CN105775149A - Protective cover of unmanned aircraft, obstacle avoidance method and unmanned aircraft - Google Patents
Protective cover of unmanned aircraft, obstacle avoidance method and unmanned aircraft Download PDFInfo
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- CN105775149A CN105775149A CN201610113164.4A CN201610113164A CN105775149A CN 105775149 A CN105775149 A CN 105775149A CN 201610113164 A CN201610113164 A CN 201610113164A CN 105775149 A CN105775149 A CN 105775149A
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- unmanned vehicle
- protective cover
- arcuate member
- aircraft body
- vehicle according
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- 230000001681 protective effect Effects 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000004888 barrier function Effects 0.000 claims description 126
- 230000000694 effects Effects 0.000 abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 14
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000002372 labelling Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
Abstract
The invention provides a protective cover of an unmanned aircraft, an obstacle avoidance method and the unmanned aircraft. The protective cover of the unmanned aircraft comprises a rotary component. The rotary component can be connected with a main body of the unmanned aircraft and can rotate relative to the main body of the unmanned aircraft when colliding with external force. The obstacle avoidance effect of the unmanned aircraft can be improved, and the cost is lowered.
Description
Technical field
The present invention relates to avoidance technology, particularly relate to the protective cover of a kind of unmanned vehicle, barrier-avoiding method and unmanned vehicle.
Background technology
During unmanned vehicle flight fast owing to being usually in over the horizon flight and flight speed, therefore easily collide with barrier, cause aircraft bombing, even knocked object is damaged.
At present, unmanned vehicle is provided with automatic obstacle avoidance system, automatic obstacle avoidance system includes ultrasonic detector, visual detector, laser detector and calculation element, unmanned vehicle may utilize ultrasonic detector, visual detector, laser detector disturbance of perception thing, and be calculated by calculation element, thus carry out intelligent decision avoidance.
The automatic obstacle avoidance system of existing unmanned vehicle, owing to detector has blind spot, therefore avoidance poor effect.
Summary of the invention
The present invention provides the protective cover of a kind of unmanned vehicle, barrier-avoiding method and unmanned vehicle, to improve the avoidance effect of unmanned vehicle, and reduces cost.
One aspect of the present invention provides the protective cover of a kind of unmanned vehicle, and including rotatable parts, described rotatable parts can be connected with the aircraft body of unmanned vehicle, and described rotatable parts can rotate relative to described aircraft body when being subject to external force collision.
Another aspect of the present invention provides a kind of unmanned vehicle, and including the protective cover of aircraft body and unmanned vehicle provided by the present invention, described protective cover is installed on described aircraft body.
Further aspect of the present invention provides the barrier-avoiding method of a kind of unmanned vehicle, including: the aircraft body at unmanned vehicle is provided with a protective cover, and described protective cover is provided with the rotatable parts of the periphery of described aircraft body；When described rotatable parts encounter barrier, rotate relative to described aircraft body, make described unmanned vehicle walk around described barrier.
Based on above-mentioned, the protective cover of unmanned vehicle provided by the invention, in use, rotatable parts can be installed on the outside of aircraft body, therefore, when unmanned vehicle runs into barrier in flight course, rotatable parts can first contact with barrier, owing to rotatable parts can rotate relative to aircraft body when being subject to external force collision, therefore produce between rotatable parts meeting and barrier and relatively rotate, rotatable parts are enable to roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.Thus avoid the direct collision of aircraft body and barrier, and unmanned vehicle can be made to get around barrier at protective cover and barrier collision rift, thus improve the avoidance effect of unmanned vehicle.It addition, the protective cover simple in construction of unmanned vehicle provided by the invention, it is possible to reduce cost and use reliable.
Accompanying drawing explanation
The structural representation of a kind of unmanned vehicle that Fig. 1 provides for the embodiment of the present invention；
The structural representation of the another kind of unmanned vehicle that Fig. 2 provides for the embodiment of the present invention；
The structural representation of the protective cover of a kind of unmanned vehicle that Fig. 3 provides for the embodiment of the present invention；
The top view of the protective cover of a kind of unmanned vehicle that Fig. 4 provides for the embodiment of the present invention；
The structural representation of the protective cover of the another kind of unmanned vehicle that Fig. 5 provides for the embodiment of the present invention；
The top view of the protective cover of the another kind of unmanned vehicle that Fig. 6 provides for the embodiment of the present invention；
The structural representation of the protective cover of another unmanned vehicle that Fig. 7 provides for the embodiment of the present invention；
The STRUCTURE DECOMPOSITION figure of the protective cover of another unmanned vehicle that Fig. 8 provides for the embodiment of the present invention；
The structural representation of the protective cover of another unmanned vehicle that Fig. 9 provides for the embodiment of the present invention；
The flow chart of the barrier-avoiding method of a kind of unmanned vehicle that Figure 10 provides for the embodiment of the present invention.
Accompanying drawing labelling:
10: rotatable parts；11: the first arcuate members；111: connector；
112: wheel body；113: support bar；114: upper arcuate member；
115: arc lower part；12: protuberance；121: lobe；
13: the second arcuate members；14: connect axle；20: aircraft body；
21: propeller.
Detailed description of the invention
Below in conjunction with accompanying drawing, some embodiments of the present invention are elaborated.When not conflicting, the feature in following embodiment and embodiment can be mutually combined.
Embodiment one
The structural representation of a kind of unmanned vehicle that Fig. 1 provides for the embodiment of the present invention；The structural representation of the another kind of unmanned vehicle that Fig. 2 provides for the embodiment of the present invention.Refer to Fig. 1 and Fig. 2, the embodiment of the present invention provides the protective cover of a kind of unmanned vehicle, including rotatable parts 10.Described rotatable parts 10 can be connected with the aircraft body 20 of unmanned vehicle.Described rotatable parts 10 can rotate relative to described aircraft body 20 when being subject to external force collision.
In the present embodiment, in use, rotatable parts 10 can be installed on the outside of aircraft body 20, therefore, when unmanned vehicle runs into barrier in flight course, rotatable parts 10 can first contact with barrier, owing to rotatable parts 10 can rotate relative to aircraft body 20 when being subject to external force collision, therefore produce between rotatable parts 10 meeting and barrier and relatively rotate, make rotatable parts 10 can roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.Thus avoid the direct collision of aircraft body 20 and barrier, and unmanned vehicle can be made to get around barrier at protective cover and barrier collision rift, thus improve the avoidance effect of unmanned vehicle.It addition, the protective cover simple in construction of the unmanned vehicle of embodiment of the present invention offer, it is possible to reduce cost and use reliable.
Wherein, rotatable parts 10 can be arcuate member, wheel shape part, sector etc..Rotatable parts 10 can pass through rotating shaft and be connected with aircraft body 20, so that rotatable parts 10 can rotate relative to aircraft body 20.Aircraft body 20 can include fuselage and multiple horn, and multiple horns extend outwardly from fuselage can be provided with motor horn, and the outfan of motor can connect propeller 21, and rotatable parts 10 may be formed at outside propeller 21, thus propeller 21 is formed protection.
Embodiment two
The structural representation of the protective cover of a kind of unmanned vehicle that Fig. 3 provides for the embodiment of the present invention；The top view of the protective cover of a kind of unmanned vehicle that Fig. 4 provides for the embodiment of the present invention.The present embodiment is on the basis of embodiment one, the further optimization to rotatable parts structure.Refer to Fig. 3 and Fig. 4, rotatable parts 10 can include the first arcuate member 11 and be located at the protuberance 12 of described first arcuate member 11.Described protuberance 12 is exposed at the lateral surface of described first arcuate member 11 at least partly.At least one in described first arcuate member 11 and described protuberance 12 can rotate relative to described aircraft body 20 when being subject to external force collision.Owing to the first arcuate member 11 is provided with protuberance 12, and protuberance 12 is exposed at the lateral surface of the first arcuate member 11 at least partly, therefore, when unmanned vehicle runs into barrier in flight course, protuberance 12 can first contact with barrier, and first arcuate member 11 and/or protuberance 12 can rotate relative to aircraft body 20, therefore the first arcuate member 11 and/or protuberance 12 also can and barrier between produce and relatively rotate, at least make protuberance 12 can roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.
In the present embodiment, it is preferred that the first arcuate member 11 can rotate relative to described aircraft body 20 when being subject to external force collision.Thus, when colliding in the side of barrier Yu protuberance 12, protuberance 12 can be applied the external force along the first arcuate member 11 circumference by barrier, for the first arcuate member 11, this external force circumferentially makes the first arcuate member 11 can rotate relative to aircraft body 20, and then make the first arcuate member 11 can roll on the wall of barrier, to change the course of unmanned vehicle, finally make unmanned vehicle navigate by water along parallel barrier wall direction to get around barrier.Due to the setting of protuberance 12, it is beneficial to the power making the first arcuate member 11 obtain circumference, is therefore beneficial to and makes the first arcuate member 11 rotate, thus improving avoidance effect further.
Embodiment three
On the basis of embodiment two, the first arcuate member 11 also can be provided with connector 111.Described connector 111 is for being connected with described aircraft body 20, and described first arcuate member 11 can rotate centered by described connector 111.Thus, make the first arcuate member 11 easy to connect with aircraft body 20, and simple in construction.
In the present embodiment, it is preferred that the first arcuate member 11 is wheel shape part.Thus, can make what the first arcuate member 11 can be more smoothly to roll on the wall of barrier, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that protuberance 12 is fixing or is rotatably arranged on the lateral surface of described wheel shape part.
When protuberance 12 adopts the structure that can rotate relative to wheel shape part, it may be achieved when protuberance 12 rolls on the wall of barrier, namely can rotate centered by connector 111, also can rotate around the axis of self, thus reducing and the frictional force of barrier wall simultaneously.Make protuberance 12 roll on the wall of barrier more smoothly, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that connector 111 is arranged on the center of described wheel shape part.Thus, wheel shape part around central rotation, so that wheel shape part rolls more smoothly on the wall of barrier, can enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that connector 111 is rotating shaft connector.Thus, rotating shaft connector can be passed through and be connected with the rotating shaft in aircraft body 20, so that wheel shape part can rotate relative to aircraft body 20.
In the present embodiment, it is preferred that wheel shape part also includes: wheel body 112, described wheel body 112 is in circular, and described protuberance 12 is arranged on described wheel body 112.Described connector 111 is wheel hub, and described wheel hub is co-axially located in described wheel body 112.Support bar 113, described support bar 113 is multiple, and described support bar 113 is fixedly connected between described wheel body 112 and described wheel hub.Wheel body 112 thus, wheel hub can be set in the rotating shaft of aircraft body 20, so that can rotate centered by rotating shaft.Owing to wheel body 112 is in circular, therefore wheel body 112 can be made to roll on the wall of barrier more smoothly, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.It addition, connect wheel body 112 by support bar 113 and wheel hub can alleviate the weight of wheel shape part.
Embodiment four
The structural representation of the protective cover of another unmanned vehicle that Fig. 9 provides for the embodiment of the present invention.Refer to Fig. 9, on the basis of embodiment two, the protective cover of unmanned vehicle also includes the second arcuate member 13, and described second arcuate member 13 is connected with described aircraft body 20.Described first arcuate member 11 is coaxially disposed with described second arcuate member 13.Described first arcuate member 11 is set in the outside of described second arcuate member 13, and can slide relative to described second arcuate member 13.Thus, when colliding in the side of barrier Yu protuberance 12, barrier can apply the external force along the first arcuate member 11 circumference to protuberance 12, so that the first arcuate member 11 obtains external force circumferentially, owing to the first arcuate member 11 is coaxially disposed with described second arcuate member 13, therefore the first arcuate member 11 can slide along the outside of the second arcuate member 13 under External Force Acting circumferentially, and then make the first arcuate member 11 can roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.
In the present embodiment, it is preferred that the first arcuate member 11 and described second arcuate member 13 are wheel shape part.Thus, the first arcuate member 11 and the second arcuate member 13 can be made to relatively rotate more smoothly, so that the first arcuate member 11 rolls more smoothly on the wall of barrier, and then enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
On the basis of the various embodiments described above, protuberance 12 is multiple.Multiple described protuberances 12 are uniform along the circumference of described first arcuate member 11.Thus, the probability of protuberance 12 and barrier collision can being increased, thus being more favorable for the power making the first arcuate member 11 obtain circumference, so that the first arcuate member 11 rotates, further increasing the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that multiple protuberances 12 are arranged continuously.Thus can further improve the probability of protuberance 12 and barrier collision, and it is more smoothly that protuberance 12 can be made to roll on the wall of barrier, thus further increasing the avoidance effect of unmanned vehicle.
On the basis of the various embodiments described above, the part that protuberance 12 protrudes from described first arcuate member 11 is curved.Thus protuberance 12 can be made to roll on the wall of barrier more smoothly, thus further increasing the avoidance effect of unmanned vehicle.
Embodiment five
The structural representation of the protective cover of the another kind of unmanned vehicle that Fig. 5 provides for the embodiment of the present invention；The top view of the protective cover of the another kind of unmanned vehicle that Fig. 6 provides for the embodiment of the present invention.The present embodiment be embodiment two, embodiment three, embodiment four basis on basis on, a kind of embodiment when protuberance 12 being rotatably arranged on the lateral surface of described wheel shape part.Refer to Fig. 5, Fig. 6, in the present embodiment, protuberance 12 adopts roller.Described roller is connected with described first arcuate member 11 by connecting axle 14.Described connection axle 14 is axially in parallel with described first arcuate member 11.Thus, when unmanned vehicle runs into barrier in flight course, roller can first contact with barrier, enables roller to roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.When the first arcuate member 11 is rotationally connected with aircraft body 20, namely roller can rotate centered by the rotating shaft of the first arcuate member 11, can also connect and rotate centered by axle 14, thus can reduce further and the frictional force of barrier wall, roller is made to roll on the wall of barrier more smoothly, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that roller is cylinder.Thus, roller can be made to roll on the wall of barrier more smoothly, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
The structural representation of the protective cover of another unmanned vehicle that Fig. 7 provides for the embodiment of the present invention；The STRUCTURE DECOMPOSITION figure of the protective cover of another unmanned vehicle that Fig. 8 provides for the embodiment of the present invention.Refer to Fig. 7 and Fig. 8, in the present embodiment, it is preferred that the lateral surface of roller is provided with lobe 121, described lobe 121 is arranged along the radially protruding of described roller.Thus, when colliding in the side of barrier Yu lobe 121, barrier can apply the external force along roller circumference to lobe 121, so that roller obtains external force circumferentially, and then enable roller to rotate relative to aircraft body 20, enable roller to roll on the wall of barrier, to change the course of unmanned vehicle, finally make unmanned vehicle navigate by water to get around barrier along parallel barrier wall direction.Due to the setting of lobe 121, it is beneficial to the power making roller obtain circumference, is therefore beneficial to and makes roller rotate, thus improving avoidance effect further.
In the present embodiment, it is preferred that lobe 121 is multiple, multiple described lobe 121 are uniform along the circumference of described roller.Thus, the probability of lobe 121 and barrier collision can being increased, thus being more favorable for the power making roller obtain circumference, so that roller rotates, further increasing the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that multiple lobe 121 are arranged continuously.Thus can further improve the probability of lobe 121 and barrier collision, and it is more smoothly that lobe 121 can be made to roll on the wall of barrier, thus further increasing the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that lobe 121 is curved.Thus, lobe 121 is made to roll on the wall of barrier more smoothly, thus further increasing the avoidance effect of unmanned vehicle.
Refer to Fig. 8, in the present embodiment, it is preferred that the first arcuate member 11 includes arcuate member 114 and arc lower part 115.First end of described connection axle 14 is connected with described upper arcuate member 114.Second end of described connection axle 14 is connected with described arc lower part 115.By being located at by roller clip between upper arcuate member 114 and arc lower part 115, the stability of protective cover structure can be improved.
Embodiment six
Embodiment two, embodiment three, embodiment four basis on, protuberance 12 be subject to external force collision time can rotate relative to described first arcuate member 11.Thus, when unmanned vehicle runs into barrier in flight course, protuberance 12 can first contact with barrier, makes protuberance 12 can roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.
In the present embodiment, it is preferred that the first arcuate member 11 is for fixing with aircraft body 20 or be rotationally connected.When the first arcuate member 11 is rotationally connected with aircraft body 20, namely protuberance 12 can rotate centered by the rotating shaft of the first arcuate member 11, can also self be centered by rotating shaft rotate, thus can reduce further and the frictional force of barrier wall, protuberance 12 is made to roll on the wall of barrier more smoothly, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
Embodiment seven
On the basis of embodiment one, rotatable parts 10 include wheel shape part and the connector for being connected with described aircraft body 20, and described wheel shape part and described connector are rotatably connected.In use, can connector be connected in aircraft body, wheel shape part is made to be positioned at the outside of aircraft body 20, therefore, when unmanned vehicle runs into barrier in flight course, wheel shape part can first contact with barrier, owing to wheel shape part can rotate relative to connector when being subject to external force collision, therefore produce between the meeting of wheel shape part and barrier and relatively rotate, wheel shape part is enable to roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.Thus avoid the direct collision of aircraft body 20 and barrier, and unmanned vehicle can be made to get around barrier at protective cover and barrier collision rift, thus improve the avoidance effect of unmanned vehicle.It addition, the protective cover simple in construction of the unmanned vehicle of embodiment of the present invention offer, it is possible to reduce cost and use reliable.Wherein, connector can be rotating shaft etc..
On the basis of above-mentioned any embodiment, protective cover is propeller 21 protective cover, for forming the outside of the propeller 21 in aircraft body 20.Thus, it is possible to propeller 21 is formed protection, it is prevented that propeller 21 directly collides with barrier, causes the damage of propeller 21.
Embodiment eight
The embodiment of the present invention provides a kind of unmanned vehicle, and including the protective cover of the unmanned vehicle described in aircraft body and any embodiment of the present invention, described protective cover is installed on described aircraft body 20.
In the present embodiment, rotatable parts 10 can be installed on the outside of aircraft body 20, therefore, when unmanned vehicle runs into barrier in flight course, rotatable parts 10 can first contact with barrier, owing to rotatable parts 10 can rotate relative to aircraft body 20 when being subject to external force collision, therefore produce between rotatable parts 10 meeting and barrier and relatively rotate, make rotatable parts 10 can roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.Thus avoid the direct collision of aircraft body 20 and barrier, and unmanned vehicle can be made to get around barrier at protective cover and barrier collision rift, thus improve the avoidance effect of unmanned vehicle.It addition, the protective cover simple in construction of the unmanned vehicle of embodiment of the present invention offer, it is possible to reduce cost and use reliable.
In the present embodiment, it is preferred that aircraft body 20 is provided with motor, the outfan of described motor being used for be arranged with propeller 21, described rotatable parts 10 are positioned at the outside of described propeller 21.Thus, propeller 21 can be formed protection by rotatable parts 10, it is prevented that propeller 21 directly collides with barrier, causes the damage of propeller 21.
In the present embodiment, it is preferred that protective cover is multiple, and the rotatable parts 10 of multiple described protective cover are arranged on the surrounding of described aircraft body 20.Thus, aircraft body 20 can be formed protection by rotatable parts 10, it is prevented that aircraft body 20 directly collides with barrier, causes the damage of aircraft body 20.
Embodiment nine
The flow chart of the barrier-avoiding method of a kind of unmanned vehicle that Figure 10 provides for the embodiment of the present invention.Refer to Figure 10, the embodiment of the present invention provides the barrier-avoiding method of a kind of unmanned vehicle, and concrete steps include:
Step S1, the aircraft body 20 at unmanned vehicle is provided with a protective cover, and protective cover is provided with the rotatable parts 10 of the periphery of described aircraft body 20.
Owing to protective cover is provided with the rotatable parts 10 of the periphery of aircraft body 20; therefore, when unmanned vehicle runs into barrier in flight course, rotatable parts 10 can first contact with barrier; prevent aircraft body 20 from directly colliding with barrier, cause the damage of aircraft body 20.
Step S2, when rotatable parts 10 encounter barrier, rotates relative to described aircraft body 20, makes described unmanned vehicle walk around described barrier.
Owing to rotatable parts 10 rotate relative to aircraft body 20, therefore produce between rotatable parts 10 meeting and barrier and relatively rotate, make rotatable parts 10 can roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.Thus avoid the direct collision of aircraft body 20 and barrier, and unmanned vehicle can be made to get around barrier at protective cover and barrier collision rift, thus improve the avoidance effect of unmanned vehicle.
Preferably, rotatable parts 10 include the first arcuate member 11 and be located at the protuberance 12 of described first arcuate member 11.Described protuberance 12 is exposed at the lateral surface of described first arcuate member 11 at least partly.At least one in described first arcuate member 11 and described protuberance 12 can rotate relative to the aircraft body 20 of unmanned vehicle when being subject to external force collision.Owing to the first arcuate member 11 is provided with protuberance 12, and protuberance 12 is exposed at the lateral surface of the first arcuate member 11 at least partly, therefore, when unmanned vehicle runs into barrier in flight course, protuberance 12 can first contact with barrier, and first arcuate member 11 and/or protuberance 12 can rotate relative to aircraft body 20, therefore the first arcuate member 11 and/or protuberance 12 also can and barrier between produce and relatively rotate, at least make protuberance 12 can roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.
Preferably, the first arcuate member 11 can rotate relative to described aircraft body 20 when being subject to external force collision.Thus, when colliding in the side of barrier Yu protuberance 12, barrier can apply the external force along the first arcuate member 11 circumference to protuberance 12, so that the first arcuate member 11 obtains external force circumferentially, and then make the first arcuate member 11 can rotate relative to aircraft body 20, make the first arcuate member 11 can roll on the wall of barrier, to change the course of unmanned vehicle, finally make unmanned vehicle navigate by water to get around barrier along parallel barrier wall direction.Due to the setting of protuberance 12, it is beneficial to the power making the first arcuate member 11 obtain circumference, is therefore beneficial to and makes the first arcuate member 11 rotate, thus improving avoidance effect further.
Preferably, the first arcuate member 11 is provided with connector 111, and described connector 111 is for being connected with described aircraft body 20, and described first arcuate member 11 can rotate centered by described connector 111.Connector 111 is for being connected with described aircraft body 20, and described first arcuate member 11 can rotate centered by described connector 111.Thus, make the first arcuate member 11 easy to connect with aircraft body 20, and simple in construction.
Preferably, the first arcuate member 11 is wheel shape part.Thus, can make what the first arcuate member 11 can be more smoothly to roll on the wall of barrier, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
Preferably, protuberance 12 is roller, and roller is connected with described first arcuate member 11 by connecting axle 14, and described connection axle 14 is axially in parallel with described first arcuate member 11.Thus, when unmanned vehicle runs into barrier in flight course, roller can first contact with barrier, enables roller to roll on the wall of barrier, to change the course of unmanned vehicle, unmanned vehicle is finally made to navigate by water along parallel barrier wall direction to get around barrier.When the first arcuate member 11 is rotationally connected with aircraft body 20, namely roller can rotate centered by the rotating shaft of the first arcuate member 11, can also connect and rotate centered by axle 14, thus can reduce further and the frictional force of barrier wall, roller is made to roll on the wall of barrier more smoothly, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein some or all of technical characteristic is carried out equivalent replacement；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (26)
1. the protective cover of a unmanned vehicle, it is characterised in that include rotatable parts, described rotatable parts can be connected with the aircraft body of unmanned vehicle, and described rotatable parts can rotate relative to described aircraft body when being subject to external force collision.
2. the protective cover of unmanned vehicle according to claim 1; it is characterized in that; described rotatable parts include the first arcuate member and are located at the protuberance of described first arcuate member; described protuberance is exposed at the lateral surface of described first arcuate member at least partly, and at least one in described first arcuate member and described protuberance can rotate relative to described aircraft body when being subject to external force collision.
3. the protective cover of unmanned vehicle according to claim 2, it is characterised in that described first arcuate member can rotate relative to described aircraft body when being subject to external force collision.
4. the protective cover of unmanned vehicle according to claim 3, it is characterised in that described first arcuate member is provided with connector, described connector is for being connected with described aircraft body, and described first arcuate member can rotate centered by described connector.
5. the protective cover of unmanned vehicle according to claim 4, it is characterised in that described first arcuate member is wheel shape part.
6. the protective cover of unmanned vehicle according to claim 5, it is characterised in that described protuberance is fixed or is rotatably arranged on the lateral surface of described wheel shape part.
7. the protective cover of unmanned vehicle according to claim 5, it is characterised in that described connector is arranged on the center of described wheel shape part.
8. the protective cover of unmanned vehicle according to claim 7, it is characterised in that described connector is rotating shaft connector.
9. the protective cover of unmanned vehicle according to claim 5, it is characterised in that described wheel shape part also includes:
Wheel body, described wheel body is circular, and described protuberance is arranged on described wheel body, and described connector is wheel hub, described wheel hub be co-axially located at described take turns internal；
Support bar, described support bar is multiple, and described support bar is fixedly connected between described wheel body and described wheel hub.
10. the protective cover of unmanned vehicle according to claim 2, it is characterised in that also including the second arcuate member, described second arcuate member is connected with described aircraft body；
Described first arcuate member and described second arcuate member are coaxially disposed, and described first arcuate member is set in the outside of described second arcuate member, and can slide relative to described second arcuate member.
11. the protective cover of unmanned vehicle according to claim 10, it is characterised in that described first arcuate member and described second arcuate member are wheel shape part.
12. the protective cover of unmanned vehicle according to claim 2, it is characterised in that described protuberance is multiple, multiple described protuberances are uniform along the circumference of described first arcuate member.
13. the protective cover of unmanned vehicle according to claim 12, it is characterised in that multiple described protuberances are arranged continuously.
14. the protective cover of unmanned vehicle according to claim 2, it is characterised in that the part that described protuberance protrudes from described first arcuate member is curved.
15. the protective cover according to described unmanned vehicle arbitrary in claim 2-14, it is characterised in that described protuberance is roller, described roller is connected with described first arcuate member by connecting axle, and described connection axle is axially in parallel with described first arcuate member.
16. the protective cover of unmanned vehicle according to claim 15, it is characterised in that described roller is cylinder.
17. the protective cover of unmanned vehicle according to claim 16, it is characterised in that the lateral surface of described roller is provided with lobe, described lobe is arranged along the radially protruding of described roller.
18. the protective cover of unmanned vehicle according to claim 17, it is characterised in that described lobe is multiple, multiple described lobe are uniform along the circumference of described roller；
And/or, multiple described lobe are arranged continuously；
And/or, described lobe is curved.
19. the protective cover of unmanned vehicle according to claim 15; it is characterized in that; described first arcuate member includes arcuate member and arc lower part, and the first end of described connection axle is connected with described upper arcuate member, and the second end of described connection axle is connected with described arc lower part.
20. the protective cover of unmanned vehicle according to claim 2, it is characterised in that described protuberance can rotate relative to described first arcuate member when being subject to external force collision.
21. the protective cover of unmanned vehicle according to claim 20, it is characterised in that described first arcuate member is for fixing with described aircraft body or be rotationally connected.
22. the protective cover of unmanned vehicle according to claim 1, it is characterised in that described rotatable parts include wheel shape part and the connector for being connected with described aircraft body, and described wheel shape part and described connector are rotatably connected.
23. the protective cover of the unmanned vehicle according to claim 1-14,16-22, it is characterised in that described protective cover is propeller protective cover, for forming the outside of the propeller in aircraft body.
24. a unmanned vehicle, it is characterised in that including the protective cover of arbitrary described unmanned vehicle in aircraft body and claim 1-23, described protective cover is installed on described aircraft body.
25. unmanned vehicle according to claim 24, it is characterised in that aircraft body is provided with motor, the outfan of described motor being used for being arranged with propeller, described rotatable parts are positioned at the outside of described propeller；
Or/and, described protective cover is multiple, and the rotatable parts of multiple described protective cover are arranged on the surrounding of described aircraft body.
26. the barrier-avoiding method of a unmanned vehicle, it is characterised in that including:
Aircraft body at unmanned vehicle is provided with a protective cover, and described protective cover is provided with the rotatable parts of the periphery of described aircraft body；
When described rotatable parts encounter barrier, rotate relative to described aircraft body, make described unmanned vehicle walk around described barrier.
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| CN201610113164.4A CN105775149B (en) | 2016-02-29 | 2016-02-29 | Protective cover, barrier-avoiding method and the unmanned vehicle of unmanned vehicle |
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| CN201610113164.4A CN105775149B (en) | 2016-02-29 | 2016-02-29 | Protective cover, barrier-avoiding method and the unmanned vehicle of unmanned vehicle |
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