CN105775149B - Protective cover, barrier-avoiding method and the unmanned vehicle of unmanned vehicle - Google Patents
Protective cover, barrier-avoiding method and the unmanned vehicle of unmanned vehicle Download PDFInfo
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- CN105775149B CN105775149B CN201610113164.4A CN201610113164A CN105775149B CN 105775149 B CN105775149 B CN 105775149B CN 201610113164 A CN201610113164 A CN 201610113164A CN 105775149 B CN105775149 B CN 105775149B
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- unmanned vehicle
- protective cover
- arcuate member
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- aircraft body
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- 230000001681 protective effect Effects 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000004888 barrier function Effects 0.000 claims description 124
- 230000005611 electricity Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 28
- 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 5
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of protective cover of unmanned vehicle, barrier-avoiding method and unmanned vehicle; wherein; the protective cover of unmanned vehicle includes rotatable parts; the rotatable parts can be connected with the aircraft body of unmanned vehicle, and the rotatable parts can be rotated when being collided by external force relative to the aircraft body.The present invention can improve the avoidance effect of unmanned vehicle, and reduce cost.
Description
Technical field
The present invention relates to avoidance technology, more particularly to a kind of protective cover of unmanned vehicle, barrier-avoiding method and unmanned flight
Device.
Background technology
Due to being usually in, over the horizon is flown and flying speed is fast during unmanned vehicle flight, therefore is easily touched with barrier
Hit, cause aircraft bombing, or even knocked object is damaged.
At present, unmanned vehicle is provided with automatic obstacle avoidance system, and automatic obstacle avoidance system includes ultrasonic detector, visual detection
Device, laser detector and computing device, unmanned vehicle can utilize ultrasonic detector, visual detector, laser detector sense
Know barrier, and calculated by computing device, so as to carry out intelligent decision avoidance.
The automatic obstacle avoidance system of existing unmanned vehicle, because detector has blind spot, therefore avoidance effect is not good.
The content of the invention
The present invention provides a kind of protective cover of unmanned vehicle, barrier-avoiding method and unmanned vehicle, to improve unmanned flight
The avoidance effect of device, and reduce cost.
One aspect of the present invention provides a kind of protective cover of unmanned vehicle, including rotatable parts, and the rotatable parts can
It is connected with the aircraft body of unmanned vehicle, the rotatable parts can be relative to the aircraft when being collided by external force
Body rotation.
Another aspect of the present invention provides a kind of unmanned vehicle, including aircraft body and it is provided by the present invention nobody
The protective cover of aircraft, the protective cover is installed on the aircraft body.
Further aspect of the present invention provides a kind of barrier-avoiding method of unmanned vehicle, including：In the aircraft of unmanned vehicle
Main body is provided with a protective cover, and the protective cover is provided with the rotatable parts positioned at the periphery of the aircraft body；The rotation section
When part encounters barrier, rotated relative to the aircraft body, the unmanned vehicle is bypassed the barrier.
Based on above-mentioned, the protective cover for the unmanned vehicle that the present invention is provided, when in use, rotatable parts can be installed on winged
The outside of row device main body, therefore, when unmanned vehicle runs into barrier in flight course, rotatable parts can elder generation and barrier
Be in contact, because rotatable parts can be rotated when being collided by external force relative to aircraft body, therefore rotatable parts can and
Produce and relatively rotate between barrier, rotatable parts is rolled on the wall of barrier, to change the boat of unmanned vehicle
To finally making unmanned vehicle be navigated by water along parallel barrier wall direction to get around barrier.It thus avoid aircraft body
With the direct collision of barrier, and unmanned vehicle can be made to get around barrier in protective cover and barrier collision rift, so as to carry
The high avoidance effect of unmanned vehicle.In addition, the protective cover for the unmanned vehicle that the present invention is provided is simple in construction, it can reduce
Cost and using reliable.
Brief description of the drawings
Fig. 1 is a kind of structural representation of unmanned vehicle provided in an embodiment of the present invention；
Fig. 2 is the structural representation of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of the protective cover of unmanned vehicle provided in an embodiment of the present invention；
Fig. 4 is a kind of top view of the protective cover of unmanned vehicle provided in an embodiment of the present invention；
Fig. 5 is the structural representation of the protective cover of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 6 is the top view of the protective cover of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 7 is the structural representation of the protective cover of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 8 is the structure decomposition figure of the protective cover of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 9 is the structural representation of the protective cover of another unmanned vehicle provided in an embodiment of the present invention；
Figure 10 is a kind of flow chart of the barrier-avoiding method of unmanned vehicle provided in an embodiment of the present invention.
Reference：
10：Rotatable parts； 11：First arcuate member； 111：Connector；
112：Wheel body； 113：Support bar； 114：Upper arcuate member；
115：Arc lower part； 12：Protuberance； 121：Lug boss；
13：Second arcuate member； 14：Connecting shaft； 20：Aircraft body；
21：Propeller.
Embodiment
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Embodiment one
Fig. 1 is a kind of structural representation of unmanned vehicle provided in an embodiment of the present invention；Fig. 2 carries for the embodiment of the present invention
The structural representation of another unmanned vehicle supplied.Fig. 1 and Fig. 2 are refer to, the embodiment of the present invention provides a kind of unmanned flight
The protective cover of device, including rotatable parts 10.The rotatable parts 10 can be connected with the aircraft body 20 of unmanned vehicle.Institute
Stating rotatable parts 10 can rotate when being collided by external force relative to the aircraft body 20.
In the present embodiment, when in use, rotatable parts 10 can be installed on to the outside of aircraft body 20, therefore, work as nothing
When people's aircraft runs into barrier in flight course, rotatable parts 10 first can be in contact with barrier, due to rotatable parts 10
It can rotate, therefore be produced between the meeting of rotatable parts 10 and barrier relative relative to aircraft body 20 when being collided by external force
Rotate, rotatable parts 10 is rolled on the wall of barrier, to change the course of unmanned vehicle, finally fly nobody
Row device navigates by water to get around barrier along parallel barrier wall direction.It thus avoid the direct of aircraft body 20 and barrier
Collision, and unmanned vehicle can be made to get around barrier in protective cover and barrier collision rift, so as to improve unmanned vehicle
Avoidance effect.In addition, the protective cover of unmanned vehicle provided in an embodiment of the present invention is simple in construction, cost can be reduced and made
With reliable.
Wherein, rotatable parts 10 can be arcuate member, wheel shape part, sector etc..Rotatable parts 10 can be by rotating shaft with flying
Row device main body 20 is connected, so that rotatable parts 10 can rotate relative to aircraft body 20.Aircraft body 20 may include fuselage
And multiple horns, multiple horns extend outwardly from fuselage can be provided with motor on horn, and the output end of motor can connect propeller
21, rotatable parts 10 may be formed at the outside of propeller 21, so as to be protected to the formation of propeller 21.
Embodiment two
Fig. 3 is a kind of structural representation of the protective cover of unmanned vehicle provided in an embodiment of the present invention；Fig. 4 is the present invention
A kind of top view of the protective cover for unmanned vehicle that embodiment is provided.The present embodiment is on the basis of embodiment one, to turning
The further optimization of dynamic component structure.Fig. 3 and Fig. 4 are refer to, rotatable parts 10 may include the first arcuate member 11 and located at institute
State the protuberance 12 of the first arcuate member 11.Described at least part of protuberance 12 is exposed at the lateral surface of first arcuate member 11.
At least one in first arcuate member 11 and the protuberance 12 can be relative to the flight when being collided by external force
Device main body 20 is rotated.Because the first arcuate member 11 is provided with protuberance 12, and at least part of protuberance 12 is exposed at the first arcuate member
11 lateral surface, therefore, when unmanned vehicle runs into barrier in flight course, protuberance 12 first can connect with barrier
Touch, and the first arcuate member 11 and/or protuberance 12 can be rotated relative to aircraft body 20, thus the first arcuate member 11 and/or
Protuberance 12 can also produce relative rotation between barrier, protuberance 12 is rolled on the wall of barrier, with
Change the course of unmanned vehicle, finally make unmanned vehicle navigate by water to get around barrier along parallel barrier wall direction.
In the present embodiment, it is preferred that the first arcuate member 11 can be relative to the aircraft master when being collided by external force
Body 20 is rotated.Thus, when the side of barrier and protuberance 12 is collided, barrier can apply to protuberance 12 along the first arc
The circumferential external force of part 11, for the first arcuate member 11, the external force circumferentially enables the first arcuate member 11 relative to flying
Row device main body 20 is rotated, and then the first arcuate member 11 is rolled on the wall of barrier, to change unmanned vehicle
Course, finally makes unmanned vehicle navigate by water to get around barrier along parallel barrier wall direction.Due to the setting of protuberance 12,
Beneficial to making the first arcuate member 11 obtain circumferential power, therefore beneficial to the first arcuate member 11 is rotated, so as to further improve avoidance
Effect.
Embodiment three
On the basis of embodiment two, the first arcuate member 11 can also be provided with connector 111.The connector 111 be used for
The aircraft body 20 is connected, and first arcuate member 11 can be rotated centered on the connector 111.Thus,
Make the first arcuate member 11 and aircraft body 20 easy to connect and simple in construction.
In the present embodiment, it is preferred that the first arcuate member 11 is wheel shape part.Thus, the first arcuate member 11 can be enable more
Smoothly rolled 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 fixed or is rotatably arranged on the lateral surface of the wheel shape part.
When protuberance 12 is using the structure that can be rotated relative to wheel shape part, the wall in barrier when protuberance 12 can be achieved
When being rolled on face, you can rotated centered on connector 111, while can also be rotated around the axis of itself, so as to reduce and obstacle
The frictional force of thing wall.Protuberance 12 is rolled on the wall of barrier more smoothly, unmanned vehicle more may be used
The cut-through thing leaned on, further increases the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that connector 111 is arranged on the center of the wheel shape part.Thus, wheel shape part can be in
The heart rotate so that wheel shape part rolled on the wall of barrier it is more smoothly, enable unmanned vehicle more structurally sound around
Barrier is crossed, the avoidance effect of unmanned vehicle is further increased.
In the present embodiment, it is preferred that connector 111 is rotating shaft connector.Thus, rotating shaft connector and aircraft can be passed through
Rotating shaft connection in main body 20, so that wheel shape part can be rotated relative to aircraft body 20.
In the present embodiment, it is preferred that wheel shape part also includes：Wheel body 112, the wheel body 112 is in annular shape, the protuberance
12 are arranged on the wheel body 112.The connector 111 is wheel hub, and the wheel hub is co-axially located in the wheel body 112.Branch
Strut 113, the support bar 113 is multiple, and the support bar 113 is fixedly connected between the wheel body 112 and the wheel hub.
Thus, wheel hub can be set in the rotating shaft of aircraft body 20, so that wheel body 112 can be rotated centered on rotating shaft.By
In wheel body 112 in annular shape, therefore it is more smoothly that wheel body 112 can be made to be rolled on the wall of barrier, enables unmanned vehicle
Enough more structurally sound cut-through things, further increase the avoidance effect of unmanned vehicle.In addition, being connected by support bar 113
Cock wheel body 112 and wheel hub can mitigate the weight of wheel shape part.
Example IV
Fig. 9 is the structural representation of the protective cover of another unmanned vehicle provided in an embodiment of the present invention.It refer to figure
9, on the basis of embodiment two, the protective cover of unmanned vehicle also includes the second arcuate member 13, second arcuate member 13 with
The aircraft body 20 is connected.First arcuate member 11 is coaxially disposed with second arcuate member 13.First arc
Part 11 is set in the outside of second arcuate member 13, and can be slided relative to second arcuate member 13.Thus, barrier is worked as
When hindering the side of thing and protuberance 12 to collide, barrier can apply to protuberance 12 along the circumferential external force of the first arcuate member 11,
So that the first arcuate member 11 obtains external force circumferentially, due to the first arcuate member 11 with second arcuate member 13 is coaxial sets
Put, thus the first arcuate member 11 under external force effect circumferentially can along the second arcuate member 13 outer Slideslip, and then make the
One arcuate member 11 can be rolled on the wall of barrier, to change the course of unmanned vehicle, finally make unmanned vehicle edge
Navigate by water to get around barrier in parallel barrier wall direction.
In the present embodiment, it is preferred that the first arcuate member 11 and second arcuate member 13 are wheel shape part.Thus, it can make
First arcuate member 11 and the second arcuate member 13 relatively rotate it is more smoothly so that the first arcuate member 11 is on the wall of barrier
Rolling is more smoothly, and then enables the more structurally sound cut-through thing of unmanned vehicle, further increases unmanned vehicle
Avoidance effect.
On the basis of the various embodiments described above, protuberance 12 is multiple.Multiple protuberances 12 are along first arc
The circumference of part 11 is uniform.Thus, the probability that protuberance 12 is collided with barrier can be increased, so as to be more favorable for making the first arcuate member
11 obtain circumferential power, so that the first arcuate member 11 is rotated, further increase the avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that multiple protuberances 12 are continuously set.Thus protuberance 12 and obstacle be can further improve
The probability of thing collision, and it is more smoothly that protuberance 12 can be made to be rolled on the wall of barrier, so as to further increase nothing
The avoidance effect of people's aircraft.
On the basis of the various embodiments described above, the part that protuberance 12 protrudes from first arcuate member 11 is curved.By
It is more smoothly that this can be such that protuberance 12 is rolled on the wall of barrier, so as to further increase the avoidance effect of unmanned vehicle
Really.
Embodiment five
Fig. 5 is the structural representation of the protective cover of another unmanned vehicle provided in an embodiment of the present invention；Fig. 6 is this hair
The top view of the protective cover for another unmanned vehicle that bright embodiment is provided.The present embodiment is in embodiment two, embodiment
3rd, on the basis of on the basis of example IV, protuberance 12 is rotatably arranged in when on the lateral surface of the wheel shape part
A kind of embodiment.It refer in Fig. 5, Fig. 6, the present embodiment, protuberance 12 uses roller.The roller by connecting shaft 14 with
First arcuate member 11 is connected.The connecting shaft 14 is axially in parallel with first arcuate member 11.Thus, unmanned flight is worked as
When device runs into barrier in flight course, roller first can be in contact with barrier, enable roller on the wall of barrier
Roll, to change the course of unmanned vehicle, finally make unmanned vehicle navigate by water to get around barrier along parallel barrier wall direction
Hinder thing.When the first arcuate member 11 and aircraft body 20, which are rotated, to be connected, roller be can using the rotary shaft of the first arcuate member 11 as
Center rotating, can also rotate centered on connecting shaft 14, so as to further reduce the frictional force with barrier wall, make roller
Rolled on the wall of barrier more smoothly, enable the more structurally sound cut-through thing of unmanned vehicle, further improved
The avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that roller is cylinder.Thus, roller can be made to be rolled more on the wall of barrier
It is smooth, enable the more structurally sound cut-through thing of unmanned vehicle, further increase the avoidance effect of unmanned vehicle.
Fig. 7 is the structural representation of the protective cover of another unmanned vehicle provided in an embodiment of the present invention；Fig. 8 is this hair
The structure decomposition figure of the protective cover for another unmanned vehicle that bright embodiment is provided.It refer in Fig. 7 and Fig. 8, the present embodiment,
It is preferred that, the lateral surface of roller is provided with lug boss 121, and radially protruding of the lug boss 121 along the roller is set.Thus,
When the side of barrier and lug boss 121 is collided, barrier can apply to lug boss 121 along the circumferential external force of roller, from
And make the external force of roller acquisition circumferentially, and then roller is rotated relative to aircraft body 20, enable roller in barrier
Hinder and rolled on the wall of thing, to change the course of unmanned vehicle, finally make unmanned vehicle along parallel barrier wall direction
Navigate by water to get around barrier.Due to the setting of lug boss 121, beneficial to the power for making roller obtain circumference, therefore it is beneficial to turn roller
It is dynamic, so as to further improve avoidance effect.
In the present embodiment, it is preferred that lug boss 121 is multiple, and circumference of multiple lug bosses 121 along the roller is
Cloth.Thus, the probability that lug boss 121 is collided with barrier can be increased, so that be more favorable for making roller obtain circumferential power, so that
Roller is rotated, the avoidance effect of unmanned vehicle is further increased.
In the present embodiment, it is preferred that multiple lug bosses 121 are continuously set.Thus lug boss 121 and barrier be can further improve
The probability for hindering thing to collide, and it is more smoothly that lug boss 121 can be made to be rolled on the wall of barrier, so as to further increase
The avoidance effect of unmanned vehicle.
In the present embodiment, it is preferred that lug boss 121 is curved.Thus, lug boss 121 is made to be rolled on the wall of barrier
It is dynamic more smoothly, so as to further increase the avoidance effect of unmanned vehicle.
It refer in Fig. 8, the present embodiment, it is preferred that the first arcuate member 11 includes upper arcuate member 114 and arc lower part 115.
The first end of the connecting shaft 14 is connected with the upper arcuate member 114.Second end of the connecting shaft 14 and the arc lower part
115 connections.By the way that roller is folded between upper arcuate member 114 and arc lower part 115, the stabilization of protection cover structure can be improved
Property.
Embodiment six
On the basis of embodiment two, embodiment three, example IV, protuberance 12 can be relative when being collided by external force
Rotated in first arcuate member 11.Thus, when unmanned vehicle runs into barrier in flight course, protuberance 12 can be first
It is in contact with barrier, protuberance 12 is rolled on the wall of barrier, to change the course of unmanned vehicle, finally
Unmanned vehicle is set to navigate by water to get around barrier along parallel barrier wall direction.
In the present embodiment, it is preferred that the first arcuate member 11 is used to fix or rotate with aircraft body 20 to be connected.When first
When arcuate member 11 is connected with the rotation of aircraft body 20, protuberance 12 can be turned centered on the rotary shaft of the first arcuate member 11
It is dynamic, can also itself to be rotated centered on rotary shaft, so as to further reduce the frictional force with barrier wall, make protrusion
Portion 12 rolls more smoothly on the wall of barrier, enables the more structurally sound cut-through thing of unmanned vehicle, further
Improve the avoidance effect of unmanned vehicle.
Embodiment seven
On the basis of embodiment one, rotatable parts 10 include wheel shape part and for being connected with the aircraft body 20
Connector, the wheel shape part is rotatably connected with the connector.When in use, connector can be connected to aircraft body
On, wheel shape part is located at the outside of aircraft body 20, therefore, when unmanned vehicle runs into barrier in flight course,
Wheel shape part first can be in contact with barrier, because wheel shape part can be rotated when being collided by external force relative to connector, therefore
Produce and relatively rotate between the meeting of wheel shape part and barrier, wheel shape part is rolled on the wall of barrier, flown with changing nobody
The course of row device, finally makes unmanned vehicle navigate by water to get around barrier along parallel barrier wall direction.It thus avoid winged
Row device main body 20 and the direct collision of barrier, and unmanned vehicle can be made to get around obstacle in protective cover and barrier collision rift
Thing, so as to improve the avoidance effect of unmanned vehicle.In addition, the protective cover knot of unmanned vehicle provided in an embodiment of the present invention
Structure is simple, can reduce cost and using reliable.Wherein, connector can be rotating shaft etc..
On the basis of above-mentioned any embodiment, protective cover is the protective cover of propeller 21, for being formed in aircraft body
The outside of 20 propeller 21.Thus, it is possible to be protected to the formation of propeller 21, prevent propeller 21 from directly being touched with barrier
Hit, cause the damage of propeller 21.
Embodiment eight
The embodiment of the present invention provides a kind of unmanned vehicle, including aircraft body and any embodiment of the present invention institute
The protective cover for the unmanned vehicle stated, the protective cover is installed on the aircraft body 20.
In the present embodiment, rotatable parts 10 can be installed on to the outside of aircraft body 20, therefore, when unmanned vehicle exists
When running into barrier in flight course, rotatable parts 10 first can be in contact with barrier, because rotatable parts 10 are by external force
It can be rotated during collision relative to aircraft body 20, therefore relative rotation is produced between the meeting of rotatable parts 10 and barrier, make to turn
Dynamic component 10 can be rolled on the wall of barrier, to change the course of unmanned vehicle, finally make unmanned vehicle edge flat
Navigate by water to get around barrier in row barrier wall direction.The direct collision of aircraft body 20 and barrier is thus avoid, and
Unmanned vehicle can be made to get around barrier in protective cover and barrier collision rift, so as to improve the avoidance effect of unmanned vehicle
Really.In addition, the protective cover of unmanned vehicle provided in an embodiment of the present invention is simple in construction, cost can be reduced and using reliable.
In the present embodiment, it is preferred that aircraft body 20, which is provided with motor, the output end of the motor, to be used to be arranged with
Propeller 21, the rotatable parts 10 are located at the outside of the propeller 21.Thus, rotatable parts 10 can be to the shape of propeller 21
Into protection, prevent propeller 21 from directly being collided with barrier, cause the damage of propeller 21.
In the present embodiment, it is preferred that protective cover is multiple, and the rotatable parts 10 of multiple protective covers are arranged on institute
State the surrounding of aircraft body 20.Thus, rotatable parts 10 can be protected to the formation of aircraft body 20, prevent aircraft body
20 directly collide with barrier, cause the damage of aircraft body 20.
Embodiment nine
Figure 10 is a kind of flow chart of the barrier-avoiding method of unmanned vehicle provided in an embodiment of the present invention.It refer to Figure 10,
The embodiment of the present invention provides a kind of barrier-avoiding method of unmanned vehicle, and specific steps include：
Step S1, a protective cover is provided with the aircraft body 20 of unmanned vehicle, and protective cover, which is provided with, is located at the flight
The rotatable parts 10 of the periphery of device main body 20.
Because protective cover is provided with the rotatable parts 10 positioned at the periphery of aircraft body 20, therefore, when unmanned vehicle exists
When running into barrier in flight course, rotatable parts 10 can first is in contact with barrier, prevent aircraft body 20 directly with barrier
Hinder thing to collide, cause the damage of aircraft body 20.
Step S2, when rotatable parts 10 encounter barrier, is rotated relative to the aircraft body 20, make it is described nobody fly
Row device bypasses the barrier.
Because rotatable parts 10 are rotated relative to aircraft body 20, therefore phase is produced between the meeting of rotatable parts 10 and barrier
To rotating, rotatable parts 10 is rolled on the wall of barrier, to change the course of unmanned vehicle, finally make nobody
Aircraft navigates by water to get around barrier along parallel barrier wall direction.It thus avoid the straight of aircraft body 20 and barrier
Collision is connect, and unmanned vehicle can be made to get around barrier in protective cover and barrier collision rift, so as to improve unmanned flight
The avoidance effect of device.
It is preferred that, the first arcuate member 11 and the protuberance located at first arcuate member 11 that rotatable parts 10 include
12.Described at least part of protuberance 12 is exposed at the lateral surface of first arcuate member 11.First arcuate member 11 and described
At least one in protuberance 12 can be rotated when being collided by external force relative to the aircraft body 20 of unmanned vehicle.By
Protuberance 12 is provided with the first arcuate member 11, and at least part of protuberance 12 is exposed at the lateral surface of the first arcuate member 11, therefore,
When unmanned vehicle runs into barrier in flight course, protuberance 12 first can be in contact with barrier, and the first arcuate member
11 and/or protuberance 12 can be rotated relative to aircraft body 20, therefore the first arcuate member 11 and/or protuberance 12 also can and barrier
Production is relatively rotated between hindering thing, protuberance 12 is rolled on the wall of barrier, to change unmanned vehicle
Course, finally makes unmanned vehicle navigate by water to get around barrier along parallel barrier wall direction.
It is preferred that, the first arcuate member 11 can be rotated when being collided by external force relative to the aircraft body 20.By
This, when the side of barrier and protuberance 12 is collided, barrier can apply circumferential along the first arcuate member 11 to protuberance 12
External force so that the first arcuate member 11 obtains external force circumferentially, and then enable the first arcuate member 11 relative to aircraft
Main body 20 is rotated, and the first arcuate member 11 is rolled on the wall of barrier, to change the course of unmanned vehicle, finally
Unmanned vehicle is set to navigate by water to get around barrier along parallel barrier wall direction.Due to the setting of protuberance 12, beneficial to making
One arcuate member 11 obtains circumferential power, therefore beneficial to the first arcuate member 11 is rotated, so as to further improve avoidance effect.
It is preferred that, the first arcuate member 11 is provided with connector 111, and the connector 111 is used for and the aircraft body 20
Connect, and first arcuate member 11 can be rotated centered on the connector 111.Connector 111 is used to fly with described
Row device main body 20 is connected, and first arcuate member 11 can be rotated centered on the connector 111.Thus, first is made
Arcuate member 11 and aircraft body 20 are easy to connect and simple in construction.
It is preferred that, the first arcuate member 11 is wheel shape part.Thus, the first arcuate member 11 can be enable more smoothly in obstacle
Rolled on the wall of thing, enable the more structurally sound cut-through thing of unmanned vehicle, further increase unmanned vehicle
Avoidance effect.
It is preferred that, protuberance 12 is roller, and roller is connected by connecting shaft 14 with first arcuate member 11, the connection
Axle 14 is axially in parallel with first arcuate member 11.Thus, when unmanned vehicle runs into barrier in flight course, rolling
Wheel first can be in contact with barrier, roller is rolled on the wall of barrier, to change the course of unmanned vehicle, most
Unmanned vehicle is set to navigate by water to get around barrier along parallel barrier wall direction eventually.When the first arcuate member 11 and aircraft body
During 20 rotation connection, roller is that can be rotated centered on the rotary shaft of the first arcuate member 11, can also be turned centered on connecting shaft 14
It is dynamic, so as to further reduce the frictional force with barrier wall, roller is rolled on the wall of barrier more smoothly, make
Unmanned vehicle can more structurally sound cut-through thing, further increase the avoidance effect of unmanned vehicle.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (24)
1. a kind of protective cover of unmanned vehicle, it is characterised in that including rotatable parts, the rotatable parts can fly with nobody
The aircraft body connection of row device, the rotatable parts can turn when being collided by external force relative to the aircraft body
It is dynamic；
The rotatable parts include the first arcuate member and the protuberance located at first arcuate member, the protuberance at least portion
At least one in the lateral surface of first arcuate member, first arcuate member and the protuberance is exceptionally exposed at by outer
Power can be rotated when colliding relative to the aircraft body；
The protective cover is propeller protective cover, for forming the outside in the propeller of aircraft body；
Plane where the protective cover is set in the outside of the propeller, and the protective cover is parallel with the propeller.
2. the protective cover of unmanned vehicle according to claim 1, it is characterised in that first arcuate member is by outer
Power can be rotated when colliding relative to the aircraft body.
3. the protective cover of unmanned vehicle according to claim 2, it is characterised in that first arcuate member is provided with connection
Part, the connector is used to be connected with the aircraft body, and first arcuate member can be using the connector in
The heart is rotated.
4. the protective cover of unmanned vehicle according to claim 3, it is characterised in that first arcuate member is wheel shape
Part.
5. the protective cover of unmanned vehicle according to claim 4, it is characterised in that the protuberance is fixed or rotatably
Ground is arranged on the lateral surface of the wheel shape part.
6. the protective cover of unmanned vehicle according to claim 4, it is characterised in that the connector is arranged on the wheel
The center of shape part.
7. the protective cover of unmanned vehicle according to claim 6, it is characterised in that the connector connects for rotating shaft
Part.
8. the protective cover of unmanned vehicle according to claim 4, it is characterised in that the wheel shape part also includes：
Wheel body, the wheel body is arranged on the wheel body in annular shape, the protuberance, and the connector is wheel hub, the wheel
It is internal that hub is co-axially located at the wheel；
Support bar, the support bar is multiple, and the support bar is fixedly connected between the wheel body and the wheel hub.
9. the protective cover of unmanned vehicle according to claim 1, it is characterised in that described also including the second arcuate member
Second arcuate member is connected with the aircraft body；
First arcuate member is coaxially disposed with second arcuate member, and first arcuate member is set in second arcuate member
Outside, and can be slided relative to second arcuate member.
10. the protective cover of unmanned vehicle according to claim 9, it is characterised in that first arcuate member and described
Second arcuate member is wheel shape part.
11. the protective cover of unmanned vehicle according to claim 1, it is characterised in that the protuberance be it is multiple, it is multiple
The protuberance is uniform along the circumference of first arcuate member.
12. the protective cover of unmanned vehicle according to claim 11, it is characterised in that multiple protuberances are continuously set
Put.
13. the protective cover of unmanned vehicle according to claim 1, it is characterised in that the protuberance protrudes from described
The part of first arcuate member is curved.
14. according to the protective cover of any described unmanned vehicle in claim 1-13, it is characterised in that the protuberance is
Roller, the roller is connected by connecting shaft with first arcuate member, the connecting shaft and the axial direction of first arcuate member
It is parallel.
15. the protective cover of unmanned vehicle according to claim 14, it is characterised in that the roller is cylinder.
16. the protective cover of unmanned vehicle according to claim 15, it is characterised in that the lateral surface of the roller is provided with
Lug boss, radially protruding of the lug boss along the roller is set.
17. the protective cover of unmanned vehicle according to claim 16, it is characterised in that the lug boss be it is multiple, it is many
The individual lug boss is uniform along the circumference of the roller；
And/or, multiple lug bosses are continuously set；
And/or, the lug boss is curved.
18. the protective cover of unmanned vehicle according to claim 14, it is characterised in that first arcuate member includes upper
Arcuate member and arc lower part, the first end of the connecting shaft are connected with the upper arcuate member, the second end of the connecting shaft and institute
State the connection of arc lower part.
19. the protective cover of unmanned vehicle according to claim 1, it is characterised in that the protuberance is by external force
It can be rotated during collision relative to first arcuate member.
20. the protective cover of unmanned vehicle according to claim 19, it is characterised in that first arcuate member be used for
Connection is fixed or rotated to the aircraft body.
21. the protective cover of unmanned vehicle according to claim 1, it is characterised in that the rotatable parts include wheel shape
Part and the connector for being connected with the aircraft body, the wheel shape part are rotatably connected with the connector.
22. a kind of unmanned vehicle, it is characterised in that including any described in aircraft body and claim 1-21
The protective cover of unmanned vehicle, the protective cover is installed on the aircraft body.
23. unmanned vehicle according to claim 22, it is characterised in that aircraft body is provided with motor, the electricity
It is used to be arranged with propeller in the output end of machine, the rotatable parts are located at the outside of the propeller；
Or/and, the protective cover is multiple, and the rotatable parts of multiple protective covers are arranged on the aircraft body
Surrounding.
24. a kind of barrier-avoiding method of unmanned vehicle, it is characterised in that including：
A protective cover is provided with the aircraft body of unmanned vehicle, the protective cover is provided with positioned at the outer of the aircraft body
The rotatable parts in week；
When the rotatable parts encounter barrier, rotated relative to the aircraft body, the unmanned vehicle is bypassed institute
State barrier；
The rotatable parts include the first arcuate member and the protuberance located at first arcuate member, the protuberance at least portion
At least one in the lateral surface of first arcuate member, first arcuate member and the protuberance is exceptionally exposed at by outer
Power can be rotated when colliding relative to the aircraft body；
The protective cover is propeller protective cover, for forming the outside in the propeller of aircraft body；
Plane where the protective cover is set in the outside of the propeller, and the protective cover is parallel with the propeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| CN105775149A CN105775149A (en) | 2016-07-20 |
| CN105775149B true CN105775149B (en) | 2017-10-27 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206954500U (en) * | 2017-05-19 | 2018-02-02 | 深圳市大疆创新科技有限公司 | The blade protection device and UAS of unmanned vehicle |
| US10636314B2 (en) * | 2018-01-03 | 2020-04-28 | Qualcomm Incorporated | Adjusting flight parameters of an aerial robotic vehicle based on presence of propeller guard(s) |
| CN108670136B (en) * | 2018-07-19 | 2023-09-29 | 福州大学 | Full-automatic wet dust collector for realizing automatic obstacle avoidance based on rod end obstacle avoidance disc |
| US11912434B2 (en) * | 2018-10-19 | 2024-02-27 | Byeong Yeol AN | Drone having collision prevention and recovery function |
| CN110963026A (en) * | 2019-12-20 | 2020-04-07 | 洛阳福格森机械装备有限公司 | Rotor protective structure for unmanned aerial vehicle |
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| CN103459250A (en) * | 2011-03-29 | 2013-12-18 | 法国高等航空和航天学院 | Remotely controlled micro/nanoscale aerial vehicle comprising a system for traveling on the ground, vertical takeoff, and landing |
| CN203996917U (en) * | 2014-08-07 | 2014-12-10 | 深圳市奇旺塑胶有限公司 | A kind of unmanned vehicle |
| CN104986331A (en) * | 2015-07-27 | 2015-10-21 | 致导科技（北京）有限公司 | Unmanned aerial vehicle rotor wing protection frame and unmanned aerial vehicle |
| CN105235897A (en) * | 2015-10-16 | 2016-01-13 | 华南理工大学 | Parallel-shaft quad-rotor aircraft with rotatable aircraft arm shafts |
| CN205524974U (en) * | 2016-02-29 | 2016-08-31 | 深圳市大疆创新科技有限公司 | Unmanned vehicles's screw safety cover and unmanned vehicles |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103459250A (en) * | 2011-03-29 | 2013-12-18 | 法国高等航空和航天学院 | Remotely controlled micro/nanoscale aerial vehicle comprising a system for traveling on the ground, vertical takeoff, and landing |
| CN203996917U (en) * | 2014-08-07 | 2014-12-10 | 深圳市奇旺塑胶有限公司 | A kind of unmanned vehicle |
| CN104986331A (en) * | 2015-07-27 | 2015-10-21 | 致导科技（北京）有限公司 | Unmanned aerial vehicle rotor wing protection frame and unmanned aerial vehicle |
| CN105235897A (en) * | 2015-10-16 | 2016-01-13 | 华南理工大学 | Parallel-shaft quad-rotor aircraft with rotatable aircraft arm shafts |
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| CN105775149A (en) | 2016-07-20 |
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