CN110606216B - Intelligent sensing anti-collision device and plant protection unmanned aerial vehicle with same - Google Patents
Intelligent sensing anti-collision device and plant protection unmanned aerial vehicle with same Download PDFInfo
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- CN110606216B CN110606216B CN201910869357.6A CN201910869357A CN110606216B CN 110606216 B CN110606216 B CN 110606216B CN 201910869357 A CN201910869357 A CN 201910869357A CN 110606216 B CN110606216 B CN 110606216B
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- 230000008093 supporting effect Effects 0.000 claims abstract description 68
- 238000003780 insertion Methods 0.000 claims abstract description 31
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 20
- 229910052742 iron Inorganic materials 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 7
- 239000011261 inert gas Substances 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000007769 metal material Substances 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 abstract description 11
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- 239000001307 helium Substances 0.000 description 10
- 229910052734 helium Inorganic materials 0.000 description 10
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 10
- 238000007789 sealing Methods 0.000 description 8
- 239000002775 capsule Substances 0.000 description 6
- 238000003756 stirring Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
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- 230000009471 action Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
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- 238000000926 separation method Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- -1 seed Substances 0.000 description 1
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- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of collision avoidance devices of plant protection unmanned aerial vehicles, and particularly relates to an intelligent sensing collision avoidance device and a plant protection unmanned aerial vehicle with the same, wherein the plant protection unmanned aerial vehicle comprises a body, a cantilever and a supporting leg; cantilevers are uniformly arranged on the machine body, and supporting legs are uniformly arranged at the lower end of the machine body; the bottom of the supporting leg is provided with an airflow detector, and a cavity is arranged inside the supporting leg; a plurality of inserting blocks are uniformly arranged in the cavity, inserting bulges are arranged at the bottom ends of the inserting blocks, and magnetic blocks are arranged at the end parts of the inserting bulges at the foremost ends in the cavity; the top end of the insertion block is provided with an insertion groove; form a surrounding ring through supporting leg, grafting piece and cantilever, and then play the supporting role to the cantilever, prevent that unmanned aerial vehicle from at the flight in-process, when the sudden failure descends, the supporting leg is connected with the cantilever through the grafting piece, and interconnect's grafting piece plays the effect of buffering simultaneously, and effectual unmanned aerial vehicle that has reduced breaks or damaged phenomenon appear in the cantilever when slope striking ground.
Description
Technical Field
The invention belongs to the technical field of collision avoidance devices of plant protection unmanned aerial vehicles, and particularly relates to an intelligent sensing collision avoidance device and a plant protection unmanned aerial vehicle with the same.
Background
Plant protection unmanned aerial vehicle, as the name implies is the unmanned aircraft who is used for agriculture and forestry plant protection operation, and this type unmanned aircraft comprises flight platform (fixed wing, helicopter, multiaxis aircraft), navigation flight control, spraying mechanism triplex, flies the accuse through ground remote control or navigation, realizes spraying the operation, can spray medicament, seed, powder etc..
When the plant protection unmanned aerial vehicle works, the plant protection unmanned aerial vehicle has to closely fly at an ultra-low altitude, and obstacles such as trees, electric poles and the like in a working environment are irregularly distributed; the ground for planting crops in partial areas is a hillside, a depression and the like, the height is fluctuated, the terrain is complex, and the plant protection unmanned aerial vehicle is inevitably collided with obstacles such as trees and the like in application. And control plant protection unmanned aerial vehicle's the hand of flying technique inequality, also difficult evading because of misoperation accident falls during the operation of plant protection unmanned aerial vehicle.
When current plant protection unmanned aerial vehicle was flying, when breaking down suddenly or misoperation lead to the unmanned aerial vehicle to fall off, because dangerous state is gone out in response that plant protection unmanned aerial vehicle can not be timely, when leading to unmanned aerial vehicle to fall, current buffer stop can not timely effectual prevention plant protection unmanned aerial vehicle when the slope lands, and fracture or damaged phenomenon appear in wing or cantilever, and then plant protection unmanned aerial vehicle serious damage phenomenon appears.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides an intelligent sensing anti-collision device and a plant protection unmanned aerial vehicle with the anti-collision device, and the intelligent sensing anti-collision device is mainly used for solving the problem that when the existing anti-collision device cannot timely and effectively prevent the plant protection unmanned aerial vehicle from being broken or damaged at the wings or cantilevers when the plant protection unmanned aerial vehicle lands obliquely, and further the plant protection unmanned aerial vehicle is seriously damaged.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an intelligent induction anti-collision device which comprises a machine body, a cantilever and a supporting leg, wherein the cantilever is arranged on the machine body; cantilevers are uniformly arranged on the machine body, supporting legs are uniformly arranged at the lower end of the machine body, and a controller is arranged in the machine body; the supporting legs correspond to the uniformly arranged cantilevers; the bottom of the supporting leg is provided with an airflow detector, and a cavity is arranged inside the supporting leg; a plurality of inserting blocks are uniformly arranged in the cavity, inserting protrusions are arranged at the bottom ends of the inserting blocks, and magnetic blocks are arranged at the end parts of the inserting protrusions at the foremost ends in the cavity; the top end of the insertion block is provided with an insertion groove, and two sides of the insertion groove are provided with poking plates; one end of the poking plate is hinged to the inner wall of the inserting groove, the other end of the poking plate is inserted into the side wall of the inserting groove in a sliding mode, and the poking plate is connected to the side wall of the inserting groove through a torsion spring; the top end of the cavity is provided with a fixed connecting block, and the side surface of the cavity is provided with an air blower; the thickness of the connecting block is greater than that of the inserting block; the end part of the supporting leg is provided with a limiting block, and the side surface of the bottom end of the supporting leg is provided with an air guide pipe; one end of the air duct is connected with the blower, and the other end of the air duct is connected with the elastic rolling rail; the elastic rolling rail is arranged at the bottom end part of the supporting leg, the outer side surface of the elastic rolling rail is made of elastic metal materials, and an elastic rubber film is pressed on the inner side surface of the elastic rolling rail; the bottom end face of the cantilever is provided with a clamping block, and a clamping groove is formed in the clamping block; a first electromagnet is arranged in the clamping block, and an infrared sensor is arranged on the side wall of the clamping groove; the first electromagnet and the blower are connected with a storage battery in the machine body through leads;
when the device works, when a plant protection unmanned aerial vehicle flies, if the airflow detector detects that the air flow rate around the unmanned aerial vehicle rapidly rises, the airflow detector sends a detected signal to a controller of the unmanned aerial vehicle, the controller controls the air blower to start, when the air blower works, the air blower firstly feeds external air into the air guide pipe, the air in the air guide pipe is fed into the elastic rolling rail, along with the feeding of the air in the elastic rolling rail, the charged air can stretch the elastic rolling rail into an arc shape, along with the stretching of the arc-shaped elastic rolling rail to the side surface of the clamping block, the infrared inductor senses the contact of the elastic rolling rail, the infrared inductor sends sensed information to the controller, the controller controls the first electromagnet to be powered on, because the outer side surface of the set elastic rolling rail is made of elastic metal, when the elastic rolling rail is stretched, the outer side surface of the elastic rolling rail is in contact with the side surface of the clamping block, and then make the first electro-magnet fix the elastic roll rail after stretching, after the elastic roll rail after stretching is fixed, the controller controls the air-blower to fill the external gas into the cavity of the supporting leg, the cross section of the cavity opened in the supporting leg is one of circular or square, if the cross section of the cavity is a circular structure, the cross section of the corresponding connecting block is a circular structure, and the diameter of the connecting block is equal to the diameter of the cavity, and then after the gas blown by the air-blower enters the cavity, the gas in the cavity will push the end of the connecting block to insert into the inserting groove, with the gas entering, the inserting projection provided on the previous inserting block will be inserted into the next inserting groove, and then the inserting blocks uniformly provided in the cavity will be spliced with each other, with the gas entering rapidly, the connecting block will push the inserting block out of the cavity, because the side surface stretches the elastic roll rail, and then with the pushing out of the inserting block, the inserting block can move along the track extended by the elastic rolling track, and then the inserting blocks connected with each other move towards the bottom end part of the clamping block, and along with the continuous pushing out of the inserting block, the first electromagnet can adsorb the magnetic block at the end part of the inserting block, so that the inserting bulge is inserted into the clamping groove, so that the supporting legs are connected with the cantilevers through the insertion blocks, the number of the cantilevers arranged on the machine body is four or six, the supporting legs are correspondingly provided with the same number, so that the supporting legs, the inserting blocks, the elastic rolling rails and the cantilevers form an enclosing ring, thereby supporting the cantilever and preventing the support leg from being connected with the cantilever through the plug block when the unmanned aerial vehicle suddenly breaks down and lands in the flying process, meanwhile, the matched use of the mutually connected plug-in block and the elastic rolling rail plays a role in buffering, so that the phenomenon that a cantilever is broken or damaged when the unmanned aerial vehicle obliquely impacts the ground is effectively reduced; the elastic rolling rails on the outer sides of the insertion blocks play a role in guiding, and meanwhile, the insertion blocks can be protected, so that the impact force when the insertion blocks impact the ground is reduced; the shifting plate is hinged in the inserting groove and connected to the side wall of the inserting groove through a torsional spring, when the inserting protrusion is inserted into the inserting groove, the inserting protrusion can extrude the shifting plates on two sides, and meanwhile, the reaction force of the torsional spring arranged on the side face of the shifting plate can extrude the inserting protrusion, so that the phenomenon that the connecting part of the inserting protrusion and the inserting groove is separated when the inserting block is bent is prevented, and further the stable connection between the connecting block and the supporting leg and the cantilever is influenced; before the elastic rolling rail is used, an installer can adjust the track of the elastic rolling rail when the elastic rolling rail is inflated and extended, and the elastic rolling rail is prevented from being extended out of place, so that the attachment of the elastic rolling rail and the side face of the clamping block is influenced, and meanwhile, the clamping connection of the inserting block and the clamping block is influenced.
Preferably, the side wall of the insertion block is provided with a soft rubber layer, and the thickness of the insertion block is smaller than the width of the cavity; the bottom end part of the supporting leg is provided with an arc-shaped pipe, and the arc-shaped pipe is made of elastic metal materials; the limiting block is arranged at the top end of the arc-shaped pipe; when the buffer board works, the soft rubber layer arranged in the splicing blocks improves the bending effect of the splicing blocks when the splicing blocks are connected, prevents the bending effect of the splicing blocks when the buffer board is formed due to the fact that the splicing blocks are too hard when the splicing blocks are connected, and meanwhile, the time of inserting the splicing bulges into the clamping grooves is shortened; the bottom end part of the cantilever is provided with the arc-shaped pipe, so that the inserting block can be upwards and quickly attached to the track of the elastic rolling rail when pushed out, the connected inserting block can quickly form a buffer plate with an arc-shaped structure, and the clamping accuracy of the inserting block and the clamping block is further improved; the limiting block is arranged at the top end of the arc-shaped pipe, so that the connecting block is prevented from being separated from the cavity, the splicing block and the supporting leg which are connected with each other are prevented from being separated from connection, and the buffering effect among the splicing block, the supporting leg and the cantilever is further influenced; the limiting block prevents the connecting block from separating from the cavity, so that sealing between the connecting block and the cavity is affected, and gas blown by the gas guide blower leaks to affect the stability of the connecting block.
Preferably, the upper end face of the inner wall of the arc-shaped pipe is provided with a poking block, and the width of the poking block is larger than the distance between the tops of the poking plates arranged on the two sides of the inserting groove; the poking plate is made of elastic rubber materials, the structure of the poking plate is an L-shaped structure, and the poking plates of the L-shaped structure are obliquely and symmetrically arranged; the side surface of the end part of the poking plate is provided with an arc layer, and the height of the poking plate is greater than that of the insertion block; when the plug-in block is pushed into the arc pipe, the height of the poking plate is greater than that of the plug-in block, the poking plates of the L-shaped structures are obliquely and symmetrically arranged, and the poking plates of the L-shaped structures obliquely and symmetrically arranged can slide towards the inner side wall of the plug-in groove along with the movement of the plug-in block, so that the poking plates obliquely and symmetrically arranged can be quickly opened, the plug-in protrusion can be conveniently and quickly inserted into the plug-in groove, and the plug-in protrusion and the plug-in groove are prevented from being unstable in connection, and the plug-in blocks connected with each other are prevented from being separated; the stirring plate that sets up is elastic rubber material, and the increase is pegged graft the frictional force between arch and the grafting recess, takes place to break away from the phenomenon when preventing to peg graft the piece crooked, and the circular arc layer has been seted up to the tip side of stirring plate simultaneously, and the arch of being convenient for peg graft can be quick insert between the stirring plate.
Preferably, the inner walls of the supporting legs are provided with elastic air bags, the width between the elastic air bags is smaller than the thickness of the insertion block, and the elastic air bags are filled with inert gas; when the unmanned aerial vehicle works, the elastic air bag is arranged, inert gas is filled in the elastic air bag, and the inert gas can be helium, so that the gravity of the unmanned aerial vehicle during flying can be reduced, and the flying stability of the unmanned aerial vehicle is improved; meanwhile, when the inserting block moves downwards in the cavity, helium gas in the elastic air bag can be extruded, so that the helium gas in the elastic air bag can move upwards, the speed of the unmanned aerial vehicle in quick falling is further reduced, and meanwhile, the inserting block can be connected with the clamping block in time conveniently; the width between the elastic air bag of setting is less than the thickness of grafting piece, prevents that unmanned aerial vehicle from when flying, because of unmanned aerial vehicle's rocking, makes the grafting piece looks mutual friction in the cavity rock, and then influences the stationarity that unmanned aerial vehicle flies.
Preferably, the support leg is provided with an air guide groove, one end of the air guide groove is connected with the elastic air bag, and the other end of the air guide groove is arranged on the cantilever; the cantilever is provided with an installation groove, and a safety bag is arranged in the installation groove; a damping spring is arranged in the safety bag, and the safety bag is connected with the air guide groove; a closed bin is arranged on the cantilever and is controlled to be closed through an electric control unit; the during operation, when the elasticity gasbag in the cavity is extruded, gaseous in the elasticity gasbag enters into the safety bag that sets up on the cantilever through the air guide groove, along with gaseous increase in the safety bag, gaseous in the safety bag can be opened the closed bin, and then the safety bag pops out, and the helium gas that lets in the safety bag, not only can reduce the speed that unmanned aerial vehicle descends, and when unmanned aerial vehicle's top falls downwards, the damping spring who sets up in the safety bag can play buffering and guard action, when preventing unmanned aerial vehicle's top from falling downwards, lead to unmanned aerial vehicle's spiral leaf rupture phenomenon to appear.
Preferably, the closed bin is internally and symmetrically provided with closed doors, and the end parts of the two symmetrically arranged closed doors are provided with iron blocks; fixing grooves are formed in the end portions of the side surfaces of the two closed doors; the electric control unit comprises a sliding guide cylinder, a sliding column, a tension spring and a second electromagnet; the sliding guide cylinder is arranged on the cantilever and is positioned on the side surface of the fixed groove; the sliding column is arranged in the sliding guide cylinder through a tension spring, and the end part of the sliding column is provided with a second electromagnet; the elastic air bag is provided with a pressure sensor, and the pressure sensor is connected with the controller through a conducting wire; when the closed bin is closed, the iron blocks are arranged at the end part of the closed door, the mounting groove is formed in the closed door, the controller controls the second electromagnet to be electrified, the second electromagnet is inserted into the fixing groove, the iron blocks on the side part of the fixing groove are magnetized, and the two symmetrically-arranged closed doors are closed; when the connecting block extrudes the elastic air bag, a pressure sensor arranged on the elastic air bag can detect pressure, a detected pressure signal is sent to the controller, the controller controls the second electromagnet to lose power, after the second electromagnet loses power, the second electromagnet loses electromagnetic adsorption capacity, and then the sliding column is separated from the fixed groove through the tension spring, so that the iron blocks on the symmetrically arranged sealing door lose magnetization, the sealing door can be rapidly opened by the safety bag, the safety bag is prevented from being sealed in the mounting groove by the sealing door, the using effect of the safety bag is further influenced, the sealing door plays a sealing role, and when the unmanned aerial vehicle flies, dust or sundries fall into the dust, and the using effect of the safety bag is influenced; meanwhile, the pressure sensor is arranged, when the plug blocks are connected with each other, the safety bag can be quickly opened, so that the plug blocks, the cantilever and the supporting leg can be matched with the safety bag for use; and then the omnibearing safe anti-collision protection of the anti-collision device is improved.
The utility model provides a plant protection unmanned aerial vehicle with buffer stop, includes in the above-mentioned embodiment intelligent response buffer stop, intelligent response buffer stop sets up on plant protection unmanned aerial vehicle's cantilever and supporting leg.
The invention has the following beneficial effects:
1. according to the invention, air is introduced into the cavity through the air blower, so that the inserting blocks in the cavity can be connected with each other, the supporting legs, the inserting blocks, the elastic rolling rails and the cantilevers form an enclosing ring, and further the cantilevers are supported, so that the supporting legs are connected with the cantilevers through the inserting blocks when the unmanned aerial vehicle suddenly breaks down and lands in the flying process, and meanwhile, the mutually connected inserting blocks and the stretched elastic rolling rails can play a better buffering role in cooperation, and the phenomenon that the cantilevers are broken or damaged when the unmanned aerial vehicle obliquely impacts the ground is effectively reduced.
2. According to the invention, through the arranged elastic air bag, when the elastic air bag in the cavity is extruded, the gas in the elastic air bag enters the safety bag arranged on the cantilever through the gas guide groove, the gas in the safety bag can open the closed bin along with the increase of the gas in the safety bag, and then the safety bag is popped out, and the helium gas introduced into the safety bag can not only reduce the descending speed of the unmanned aerial vehicle, but also play a role in buffering and protecting when the top of the unmanned aerial vehicle falls downwards.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a top cross-sectional view of the splice block of the present invention;
FIG. 4 is a cross-sectional view taken at A-A of FIG. 3;
FIG. 5 is an enlarged view of a portion of FIG. 2 at B;
FIG. 6 is a view taken at C in FIG. 2;
FIG. 7 is an enlarged view of a portion of FIG. 6 at D;
in the figure: the device comprises a machine body 1, a cantilever 2, a mounting groove 21, a support leg 3, a cavity 31, an air guide groove 32, a controller 4, an airflow detector 5, an inserting block 6, an inserting protrusion 61, a magnetic block 62, an inserting groove 63, a soft rubber layer 64, a poking plate 7, an arc layer 71, a torsion spring 72, a connecting block 8, an air blower 9, a limiting block 10, a clamping block 11, a clamping groove 111, a first electromagnet 12, an infrared sensor 13, an arc tube 14, a poking block 15, an elastic air bag 16, a safety bag 17, a damping spring 18, a closed cabin 19, a closed door 191, an iron block 192, a fixed groove 193, an electric control unit 20, a sliding guide cylinder 201, a sliding column 202, a tension spring 203, a second electromagnet 204, a pressure sensor 205, an air guide tube 201 and an elastic.
Detailed Description
An intelligent sensing collision avoidance apparatus and a plant protection unmanned aerial vehicle having a collision avoidance apparatus according to an embodiment of the present invention will be described below with reference to fig. 1 to 7.
As shown in fig. 1, 2 and 3, the intelligent sensing anti-collision device comprises a machine body 1, a cantilever 2 and a supporting leg 3; cantilevers 2 are uniformly arranged on the machine body 1, supporting legs 3 are uniformly arranged at the lower end of the machine body 1, and a controller 4 is arranged in the machine body 1; the supporting legs 3 correspond to the cantilevers 2 which are uniformly arranged; the bottom of the supporting leg 3 is provided with an airflow detector 5, and a cavity 31 is arranged inside the supporting leg 3; a plurality of inserting blocks 6 are uniformly arranged in the cavity 31, inserting protrusions 61 are arranged at the bottom ends of the inserting blocks 6, and magnetic blocks 62 are arranged at the end parts of the inserting protrusions 61 at the foremost ends in the cavity 31; the top end of the insertion block 6 is provided with an insertion groove 63, and both sides of the insertion groove 63 are provided with poking plates 7; one end of the toggle plate 7 is hinged to the inner wall of the inserting groove 63, the other end of the toggle plate 7 is inserted on the side wall of the inserting groove 63 in a sliding mode, and the toggle plate 7 is connected to the side wall of the inserting groove 63 through a torsion spring 72; the top end of the cavity 31 is provided with a fixed connecting block 8, and the side surface of the cavity 31 is provided with an air blower 9; the thickness of the connecting block 8 is larger than that of the inserting block 6; the end part of the supporting leg 3 is provided with a limiting block 10, and the side surface of the bottom end of the supporting leg 3 is provided with an air duct 201; one end of the air duct 201 is connected with the blower 9, and the other end of the air duct 201 is connected with an elastic rolling rail 202; the elastic rolling rail 202 is arranged at the bottom end part of the supporting leg 3, the outer side surface of the elastic rolling rail 202 is made of elastic metal materials, and an elastic rubber film is pressed on the inner side surface of the elastic rolling rail 202; the bottom end face of the cantilever 2 is provided with a clamping block 11, and a clamping groove 111 is formed in the clamping block 11; a first electromagnet 12 is arranged in the clamping block 11, and an infrared sensor 13 is arranged on the side wall of the clamping groove 111; the first electromagnet 12 and the blower 9 are both connected with a storage battery in the machine body 1 through leads;
during operation, when the plant protection unmanned aerial vehicle flies, if the airflow detector 5 detects that the air flow rate around the unmanned aerial vehicle rapidly rises, the airflow detector 5 sends a detected signal to the controller 4 of the unmanned aerial vehicle, the controller 4 controls the blower 9 to start, when the blower 9 works, the blower 9 firstly introduces the outside air into the air duct 201, the air in the air duct 201 is introduced into the elastic rolling rail 202, the introduced air can stretch the elastic rolling rail 202 into an arc shape along with the introduction of the air in the elastic rolling rail 202, the infrared inductor 13 induces the contact of the elastic rolling rail 202 after the arc-shaped elastic rolling rail 202 is stretched to the side surface of the clamping block 11, the infrared inductor 13 sends the induced information to the controller 4, the controller 4 controls the first electromagnet 12 to be powered on, because the outer side surface of the arranged elastic rolling rail 202 is made of elastic metal, when the elastic rolling rail 202 extends, the outer side surface of the elastic rolling rail 202 is in contact with the side surface of the clamping block 11, so that the first electromagnet 12 fixes the extended elastic rolling rail 202, after the extended elastic rolling rail 202 is fixed, the controller 4 controls the blower 9 to fill external air into the cavity 31 of the supporting leg 3, the cross section of the cavity 31 formed in the supporting leg 3 is circular or square, if the cross section of the cavity 31 is circular, the cross section of the corresponding connecting block 8 is circular, and the diameter of the connecting block 8 is equal to the diameter of the cavity 31, so that after the air blown by the blower 9 enters the cavity 31, the air in the cavity 31 pushes the end of the connecting block 8 to be inserted into the inserting groove 63, along with the entering of the air, the inserting protrusion 61 arranged on the previous inserting block 6 is inserted into the next inserting groove 63, and then the inserting blocks 6 uniformly arranged in the cavity 31 are mutually spliced, along with the rapid gas entering, the connecting block 8 pushes the inserting block 6 out of the cavity 31, because the elastic rolling rail 202 extends from the side surface of the supporting leg 3, and further along with the pushing out of the inserting block, the inserting block 6 can move along the track extending from the elastic rolling rail 202, and further the inserting blocks 6 connected with each other move towards the bottom end part of the clamping block 11, along with the continuous pushing out of the inserting block 6, the first electromagnet 12 can adsorb the magnetic block 62 at the end part of the inserting block 6, so that the inserting protrusion 61 is inserted into the clamping groove 111, and further the supporting leg 3 is connected with the cantilever 2 through the inserting block 6, the number of the cantilevers 2 arranged on the machine body 1 is four or six, the same number is correspondingly arranged on the supporting leg 3, so that the supporting leg 3, the inserting block 6, the elastic rolling rail 202 and the cantilevers 2 form an enclosure ring, further, the supporting effect is achieved on the cantilevers 2, and the unmanned aerial, the supporting legs 3 are connected with the cantilever 2 through the inserting blocks 6, and meanwhile the inserting blocks 6 connected with each other and the elastic rolling rails 202 are matched for use to play a buffering role, so that the phenomenon that the cantilever 2 is broken or damaged when the unmanned aerial vehicle obliquely impacts the ground is effectively reduced; the elastic rolling rails 202 on the outer side of the insertion block 6 play a role in guiding unevenly, and simultaneously play a role in protecting the insertion block 6, so that the impact force generated when the insertion block 6 impacts the ground is reduced; the poking plate 7 is hinged in the inserting groove 63, the poking plate 7 is connected to the side wall of the inserting groove 63 through the torsion spring 72, when the inserting protrusion 61 is inserted into the inserting groove 63, the inserting protrusion 61 can extrude the poking plates 7 on two sides, and meanwhile, the reaction force of the torsion spring 72 arranged on the side face of the poking plate 7 can extrude the inserting protrusion 61, so that the separation phenomenon at the connecting part of the inserting protrusion 61 and the inserting groove 63 is prevented when the inserting block 6 is bent, and further the stable connection between the connecting block 8 and the supporting leg 3 and the cantilever 2 is influenced; before the elastic rolling rail 202 is used, an installer can adjust the track of the elastic rolling rail 202 when the elastic rolling rail 202 is inflated and extended, so that the elastic rolling rail 202 is prevented from being extended out of place, the adhesion of the elastic rolling rail 202 and the side face of the clamping block 11 is further influenced, and the clamping connection of the inserting block 6 and the clamping block 11 is influenced.
As shown in fig. 2 and 5, a soft rubber layer 64 is arranged on the side wall of the insertion block 6, and the thickness of the insertion block 6 is smaller than the width of the cavity 31; the bottom end part of the supporting leg 3 is provided with an arc-shaped tube 14, and the arc-shaped tube 14 is made of elastic metal; the limiting block 10 is arranged at the top end of the arc-shaped pipe 14; when the buffer board is in work, the soft rubber layer 64 arranged in the inserting block 6 improves the bending effect of the inserting block 6 during connection, prevents the bending effect of the inserting block 6 during forming of the buffer board from being influenced due to the fact that the inserting block 6 is too high in hardness during connection of the inserting blocks 6, and meanwhile shortens the time for inserting the inserting protrusion 61 into the clamping groove 111; the arc-shaped pipe 14 is arranged at the bottom end of the cantilever 2, so that the inserting block 6 can be upwards and quickly attached to the track of the elastic rolling rail 202 when pushed out, the connected inserting block 6 can quickly form a buffer plate with an arc-shaped structure, and the clamping accuracy of the inserting block 6 and the clamping block 11 is improved; the limiting block 10 is arranged at the top end of the arc-shaped pipe 14, so that the connecting block 8 is prevented from being separated from the cavity 31, the mutually connected inserting block 6 and the supporting leg 3 are separated, and the buffering effect among the inserting block 6, the supporting leg 3 and the cantilever 2 is further influenced; meanwhile, the arranged limiting block 10 prevents the connecting block 8 from being separated from the cavity 31, so that the sealing between the connecting block 8 and the cavity 31 is influenced, and the gas blown by the gas guide blower 9 leaks to influence the stability of the connecting block 8.
As shown in fig. 3, 4 and 5, the upper end surface of the inner wall of the arc tube 14 is provided with a toggle block 15, and the width of the toggle block 15 is greater than the distance between the top ends of the toggle plates 7 arranged on the two sides of the insertion groove 63; the poking plate 7 is made of elastic rubber materials, the structure of the poking plate 7 is an L-shaped structure, and the poking plates 7 of the L-shaped structure are obliquely and symmetrically arranged; the side surface of the end part of the poking plate 7 is provided with an arc layer 71, and the height of the poking plate 7 is greater than that of the insertion block 6; when the plug-in block 6 is pushed into the arc-shaped pipe 14, because the height of the poking plate 7 is greater than that of the plug-in block 6 and the poking plates 7 of the L-shaped structures are obliquely and symmetrically arranged, along with the movement of the plug-in block 6, the poking blocks 15 can slide the poking plates 7 of the L-shaped structures obliquely and symmetrically arranged towards the inner side wall of the plug-in groove 63, so that the poking plates 7 obliquely and symmetrically arranged can be quickly opened, the plug-in protrusion 61 can be quickly inserted into the plug-in groove 63, and the plug-in protrusion 61 and the plug-in groove 63 are prevented from being unstable in connection to cause the separation phenomenon of the plug-in blocks 6 which are mutually connected; the stirring plate 7 that sets up is elastic rubber material, and the increase grafting takes place the phenomenon of breaking away from when protruding 61 and the grafting recess 63 of pegging graft, prevents that grafting piece 6 is crooked, and the tip side of stirring plate 7 has seted up arc layer 71 simultaneously, and the protruding 61 of pegging graft of being convenient for can be quick insert between the stirring plate 7.
As shown in fig. 2, the inner wall of the supporting leg 3 is provided with elastic air bags 16, the width between the elastic air bags 16 is smaller than the thickness of the insertion block 6, and inert gas is filled in the elastic air bags 16; when the unmanned aerial vehicle works, the elastic air bag 16 is arranged, inert gas is filled in the elastic air bag 16, and the inert gas can be helium, so that the gravity of the unmanned aerial vehicle during flying can be reduced, and the flying stability of the unmanned aerial vehicle is improved; meanwhile, when the inserting block 6 moves downwards in the cavity 31, helium gas in the elastic air bag 16 can be extruded, so that the helium gas in the elastic air bag 16 can move upwards, the speed of the unmanned aerial vehicle in rapid falling is reduced, and meanwhile, the inserting block 6 can be connected with the clamping block 11 in time; the width between the elastic air bag 16 that sets up is less than the thickness of grafting piece 6, prevents that unmanned aerial vehicle from when flying, because of unmanned aerial vehicle's rocking, makes grafting piece 6 looks mutual friction in the cavity 31 rock, and then influences the stationarity that unmanned aerial vehicle flies.
As shown in fig. 2 and 6, the support leg 3 is provided with an air guide groove 32, one end of the air guide groove 32 is connected with the elastic airbag 16, and the other end of the air guide groove 32 is arranged on the cantilever 2; the cantilever 2 is provided with an installation groove 21, and a safety bag 17 is arranged in the installation groove 21; a damping spring 18 is arranged in the safety bag 17, and the safety bag 17 is connected with an air guide groove 32; a closed bin 19 is arranged on the cantilever 2, and the closed bin 19 is controlled to be closed through an electric control unit 20; the during operation, when the elasticity gasbag 16 in the cavity 31 is extruded, in the gas entered into the safety capsule 17 that sets up on cantilever 2 through leading gas tank 32 in the elasticity gasbag 16, along with gaseous increase in the safety capsule 17, gaseous can open sealed storehouse 19 in the safety capsule 17, and then safety capsule 17 pops out, and the helium gas that lets in the safety capsule 17, not only can reduce the speed that unmanned aerial vehicle descends, and when unmanned aerial vehicle's top falls downwards, damping spring 18 that sets up in the safety capsule 17 can play buffering and guard action, when preventing that unmanned aerial vehicle's top from falling downwards, lead to unmanned aerial vehicle's spiral leaf to appear breaking phenomenon.
As shown in fig. 6 and 7, the closed bin 19 is symmetrically provided with closed doors 191, and the ends of the two symmetrically provided closed doors 191 are provided with iron blocks 192; fixing grooves 193 are formed in the end parts of the side surfaces of the two closed doors 191; the electronic control unit 20 comprises a sliding guide cylinder 201, a sliding column 202, a tension spring 203 and a second electromagnet 204; the sliding guide cylinder 201 is arranged on the cantilever 2, and the sliding guide cylinder 201 is positioned on the side surface of the fixing groove 193; the sliding column 202 is arranged in the sliding guide cylinder 201 through a tension spring 203, and the end part of the sliding column 202 is provided with a second electromagnet 204; the elastic air bag 16 is provided with a pressure sensor 205, and the pressure sensor 205 is connected with the controller 4 through a conducting wire; when the closed bin 19 is closed in work, the iron blocks 192 are arranged at the end parts of the closed doors 191, the mounting grooves 21 are formed in the closed doors 191, the controller 4 controls the second electromagnets 204 to be electrified, the second electromagnets 204 are inserted into the fixing grooves 193, the iron blocks 192 at the side parts of the fixing grooves 193 are magnetized, and the two symmetrically arranged closed doors 191 are closed; when the connecting block 8 extrudes the elastic air bag 16, the pressure sensor 205 arranged on the elastic air bag 16 detects pressure, and sends a detected pressure signal to the controller 4, the controller 4 controls the second electromagnet 204 to lose power, after the second electromagnet 204 loses power, the second electromagnet 204 loses electromagnetic adsorption capacity, further the sliding column 202 is separated from the fixing groove 193 through the tension spring 203, the iron blocks 192 on the symmetrically arranged closing door 191 lose magnetization, further the safety bag 17 can rapidly open the closing door 191, the safety bag 17 is prevented from being closed in the mounting groove 21 by the closing door 191, further the using effect of the safety bag 17 is influenced, the closing door 191 plays a sealing role, and when the unmanned aerial vehicle flies, dust or sundries are prevented from falling into the dust, and the using effect of the safety bag 17 is influenced; meanwhile, the pressure sensor 205 is arranged, when the plug-in blocks 6 are connected with each other, the safety bag 17 can be quickly opened, so that the plug-in blocks 6, the cantilever 2 and the supporting leg 3 can be matched with the safety bag 17 for use; and then the omnibearing safe anti-collision protection of the anti-collision device is improved.
The utility model provides a plant protection unmanned aerial vehicle with buffer stop, includes in the above-mentioned embodiment intelligent response buffer stop, intelligent response buffer stop sets up on plant protection unmanned aerial vehicle's cantilever 2 and supporting leg 3.
The specific working process is as follows:
during operation, when the plant protection unmanned aerial vehicle flies, if the airflow detector 5 detects that the air flow rate around the unmanned aerial vehicle rises rapidly, the airflow detector 5 sends a detected signal to the controller 4 of the unmanned aerial vehicle, the controller 4 controls the blower 9 to start, when the blower 9 works, the blower 9 charges the outside air into the cavity 31 of the supporting leg 3, and then after the air blown by the blower 9 enters the cavity 31, the air in the cavity 31 pushes the end part of the connecting block 8 to be inserted into the inserting groove 63, along with the entering of the air, the inserting protrusion 61 arranged on the previous inserting block 6 is inserted into the next inserting groove 63, and further the inserting blocks 6 uniformly arranged in the cavity 31 are mutually spliced, along with the rapid entering of the air, the connecting block 8 pushes the inserting block 6 out of the cavity 31, because the end part of the inserting block 6 is provided with the magnetic block 62, along with the pushing out of the inserting block 6, after the magnetic field generated by the magnetic block 62 is detected by the magnetic field detection arranged at the bottom end of the cantilever 2, the controller 4 controls the first electromagnet 12 to be electrified, then the first electromagnet 12 will attract the magnetic block 62 arranged at the end of the inserting block 6, and with the continuous pushing out of the inserting block 6, the first electromagnet 12 will attract the magnetic block 62 at the end of the inserting block 6, so that the inserting projection 61 is inserted into the engaging groove 111, further connecting the supporting leg 3 with the cantilever 2 through the inserting block 6, so that the supporting leg 3, the inserting block 6 and the cantilever 2 form an enclosing ring, thereby supporting the cantilever 2, preventing the support leg 3 from being connected with the cantilever 2 through the plug block 6 when the unmanned aerial vehicle suddenly breaks down and lands in the flying process, meanwhile, the mutually connected inserting blocks 6 play a role in buffering, so that the phenomenon that the cantilever 2 is broken or damaged when the unmanned aerial vehicle obliquely impacts the ground is effectively reduced; when the elasticity gasbag 16 in cavity 31 is extruded, gaseous entering into the safety bag 17 that sets up on cantilever 2 through leading gas tank 32 in the elasticity gasbag 16, along with gaseous increase in the safety bag 17, gaseous meeting in the safety bag 17 is opened sealed storehouse 19, and then safety bag 17 pops out, and the helium gas that lets in the safety bag 17, not only can reduce the speed that unmanned aerial vehicle descends, and when unmanned aerial vehicle's top falls downwards, damping spring 18 that sets up in the safety bag 17 can play buffering and guard action, when preventing that unmanned aerial vehicle's top from falling downwards, lead to unmanned aerial vehicle's spiral leaf to appear rupture phenomenon.
In the description of the present invention, it is to be understood that the terms "center", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (6)
1. An intelligent induction anti-collision device comprises a machine body (1), a cantilever (2) and a supporting leg (3); cantilevers (2) are uniformly arranged on the machine body (1), supporting legs (3) are uniformly arranged at the lower end of the machine body (1), and a controller (4) is arranged in the machine body (1); the supporting legs (3) correspond to the cantilevers (2) which are uniformly arranged; the method is characterized in that: the bottom of the supporting leg (3) is provided with an airflow detector (5), and a cavity (31) is arranged in the supporting leg (3); a plurality of inserting blocks (6) are uniformly arranged in the cavity (31), inserting protrusions (61) are arranged at the bottom ends of the inserting blocks (6), and magnetic blocks (62) are arranged at the end parts of the inserting protrusions (61) at the foremost end in the cavity (31); the top end of the insertion block (6) is provided with an insertion groove (63), and both sides of the insertion groove (63) are provided with poking plates (7); one end of the poking plate (7) is hinged to the inner wall of the inserting groove (63), the other end of the poking plate (7) is inserted into the side wall of the inserting groove (63) in a sliding mode, and the poking plate (7) is connected to the side wall of the inserting groove (63) through a torsion spring (72); the top end of the cavity (31) is provided with a fixed connecting block (8), and the side surface of the cavity (31) is provided with an air blower (9); the thickness of the connecting block (8) is larger than that of the inserting block (6); the end part of the supporting leg (3) is provided with a limiting block (10), and the side surface of the bottom end of the supporting leg (3) is provided with an air duct (201); one end of the air duct (201) is connected with the blower (9), and the other end of the air duct (201) is connected with the elastic rolling rail (202); the elastic rolling rail (202) is arranged at the bottom end part of the supporting leg (3), the outer side surface of the elastic rolling rail (202) is made of elastic metal materials, and an elastic rubber film is pressed on the inner side surface of the elastic rolling rail (202); a clamping block (11) is arranged on the bottom end face of the cantilever (2), and a clamping groove (111) is formed in the clamping block (11); a first electromagnet (12) is arranged in the clamping block (11), and an infrared sensor (13) is arranged on the side wall of the clamping groove (111); the first electromagnet (12) and the air blower (9) are connected with a storage battery in the machine body (1) through leads;
the side wall of the insertion block (6) is provided with a soft rubber layer (64), and the thickness of the insertion block (6) is smaller than the width of the cavity (31); an arc-shaped pipe (14) is arranged at the bottom end part of the supporting leg (3), and the arc-shaped pipe (14) is made of elastic metal materials; the limiting block (10) is arranged at the top end of the arc-shaped pipe (14).
2. The intelligent induction collision avoidance device of claim 1, wherein: the upper end face of the inner wall of the arc-shaped pipe (14) is provided with a poking block (15), and the width of the poking block (15) is larger than the distance between the top ends of the poking plates (7) arranged on the two sides of the inserting groove (63); the poking plate (7) is made of elastic rubber materials, the structure of the poking plate (7) is an L-shaped structure, and the poking plates (7) of the L-shaped structure are obliquely and symmetrically arranged; the side face of the end part of the poking plate (7) is provided with an arc layer (71), and the height of the poking plate (7) is greater than that of the insertion block (6).
3. The intelligent induction collision avoidance device of claim 1, wherein: elastic air bags (16) are arranged on the inner walls of the supporting legs (3), the width between the elastic air bags (16) is smaller than the thickness of the insertion blocks (6), and inert gas is filled in the elastic air bags (16).
4. The intelligent induction collision avoidance device of claim 3, wherein: the supporting leg (3) is provided with an air guide groove (32), one end of the air guide groove (32) is connected with the elastic air bag (16), and the other end of the air guide groove (32) is arranged on the cantilever (2); the cantilever (2) is provided with an installation groove (21), and a safety bag (17) is arranged in the installation groove (21); a damping spring (18) is arranged in the safety bag (17), and the safety bag (17) is connected with the air guide groove (32); a closed bin (19) is arranged on the cantilever (2), and the closed bin (19) is controlled to be closed through an electric control unit (20).
5. The intelligent induction collision avoidance device of claim 4, wherein: the closed bin (19) is internally and symmetrically provided with closed doors (191), and the ends of the two symmetrically arranged closed doors (191) are provided with iron blocks (192); fixing grooves (193) are formed in the end parts of the side surfaces of the two closed doors (191); the electric control unit (20) comprises a sliding guide cylinder (201), a sliding column (202), a tension spring (203) and a second electromagnet (204); the sliding guide cylinder (201) is arranged on the cantilever (2), and the sliding guide cylinder (201) is positioned on the side surface of the fixing groove (193); the sliding column (202) is arranged in the sliding guide cylinder (201) through a tension spring (203), and a second electromagnet (204) is arranged at the end part of the sliding column (202); the elastic air bag (16) is provided with a pressure sensor (205), and the pressure sensor (205) is connected with the controller (4) through a conducting wire.
6. The utility model provides a plant protection unmanned aerial vehicle with buffer stop, its characterized in that: comprising the intelligent induction collision avoidance device of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910869357.6A CN110606216B (en) | 2019-09-16 | 2019-09-16 | Intelligent sensing anti-collision device and plant protection unmanned aerial vehicle with same |
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| CN201910869357.6A CN110606216B (en) | 2019-09-16 | 2019-09-16 | Intelligent sensing anti-collision device and plant protection unmanned aerial vehicle with same |
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| CN110606216A CN110606216A (en) | 2019-12-24 |
| CN110606216B true CN110606216B (en) | 2021-01-29 |
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| US4565341A (en) * | 1981-09-24 | 1986-01-21 | Zacharin Alexey T | Inflatable decelerator |
| DE4443508A1 (en) * | 1994-12-07 | 1996-06-13 | Michael Birzer | Pilot or sensor actuated helicopter crash cushion |
| CN206336441U (en) * | 2016-12-08 | 2017-07-18 | 张锦伟 | A kind of unmanned plane drop buffer |
| CN207773481U (en) * | 2017-12-01 | 2018-08-28 | 广州富港生活智能科技有限公司 | A kind of unmanned plane |
| CN110466774B (en) * | 2019-08-20 | 2021-03-16 | 深圳市华芯机器人技术有限责任公司 | Plant protection unmanned aerial vehicle is with field flight protector |
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