultrasonic or infrared sensors installed only at the front of the fuselage. This single-point or localized obstacle avoidance design cannot detect obstacles behind, to the sides, or above the drone, making it highly susceptible to collisions in complex environments.

[0004] Meanwhile, traditional drones mostly use fixed or simple folding arm designs. Drones with fixed arms are bulky and require special packaging boxes for carrying, which not only takes up a lot of space but also makes them susceptible to damage from bumps and knocks during transportation. On the other hand, some drones with simple folding arms have cumbersome folding operations, requiring multiple disassembly and reassembly, and even when folded, they are still difficult to store in a regular backpack. Utility Model Content

[0005] To achieve the goals of flexible storage and safe flight of drones, this application provides a foldable drone with an integrated multi-directional obstacle avoidance sensor array.

[0006] The foldable drone integrating a multi-directional obstacle avoidance sensor array provided in this application adopts the following technical solution:

[0007] A foldable drone integrating a multi-directional obstacle avoidance sensor array includes a drone shell. Main booms are mounted at the four corners of the drone shell. One end of each main boom is fixedly connected to the drone shell, and the other end is equipped with a secondary boom rotatably connected to the main boom. A drive motor for adjusting the rotation of the secondary boom is located at the lower end of the main boom. Four corner brackets are also mounted on the bottom of the drone shell. Concave frame plates are mounted on the four corner brackets and fixedly connected to the concave frame plates with bolts. A front sensor, a rear sensor, and a bottom sensor are fixedly mounted on the four corner brackets. A left-side sensor, a right-side sensor, and a top sensor are fixedly mounted on the concave frame plates. A powered wing assembly is mounted on the outer end of each secondary boom and is fixedly connected to the secondary boom.

[0008] By adopting the above technical solution, and by setting main and secondary booms at the four corners of the drone's casing, with the secondary booms being rotatable, the drone's booms achieve a folding function, significantly reducing the space occupied by the drone during storage and transport. Simultaneously, multiple sensors are installed in various directions on the four corner brackets and concave plate, forming a multi-directional obstacle avoidance sensor array. This array can perceive obstacle information in all directions around the drone in real time, effectively preventing collisions with obstacles during flight and improving the safety and reliability of the drone's flight. The powered wing assembly provides the necessary power for the drone's flight, ensuring its normal operation.

[0009] Optionally, the main boom includes a boom housing and a connecting seat that mates with the drone housing. The connecting seat is installed at one end of the boom housing and is fixedly connected to the boom housing.

[0010] By adopting the above technical solution, the main boom adopts a structure design of boom shell and connecting seat. The connecting seat cooperates with the UAV shell, so that the main boom can be stably installed on the UAV shell, ensuring the stability of the connection between the main boom and the UAV shell, and providing reliable support for the installation and operation of the auxiliary boom and the power wing assembly.

[0011] Optionally, a limiting clamp is provided at the end of the rod housing away from the connecting seat. The limiting clamp is integrally formed with the rod housing, and a positioning hole is provided on the rod housing for the auxiliary boom to be rotated and installed.

[0012] By adopting the above technical solution, the limiting clamp on the boom shell can restrict the rotation range of the auxiliary boom, preventing excessive rotation and ensuring the safety and stability of the auxiliary boom's rotation. The positioning hole facilitates the rotational installation of the auxiliary boom, allowing it to rotate flexibly around the positioning hole, thus achieving folding and unfolding functions.

[0013] Optionally, an electromagnet for attracting the auxiliary arm is provided on the inner side of the connecting seat, and the electromagnet is embedded and fixed in the connecting seat.

[0014] By adopting the above technical solution, the electromagnet on the inner side of the connector can attract the auxiliary boom. When the drone is in flight, the electromagnet is energized to generate magnetic force, firmly attracting the auxiliary boom and ensuring its stability during flight, preventing the auxiliary boom from affecting the drone's flight performance due to swaying. When it is necessary to fold the auxiliary boom, the power supply to the electromagnet is disconnected, and the auxiliary boom can rotate freely.

[0015] Optionally, the secondary boom includes a bending plate and a positioning shell for mounting the power wing assembly. One end of the bending plate is rotatably mounted in the boom shell, and the positioning shell is disposed at the other end of the bending plate, and the positioning shell and the bending plate are integrally formed.

[0016] By adopting the above technical solution, the secondary boom uses a structure design of a bent plate and a positioning shell. One end of the bent plate is rotatably installed in the boom shell, realizing the rotation function of the secondary boom. The positioning shell is used to install the power wing assembly, ensuring the stability of the power wing assembly installation, enabling the power wing assembly to work normally and provide stable power for the UAV.

[0017] Optionally, the bending plate is provided with a connecting shaft that mates with the positioning hole, and a metal plate that mates with the electromagnet is also provided on one side of the bending plate. Both the connecting shaft and the metal plate are fixedly connected to the bending plate.

[0018] By adopting the above technical solution, the connecting shaft on the bending plate matches the positioning hole, allowing the auxiliary arm to be accurately installed on the rod housing and to rotate flexibly. The metal plate cooperates with the electromagnet; when the electromagnet is energized, the metal plate is attracted, thus fixing the position of the auxiliary arm. When the electromagnet is de-energized, the auxiliary arm can rotate freely, facilitating folding and unfolding.

[0019] Optionally, the four-corner frame includes a main bending plate and side plates for mounting concave frame plates. The side plates are symmetrically arranged on both sides of the main bending plate, and the side plates are integrally formed with the main bending plate.

[0020] By adopting the above technical solution, the four-corner frame uses a structural design of main curved plates and side plates. The side plates are symmetrically arranged on both sides of the main curved plate and are integrally formed, ensuring the structural strength and stability of the four-corner frame. The side plates are used to install concave frame plates, allowing the concave frame plates to be stably installed on the four-corner frame, providing reliable support for the installation of sensors.

[0021] Optionally, the powered airfoil assembly includes a power motor and an airfoil, with the power motor fixedly installed in the positioning housing and the middle part of the airfoil connected to the output end of the power motor.

[0022] By adopting the above technical solution, the power motor of the powered wing assembly is fixedly installed in the positioning shell, and the winglets are connected to the output end of the power motor. The power motor drives the winglets to rotate, providing the lift and thrust required for the UAV to fly. This structural design ensures the stability and reliability of the powered wing assembly, enabling the UAV to fly stably.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] This application integrates front, rear, bottom, left, right, and top sensors to form a comprehensive multi-directional obstacle avoidance sensor array. These sensors can monitor obstacle information in all directions around the drone in real time and transmit the information to the drone's controller. Based on the information from the sensors, the controller adjusts the drone's flight attitude and path in a timely manner, effectively avoiding collisions with obstacles and greatly improving the drone's flight safety. Whether in complex indoor or outdoor environments, it ensures safe drone flight and reduces damage and accidents caused by collisions.

[0025] The main boom and auxiliary boom of this application are connected by a rotatable mechanism, and the rotation of the auxiliary boom can be adjusted via a drive motor. When the drone is not in use, the auxiliary boom can be folded up, greatly reducing the space occupied by the drone. This makes the drone more portable, allowing users to easily place it in a backpack or other container for convenient use in various situations. At the same time, the folded drone also saves more space when stored, reducing storage costs.

[0026] The powered wing assembly of this application is mounted on the outer end of the secondary boom, providing stable power to the UAV. The inclusion of an electromagnet further enhances the stability of the secondary boom during flight, preventing it from swaying. The overall structural design of the UAV can withstand a certain amount of external impact, ensuring the safety and reliability of the UAV during flight. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure in an embodiment of this application.

[0028] Figure 2 This is a perspective view of the main boom, auxiliary boom, and drive motor working together in an embodiment of this application.

[0029] Figure 3 This is a perspective view of the main boom in an embodiment of this application.

[0030] Figure 4 This is a perspective view of the secondary boom in the embodiments of this application.

[0031] Figure 5 This is a perspective view of the four-corner frame and concave frame plate in the embodiments of this application.

[0032] Explanation of reference numerals in the attached drawings: 1. UAV fuselage; 2. Main boom; 21. Boom shell; 211. Positioning hole; 22. Connecting seat; 23. Limiting clamp; 24. Electromagnet; 3. Secondary boom; 31. Bending plate; 311. Connecting shaft; 312. Metal plate; 32. Positioning shell; 4. Drive motor; 5. Four-corner frame; 51. Main bending plate; 52. Side plate; 6. Concave frame plate; 7. Powered wing assembly; 71. Powered motor; 72. Wing blade. Detailed Implementation

[0033] The present application will be further described in detail below with reference to the accompanying drawings.

[0034] This application discloses a foldable unmanned aerial vehicle (UAV) integrating a multi-directional obstacle avoidance sensor array. (Refer to...) Figure 1 , Figure 2 and Figure 3 As shown, a foldable drone integrating a multi-directional obstacle avoidance sensor array includes a drone shell 1. Main arms 2 are installed at the four corners of the drone shell 1. One end of the main arms 2 is fixedly connected to the drone shell 1, and the other end of the main arms 2 is installed with a secondary arm 3. The secondary arm 3 is rotatably connected to the main arms 2. A drive motor 4 for adjusting the rotation of the secondary arm 3 is provided at the lower end of the main arms 2. Four-corner frames 5 are also installed at the bottom of the drone shell 1. Concave frame plates 6 are also installed on the four-corner frames 5 and are fixedly connected to the concave frame plates 6 by bolts. A front sensor, a rear sensor, and a bottom sensor are fixedly installed on the four-corner frames 5. A left-side sensor, a right-side sensor, and a top sensor are fixedly installed on the concave frame plates 6. A powered wing assembly 7 is also installed at the outer end of the secondary arm 3 and is fixedly connected to the secondary arm 3. By installing main booms 2 and secondary booms 3 at the four corners of the drone's casing 1, and ensuring that the secondary booms 3 are rotatable, the drone's booms achieve a folding function, significantly reducing the space occupied by the drone during storage and transport. Simultaneously, multiple sensors are installed on the four corner brackets 5 and the concave bracket plate 6, forming a multi-directional obstacle avoidance sensor array. This array can perceive obstacle information in all directions around the drone in real time, effectively preventing collisions during flight and improving the safety and reliability of the drone's flight. The powered wing assembly 7 provides the necessary power for the drone's flight, ensuring normal flight operation. The front, rear, bottom, left, right, and top sensors all utilize millimeter-wave radar.

[0035] Reference Figure 2 and Figure 3As shown, the main boom 2 includes a boom housing 21 and a connecting seat 22 that mates with the UAV housing 1. The connecting seat 22 is installed at one end of the boom housing 21 and is fixedly connected to the boom housing 21. The main boom 2's structure of boom housing 21 and connecting seat 22, with the connecting seat 22 mates with the UAV housing 1, allows the main boom 2 to be stably installed on the UAV housing 1, ensuring the stability of the connection between the main boom 2 and the UAV housing 1, and providing reliable support for the installation and operation of the auxiliary boom 3 and the powered wing assembly 7. A limiting clamp 23 is provided at the end of the boom housing 21 away from the connecting seat 22. The limiting clamp 23 is integrally formed with the boom housing 21, and the boom housing 21 has a positioning hole 211 for the rotatable installation of the auxiliary boom 3. The limiting clamp 23 on the boom housing 21 can limit the rotation range of the auxiliary boom 3, preventing excessive rotation and ensuring the safety and stability of the auxiliary boom 3's rotation. The positioning hole 211 facilitates the rotational installation of the auxiliary arm 3, allowing it to rotate flexibly around the hole and achieve folding and unfolding functions. An electromagnet 24 for attracting the auxiliary arm 3 is mounted on the inner side of the connecting seat 22, and is embedded and fixed within the seat. The electromagnet 24 on the inner side of the connecting seat 22 can attract the auxiliary arm 3. When the drone is in flight, the electromagnet 24 is energized to generate magnetic force, firmly attracting the auxiliary arm 3, ensuring its stability during flight and preventing it from affecting the drone's flight performance due to swaying. When it is necessary to fold the auxiliary arm 3, the power to the electromagnet 24 is disconnected, and the auxiliary arm 3 can then rotate freely.

[0036] Reference Figure 2 and Figure 4 As shown, the auxiliary boom 3 includes a bending plate 31 and a positioning shell 32 for mounting the powered wing assembly 7. One end of the bending plate 31 is rotatably mounted in the boom shell 21, and the positioning shell 32 is located at the other end of the bending plate 31, and the positioning shell 32 is integrally formed with the bending plate 31. The auxiliary boom 3 adopts the structural design of the bending plate 31 and the positioning shell 32. One end of the bending plate 31 is rotatably mounted in the boom shell 21, realizing the rotation function of the auxiliary boom 3. The positioning shell 32 is used to mount the powered wing assembly 7, ensuring the stability of the mounted powered wing assembly 7, so that the powered wing assembly 7 can work normally and provide stable power for the UAV. The bending plate 31 is provided with a connecting shaft 311 that cooperates with the positioning hole 211, and a metal plate 312 that cooperates with the electromagnet 24 is also provided on one side of the bending plate 31. Both the connecting shaft 311 and the metal plate 312 are fixedly connected to the bending plate 31. The connecting shaft 311 on the bending plate 31 engages with the positioning hole 211, allowing the auxiliary arm 3 to be accurately mounted on the rod housing 21 and to rotate flexibly. The metal plate 312 engages with the electromagnet 24. When the electromagnet 24 is energized, the metal plate 312 is attracted, thus fixing the position of the auxiliary arm 3. When the electromagnet 24 is de-energized, the auxiliary arm 3 can rotate freely, facilitating folding and unfolding.

[0037] Reference Figure 5 As shown, the four-corner frame 5 includes a main curved plate 51 and side plates 52 for mounting the concave frame plate 6. The side plates 52 are symmetrically arranged on both sides of the main curved plate 51 and are integrally formed with the main curved plate 51. The structural design of the four-corner frame 5 using the main curved plate 51 and side plates 52, with the side plates 52 symmetrically arranged on both sides of the main curved plate 51 and integrally formed, ensures the structural strength and stability of the four-corner frame 5. The side plates 52 are used to mount the concave frame plate 6, allowing the concave frame plate 6 to be stably mounted on the four-corner frame 5, providing reliable support for the installation of the sensor.

[0038] Reference Figure 1 As shown, the powered wing assembly 7 includes a motor 71 and a winglet 72. The motor 71 is fixedly mounted in the positioning housing 32, and the middle part of the winglet 72 is connected to the output end of the motor 71. The motor 71 drives the winglet 72 to rotate, providing the lift and thrust required for the UAV to fly. This structural design ensures the stability and reliability of the powered wing assembly 7, enabling the UAV to fly stably.

[0039] The implementation principle of a foldable drone integrating a multi-directional obstacle avoidance sensor array according to an embodiment of this application is as follows: Before using the drone, the electromagnet 24 is de-energized, and the drive motor 4 is started. The drive motor 4 drives the auxiliary arm 3 to rotate around the positioning hole 211, unfolding the auxiliary arm 3 to the working position. Then, the electromagnet 24 is energized, and the electromagnet 24 attracts the metal plate 312, fixing the position of the auxiliary arm 3. The power motor 71 is started, and the power motor 71 drives the wing 72 to rotate, providing the power required for the drone's flight. During flight, sensors in various directions monitor obstacle information around the drone in real time and transmit the information to the drone's controller. Based on the information fed back by the sensors, the controller adjusts the speed and direction of the power motor 71 in a timely manner, changing the drone's flight attitude and path to avoid collisions with obstacles. After use, the electromagnet 24 is de-energized, and the drive motor 4 is started. The drive motor 4 drives the auxiliary arm 3 to rotate around the positioning hole 211, folding the auxiliary arm 3 and reducing the space occupied by the drone.

[0040] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A foldable unmanned aerial vehicle (UAV) integrating a multi-directional obstacle avoidance sensor array, comprising a UAV shell (1), characterized in that: The four corners of the drone housing (1) are equipped with main booms (2). One end of the main boom (2) is fixedly connected to the drone housing (1), and the other end of the main boom (2) is equipped with a secondary boom (3). The secondary boom (3) is rotatably connected to the main boom (2), and the lower end of the main boom (2) is equipped with a drive motor (4) for adjusting the rotation of the secondary boom (3). The bottom of the drone housing (1) is also equipped with a four-corner frame (5). The four-corner frame (5) is also equipped with a concave frame plate (6), and the four-corner frame (5) is fixedly connected to the concave frame plate (6) by bolts. The four-corner frame (5) is fixedly equipped with a front sensor, a rear sensor and a bottom sensor. The concave frame plate (6) is fixedly equipped with a left sensor, a right sensor and a top sensor. The outer end of the secondary boom (3) is also equipped with a powered wing assembly (7), and the powered wing assembly (7) is fixedly connected to the secondary boom (3).

2. A foldable drone integrating a multi-directional obstacle avoidance sensor array according to claim 1, characterized in that: The main boom (2) includes a boom shell (21) and a connecting seat (22) that cooperates with the drone shell (1). The connecting seat (22) is installed at one end of the boom shell (21) and is fixedly connected to the boom shell (21).

3. A foldable drone integrating a multi-directional obstacle avoidance sensor array according to claim 2, characterized in that: The end of the rod shell (21) away from the connecting seat (22) is provided with a limiting clamp (23). The limiting clamp (23) is integrally formed with the rod shell (21), and the rod shell (21) is provided with a positioning hole (211) for the auxiliary arm (3) to be rotated and installed.

4. A foldable drone integrating a multi-directional obstacle avoidance sensor array according to claim 3, characterized in that: An electromagnet (24) for adsorbing the auxiliary arm (3) is provided on the inner side of the connecting seat (22), and the electromagnet (24) is embedded and fixed in the connecting seat (22).

5. A foldable drone integrating a multi-directional obstacle avoidance sensor array according to claim 4, characterized in that: The auxiliary boom (3) includes a bending plate (31) and a positioning shell (32) for mounting the power wing assembly (7). One end of the bending plate (31) is rotatably mounted in the boom shell (21), and the positioning shell (32) is located at the other end of the bending plate (31). The positioning shell (32) and the bending plate (31) are integrally formed.

6. A foldable drone integrating a multi-directional obstacle avoidance sensor array according to claim 5, characterized in that: The bending plate (31) is provided with a connecting shaft (311) that cooperates with the positioning hole (211), and a metal plate (312) that cooperates with the electromagnet (24) is also provided on one side of the bending plate (31). The connecting shaft (311) and the metal plate (312) are both fixedly connected to the bending plate (31).

7. A foldable UAV with an integrated multi-directional obstacle avoidance sensor array according to claim 6, characterized in that: The four-corner frame (5) includes a main bending plate (51) and side plates (52) for mounting the concave frame plate (6). The side plates (52) are symmetrically arranged on both sides of the main bending plate (51), and the side plates (52) and the main bending plate (51) are integrally formed.

8. A foldable drone integrating a multi-directional obstacle avoidance sensor array according to claim 7, characterized in that: The powered wing assembly (7) includes a power motor (71) and a winglet (72). The power motor (71) is fixedly installed in the positioning housing (32), and the middle part of the winglet (72) is connected to the output end of the power motor (71).

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