A drone flight collision avoidance mechanism

Abstract

This utility model relates to the field of unmanned aerial vehicle (UAV) technology and discloses a UAV flight anti-collision mechanism, including a shell, a spiral blade body, and a support frame. The main power supply and controller are fixedly installed in the inner cavity of the shell. A positioning rod is fixedly installed at the bottom of the shell. The inner wall of the positioning rod has a slot, and the inner wall of the slot has a ball groove. A mounting base is provided at the bottom of the shell, and the inner wall of the mounting base has a positioning groove. An environmental monitoring network is constructed by two sets of symmetrically distributed binocular cameras during the flight of the shell. Combined with the real-time risk assessment of the controller, a protection command can be triggered in advance. At the same time, the protection components, combined with the characteristics of magnetic fluid and electromagnetic coil control, absorb the collision energy. When the UAV collides, the elastic deformation of the outer wall of the semi-ring box and the damping of the magnetic fluid buffer achieve plastic deformation and rigid unloading of the solidified magnetic fluid, thereby attenuating the collision force and effectively improving the protection efficiency of the equipment.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV flight collision avoidance mechanism. Background Technology

[0002] Among civilian drones, multi-rotor drones are the most widely used. When multi-rotor drones fly, their propellers rotate at high speeds, making them very easy to collide with external objects, leading to loss of control, crashes, or even injuries. This is especially true in narrow and complex environments where drones have difficulty entering, and even if they do, they are highly susceptible to impacts and crashes.

[0003] Existing collision avoidance mechanisms typically use a single sensor for obstacle detection, which has drawbacks such as large blind spots, low distance judgment accuracy, and the possibility of errors. It is difficult to build a comprehensive environmental monitoring network. When encountering sudden obstacles, the protection command is delayed, and the protection method usually adopts a single rigid buffer or passive deformation, which cannot dynamically adjust the protection strength according to the collision energy level. Therefore, it may reduce the protection efficiency. Therefore, we have introduced a drone flight collision avoidance mechanism. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a drone flight collision avoidance mechanism, which has the advantages of easy installation and disassembly and dynamic protection, thus solving the problems mentioned in the background art.

[0005] This utility model provides the following technical solution: a drone flight anti-collision mechanism, comprising a shell, a spiral blade body, and a support frame. A main power supply and a controller are fixedly installed in the inner cavity of the shell. A positioning rod is fixedly installed at the bottom of the shell. A slot is formed on the inner wall of the positioning rod, and a ball groove is formed on the inner wall of the slot. A mounting base is provided at the bottom of the shell. A positioning groove is formed on the inner wall of the mounting base. A connecting component is provided in the inner cavity of the mounting base. One end of a support rod is fixedly installed on the outer wall of the mounting base. One end of a connecting rod is fixedly installed on the other end of the support rod. A three-claw support base is fixedly installed on the other end of the connecting rod. A binocular camera is fixedly installed on the outer wall of the support rod. A protective component is provided at the top of the three-claw support base. A limit post is fixedly installed at the bottom of the mounting base.

[0006] As a preferred technical solution of this utility model: the outer wall of the positioning rod is adapted to the shape of the inner wall of the positioning groove; the connecting component, slot and ball groove are considered as a set of movable components, and there are four sets of such movable components arranged in a circular array; the support rod and binocular camera are considered as a set of movable components, and there are two sets of such movable components, respectively arranged symmetrically with the shell as the center; the connecting rod, three-claw support base and protective component are considered as a set of movable components, and there are four sets of such movable components, respectively arranged in a circular array with the shell as the center; the binocular camera is electrically connected to the controller, and the controller is electrically connected to the main power supply.

[0007] As a preferred technical solution of this utility model: the connecting component includes a first circular groove formed in the inner wall of the mounting base, the inner cavity of the first circular groove is provided with a first convex pin and a first spring, the outer wall of the first convex pin is provided with a steel wire rope, the outer wall of the mounting base is provided with a pulley, the inner wall of the first convex pin is provided with a second circular groove, the inner cavity of the second circular groove is provided with a second spring and a second convex pin, and the bottom of the mounting base is provided with a pull plate.

[0008] As a preferred technical solution of this utility model: the outer wall of one end of the four first convex pins is slidably fitted against the inner wall of the first circular groove, and the outer wall of the other end is adapted to the shape of the inner wall of the four slots; the four steel wire ropes are located on one side of the four first convex pins, with one end overlapping the outer wall of the first convex pin and the other end overlapping the inner wall of the first circular groove; one end of the four steel wire ropes is connected and fixed to the outer wall of the pull plate, and the other end passes through the inner wall of the mounting base and is connected and fixed to one side of the outer wall of the four first convex pins; the inner wall of the pull plate is slidably fitted against the outer wall of the limiting post; the top of the four second convex pins is circular and adapted to the shape of the inner wall of the four ball grooves; the bottom of the four second convex pins is slidably fitted against the inner wall of the second circular groove; the four second springs are located at the bottom of the second circular groove, with one end overlapping the bottom of the second convex pin and the other end overlapping the inner wall of the second circular groove.

[0009] As a preferred technical solution of this utility model: the protective component includes a semi-annular box body fixedly installed on the top of the three-claw support base, an iron core column fixedly installed on the top of the three-claw support base, and an electromagnetic coil provided on the outer wall of the iron core column.

[0010] As a preferred technical solution of this utility model: the outer wall of the four semi-ring boxes away from the iron core column is made of elastic metal sheet, the inner cavity of the four semi-ring boxes is provided with magnetic fluid, and the four electromagnetic coils are electrically connected to the main power supply through wires.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. This drone flight collision avoidance mechanism constructs an environmental monitoring network during the flight of the shell through two sets of symmetrically distributed binocular cameras. Combined with the real-time risk assessment of the controller, it can trigger protection commands in advance. At the same time, it uses protective components combined with the characteristics of magnetofluid and electromagnetic coil control to absorb collision energy. During the collision, the elastic deformation of the outer wall of the semi-ring box and the damping of the magnetofluid buffer achieve plastic deformation and rigid unloading of the solidified magnetofluid, thereby attenuating the collision force and effectively improving the protection efficiency of the equipment.

[0013] 2. This drone flight collision avoidance mechanism, through the shape adaptation design of the positioning rod and positioning groove, and with the cooperation of four sets of circular arrayed connecting components, achieves rapid docking and positioning of the mounting base and the shell. The first convex pin is driven by the pull plate, steel wire rope and the first spring, which effectively shortens the installation time of the protective components. At the same time, by using the first convex pin to insert into the slot and the second convex pin to lock into the ball groove, the stability of the connection and the improvement of vibration resistance are ensured, thereby avoiding the phenomenon of structural stress concentration caused by installation deviation. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 2 This is a schematic diagram of the UAV shell structure of this utility model;

[0016] Figure 3 This is a schematic diagram of the positioning slot structure of this utility model;

[0017] Figure 4 This is a schematic diagram of the overall protective structure of this utility model;

[0018] Figure 5 This is a schematic diagram of the connecting component structure of this utility model;

[0019] Figure 6 This is a schematic diagram of the protective component structure of this utility model;

[0020] Figure 7 This utility model Figure 5 Enlarged structural diagram at point A in the middle;

[0021] Figure 8 This utility model Figure 6 Enlarged structural diagram at point B.

[0022] In the diagram: 1. Shell; 2. Spiral blade body; 3. Support frame; 4. Positioning rod; 5. Main power supply; 6. Controller; 7. Mounting base; 8. Positioning groove; 9. Slot; 10. Ball groove; 11. Connecting assembly; 12. Support rod; 13. Connecting rod; 14. Binocular camera; 15. Three-claw support base; 16. Protective assembly; 17. Limiting post; 111. First circular groove; 112. First convex pin; 113. First spring; 114. Steel wire rope; 115. Pulley; 116. Second circular groove; 117. Second spring; 118. Second convex pin; 119. Pull plate; 161. Semi-ring box; 162. Iron core column; 163. Electromagnetic coil. Detailed Implementation

[0023] 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.

[0024] Please see Figure 1 - Figure 8 A drone flight collision avoidance mechanism includes a shell 1, a spiral blade body 2, and a support frame 3. A main power supply 5 and a controller 6 are fixedly installed in the inner cavity of the shell 1. A positioning rod 4 is fixedly installed at the bottom of the shell 1. A slot 9 is opened in the inner wall of the positioning rod 4. A ball groove 10 is opened in the inner wall of the slot 9. A mounting base 7 is provided at the bottom of the shell 1. A positioning groove 8 is opened in the inner wall of the mounting base 7. A connecting component 11 is provided in the inner cavity of the mounting base 7. One end of a support rod 12 is fixedly installed on the outer wall of the mounting base 7. One end of a connecting rod 13 is fixedly installed on the other end of the support rod 12. A three-claw support base 15 is fixedly installed on the other end of the connecting rod 13. A binocular camera 14 is fixedly installed on the outer wall of the support rod 12. A protective component 16 is provided on the top of the three-claw support base 15. A limit post 17 is fixedly installed at the bottom of the mounting base 7.

[0025] In the above structure, the mounting base 7 and the housing 1 are stably installed through the connecting component 11, thereby enabling the support rod 12, connecting rod 13 and three-claw support base 15 to provide stable support for the protective component 16 installed on the outside of the housing 1 and the spiral blade body 2. Furthermore, the protective component 16, support rod 12, connecting rod 13 and three-claw support base 15 can also be detached and disassembled through the connecting component 11 between the mounting base 7 and the housing 1, thus achieving convenience.

[0026] In a preferred embodiment: the outer wall of the positioning rod 4 is adapted to the shape of the inner wall of the positioning groove 8; the connecting component 11, the slot 9 and the ball groove 10 are considered as a set of movable components, and there are four sets of such movable components, which are arranged in a circular array; the support rod 12 and the binocular camera 14 are considered as a set of movable components, and there are two sets of such movable components, which are symmetrically arranged with the housing 1 as the center; the connecting rod 13, the three-claw support base 15 and the protective component 16 are considered as a set of movable components, and there are four sets of such movable components, which are arranged in a circular array with the housing 1 as the center; the binocular camera 14 is electrically connected to the controller 6, and the controller 6 is electrically connected to the main power supply 5;

[0027] In the above structure, the positioning rod 4 and the positioning groove 8 are designed to fit each other, so that when the mounting base 7 is installed or removed from the housing 1, it slides along the outer wall of the positioning rod 4 through the positioning groove 8 to achieve separation. Secondly, when the mounting base 7 is installed with the housing 1, it can also be positioned by the positioning rod 4 to achieve more precise installation. At the same time, the four sets of movable components, consisting of connecting components 11, slots 9 and ball grooves 10, provide stable support for the rigid connection between the housing 1 and the mounting base 7. The four sets of movable components, consisting of connecting rods 13, three-claw support bases 15 and protective components 16, prevent uneven stress on the local structure. Furthermore, the two sets of movable components, consisting of support rods 12 and binocular cameras 14, are symmetrically arranged on both sides of the outer wall of the housing 1. The binocular cameras 14 can collect images of the surrounding environment of the housing 1 in real time, construct a three-dimensional model through algorithms, and transmit the obstacle distance data to the controller 6. The controller 6 will then determine the collision risk level according to the preset value valve and send a power supply command to the main power supply 5 simultaneously.

[0028] In a preferred embodiment: the connecting assembly 11 includes a first circular groove 111 formed in the inner wall of the mounting base 7, the inner cavity of the first circular groove 111 is provided with a first convex pin 112 and a first spring 113, the outer wall of the first convex pin 112 is provided with a wire rope 114, the outer wall of the mounting base 7 is provided with a pulley 115, the inner wall of the first convex pin 112 is provided with a second circular groove 116, the inner cavity of the second circular groove 116 is provided with a second spring 117 and a second convex pin 118, and the bottom of the mounting base 7 is provided with a pull plate 119;

[0029] In a preferred embodiment: one end of the outer wall of each of the four first convex pins 112 is slidably fitted against the inner wall of the first circular groove 111, and the other end of the outer wall is adapted to the shape of the inner wall of each of the four slots 9. Four steel wire ropes 114 are located on one side of each of the four first convex pins 112, with one end overlapping the outer wall of the first convex pin 112 and the other end overlapping the inner wall of the first circular groove 111. One end of each steel wire rope 114 is connected and fixed to the outer wall of the pull plate 119, and the other end passes through the inner wall of the mounting base 7 and connects with the four first convex pins 112. One side of the outer wall of the convex pin 112 is connected and fixed. The inner wall of the pull plate 119 is slidably fitted to the outer wall of the limiting post 17. The top of the four second convex pins 118 is circular and is adapted to the inner wall shape of the four ball grooves 10. The bottom of the four second convex pins 118 is slidably fitted to the inner wall of the second circular groove 116. The four second springs 117 are located at the bottom of the second circular groove 116, with one end overlapping the bottom of the second convex pin 118 and the other end overlapping the inner wall of the second circular groove 116.

[0030] In the above structure, by aligning the mounting base 7 with the positioning groove 8, and then sliding the pull plate 119 downward along the outer wall of the limiting post 17, the pull plate 119 will simultaneously drive the four steel wire ropes 114 to slide against the outer edge of the pulley 115. The other ends of the four steel wire ropes 114 will simultaneously drive one end of the four first convex pins 112 connected and fixed thereto to slide along the inner wall of the first circular groove 111. As the four first convex pins 112 slide, they also drive the first spring 113 on one side to compress, causing the four first convex pins 112 to simultaneously retract into the inner cavity of the corresponding first circular groove 111. At this point, by pushing the mounting base 7 upward, when the four first convex pins 112 correspond to the four slots 9, the pull plate 119 is released, allowing... Four first convex pins 112 are inserted into the inner cavity of their corresponding slots 9 by means of a first spring 113 for springback reset. When the first convex pin 112 is inserted into the inner cavity of the slot 9, the top of the second convex pin 118 will first contact the inner wall of the slot 9, and the bottom of the second convex pin 118 will slide along the inner wall of the second circular groove 116 under force. At this time, the sliding second convex pin 118 will simultaneously drive the second spring 117 to compress, so that when the first convex pin 112 is fully inserted into the inner cavity of the slot 9, the second convex pin 118 corresponds to the ball groove 10, and the bottom of the second convex pin 118 will be reset upward by means of the springback of the second spring 117, so that the spherical top of the second convex pin 118 will be inserted into the inner cavity of the ball groove 10, thereby achieving a stable connection.

[0031] In a preferred embodiment: the protective component 16 includes a semi-annular box 161 fixedly installed on the top of the three-claw support base 15, an iron core column 162 fixedly installed on the top of the three-claw support base 15, and an electromagnetic coil 163 provided on the outer wall of the iron core column 162.

[0032] In a preferred embodiment: the outer wall of the four semi-ring box 161 at the end away from the iron core column 162 is made of elastic metal sheet, the inner cavity of the four semi-ring box 161 is provided with magnetic fluid, and the four electromagnetic coils 163 are electrically connected to the main power supply 5 through wires.

[0033] In the above structure, the magnetic flux fluid inside the semi-annular box 161 allows the controller 6 to control the current of its main power supply 5, causing the main power supply 5 to transmit the corresponding current to the electromagnetic coil 163 through wires. When the shell 1 collides with an obstacle, the current transmitted from the main power supply 5 to the electromagnetic coil 163 increases. This results in the iron core column 162 generating a stronger magnetic field under the larger current in the electromagnetic coil 163. This magnetic field alters the magnetic flux fluid inside the semi-annular box 161, causing the magnetic flux fluid to generate damping. The outer wall of the semi-annular box 161, which is made of elastic metal sheet, will first come into contact with the obstacle at the end away from the iron core column 162. This will cause the outer wall of the elastic metal sheet to be concave. The concave outer wall will be buffered and dispersed by the damping of the magnetic fluid in the cavity of the semi-annular box 161, thereby achieving protection. Secondly, after the shell 1 is removed from the obstacle, the current decreases, the magnetic field of the iron core column 162 weakens, and the magnetic fluid returns to a fluid state. This causes the outer wall of the elastic metal sheet to spring back to its initial state due to its own characteristics.

[0034] Working principle: First, align the positioning groove 8 of the mounting base 7 with the positioning rod 4 at the bottom of the housing 1, so that the outer wall of the positioning rod 4 fits against the inner wall of the positioning groove 8. Push the mounting base 7 along the axial direction of the positioning rod 4 to complete the initial positioning. Then, slide the pull plate 119 down along the outer wall of the limiting post 17, so that the pull plate 119 will simultaneously drive the four steel wire ropes 114 to slide against the outer edge of the pulley 115. The other end of the four steel wire ropes 114 will simultaneously drive one end of the four first convex pins 112 connected and fixed thereto to slide along the inner wall of the first circular groove 111. While the four first convex pins 112 are sliding, they will also drive the first spring 113 set on one side to compress, so that the four first convex pins 112 will simultaneously retract to the inner wall of the first circular groove 111. When the mounting base 7 is pushed upwards, corresponding to the inner cavity of the first circular groove 111, so that the four first convex pins 112 correspond to the four slots 9, the pull plate 119 is released, and the four first convex pins 112 are spring-backed and inserted into the inner cavity of the corresponding slot 9 by the first spring 113. At this time, when the first convex pin 112 is inserted into the inner cavity of the slot 9, the top of the second convex pin 118 will first contact the inner wall of the slot 9, and the bottom of the second convex pin 118 will slide along the inner wall of the second circular groove 116. At this time, the sliding second convex pin 118 simultaneously drives the second spring 117 to compress, so that when the first convex pin 112 is fully inserted into the inner cavity of the slot 9, the first convex pin 118 will be inserted into the inner cavity of the slot 9. The two convex pins 118 correspond to the ball groove 10, so that the bottom of the second convex pin 118 is reset upward by the rebound of the second spring 117, so that the spherical top of the second convex pin 118 will be inserted into the inner cavity of the ball groove 10. At this time, the mounting base 7 is firmly connected to the shell 1, so that the four sets of protective components 16 are distributed in a circular array on the outside of the shell 1 and the spiral blade body 2. After the drone is started, the main power supply 5 supplies power to the controller 6 and the two symmetrically distributed binocular cameras 14, so that the binocular cameras 14 can collect environmental images in real time within the flight range around the shell 1. The binocular cameras 14 can construct a three-dimensional environment model through stereo vision algorithms, calculate obstacle distance, relative speed and orientation information, and transmit the data in real time. The data is transmitted to controller 6, which presets a collision risk threshold, analyzes the received data, and determines the collision risk level in real time (high or low). Simultaneously, it awaits the power supply adjustment command from main power supply 5. When a potential collision is detected, controller 6 sends a current adjustment command to main power supply 5 based on the risk level. Main power supply 5 then outputs a corresponding current to the electromagnetic coils 163 of the four sets of protective components 16 through wires. This ensures that when a collision occurs, the elastic metal outer wall of the semi-annular box 161 first contacts the obstacle, causing a dented deformation. This dented metal sheet compresses the magnetic fluid inside the semi-annular box 161. The damping force generated by the magnetic fluid under the magnetic field increases with increasing current, dispersing the collision energy through viscous resistance and shear action.The plastic deformation and rigid damping of the magnetic fluid work together to reduce the impact force transmitted to the housing 1. Secondly, when the controller 6 detects that the obstacle is moving away, it immediately reduces the output current of the main power supply 5, weakening the magnetic field of the electromagnetic coil 163. The magnetic fluid gradually returns to a low-viscosity fluid state. Finally, the elastic metal sheet of the semi-annular housing 161, due to its own elasticity, rebounds after the magnetic fluid damping disappears, returning to its initial shape, awaiting the next protective response.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A collision avoidance mechanism for unmanned aerial vehicles (UAVs), comprising a housing (1), a helical blade body (2), and a support frame (3), characterized in that: The main power supply (5) and controller (6) are fixedly installed in the inner cavity of the housing (1). A positioning rod (4) is fixedly installed at the bottom of the housing (1). A slot (9) is opened on the inner wall of the positioning rod (4). A ball groove (10) is opened on the inner wall of the slot (9). An installation base (7) is provided at the bottom of the housing (1). A positioning groove (8) is opened on the inner wall of the installation base (7). A connecting component (11) is provided in the inner cavity of the installation base (7). One end of a support rod (12) is fixedly installed on the outer wall of the installation base (7). One end of a connecting rod (13) is fixedly installed on the other end of the support rod (12). A three-claw support base (15) is fixedly installed on the other end of the connecting rod (13). A binocular camera (14) is fixedly installed on the outer wall of the support rod (12). A protective component (16) is provided on the top of the three-claw support base (15). A limit post (17) is fixedly installed at the bottom of the installation base (7).

2. The anti-collision mechanism for unmanned aerial vehicles according to claim 1, characterized in that: The outer wall of the positioning rod (4) is adapted to the shape of the inner wall of the positioning groove (8). The connecting component (11), slot (9) and ball groove (10) are considered as a set of movable components, and there are four sets of movable components, which are arranged in a circular array. The support rod (12) and binocular camera (14) are considered as a set of movable components, and there are two sets of movable components, which are symmetrically arranged with the housing (1) as the center. The connecting rod (13), three-claw support base (15) and protective component (16) are considered as a set of movable components, and there are four sets of movable components, which are arranged in a circular array with the housing (1) as the center. The binocular camera (14) is electrically connected to the controller (6), and the controller (6) is electrically connected to the main power supply (5).

3. The anti-collision mechanism for unmanned aerial vehicles according to claim 1, characterized in that: The connecting assembly (11) includes a first circular groove (111) formed in the inner wall of the mounting base (7). The inner cavity of the first circular groove (111) is provided with a first convex pin (112) and a first spring (113). The outer wall of the first convex pin (112) is provided with a steel wire rope (114). The outer wall of the mounting base (7) is provided with a pulley (115). The inner wall of the first convex pin (112) is provided with a second circular groove (116). The inner cavity of the second circular groove (116) is provided with a second spring (117) and a second convex pin (118). The bottom of the mounting base (7) is provided with a pull plate (119).

4. The anti-collision mechanism for unmanned aerial vehicles according to claim 3, characterized in that: One end of the outer wall of each of the four first convex pins (112) is slidably fitted against the inner wall of the first circular groove (111), and the other end of the outer wall is adapted to the shape of the inner wall of the four slots (9). The four steel wire ropes (114) are located on one side of the four first convex pins (112), with one end overlapping the outer wall of the first convex pin (112) and the other end overlapping the inner wall of the first circular groove (111). One end of the four steel wire ropes (114) is connected and fixed to the outer wall of the pull plate (119), and the other end passes through the inner wall of the mounting base (7) and the four first convex pins (112). The outer wall of one side of the pull plate (112) is connected and fixed. The inner wall of the pull plate (119) is slidably fitted to the outer wall of the limiting post (17). The top of the four second convex pins (118) is circular and is adapted to the inner wall shape of the four ball grooves (10). The bottom of the four second convex pins (118) is slidably fitted to the inner wall of the second circular groove (116). The four second springs (117) are located at the bottom of the second circular groove (116), with one end overlapping the bottom of the second convex pin (118) and the other end overlapping the inner wall of the second circular groove (116).

5. The anti-collision mechanism for unmanned aerial vehicles according to claim 1, characterized in that: The protective component (16) includes a semi-annular box (161) fixedly installed on the top of the three-claw support base (15), and an iron core column (162) fixedly installed on the top of the three-claw support base (15). An electromagnetic coil (163) is provided on the outer wall of the iron core column (162).

6. The anti-collision mechanism for unmanned aerial vehicles according to claim 5, characterized in that: The outer wall of the four semi-ring boxes (161) away from the iron core column (162) is made of elastic metal sheet, the inner cavity of the four semi-ring boxes (161) is provided with magnetic fluid, and the four electromagnetic coils (163) are electrically connected to the main power supply (5) through wires.

Images