CN113772083A

CN113772083A - Unmanned aerial vehicle for personnel tracking

Info

Publication number: CN113772083A
Application number: CN202111237094.0A
Authority: CN
Inventors: 李建英; 李建奇; 杨民生; 曾志豪; 杨智; 孙健
Original assignee: Hunan University of Arts and Science
Current assignee: Hunan University of Arts and Science
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2021-12-10
Anticipated expiration: 2041-10-22
Also published as: CN113772083B

Abstract

The invention relates to the technical field of unmanned flight equipment, and discloses an unmanned aerial vehicle for personnel tracking, which comprises a body, a horn and a rotor wing, wherein an anti-collision device is arranged on the body; the anti-collision device comprises a protective ring sleeve arranged outside the machine body, a support rod arranged on the lower end surface of the machine arm and a buffer mechanism arranged in the protective ring sleeve and connected with the support rod; the aircraft is protected by the anti-collision device, the force applied to the impact of the aircraft is buffered by the buffer mechanism, and the anti-collision device has certain buffer capacity when the aircraft collides with an obstacle, so that the strong impact on the fuselage is effectively reduced.

Description

Unmanned aerial vehicle for personnel tracking

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for personnel tracking.

Background

An aircraft is an unmanned flying device developed in recent years, and comprises four rotors arranged in a cross shape, each rotor is provided with a separate motor, the force for rotating a fuselage is obtained by changing the rotating speed of the motors so as to adjust the flying posture, and the functions of advancing, retreating, ascending, descending, hovering and the like are realized.

In view of the above-mentioned related technologies, the inventor of the present application finds that at least the following technical problems exist in the process of implementing the technical solution of the invention in the embodiment of the present application: when the aircraft flies out of the visual field range, the aircraft is easy to collide with obstacles, and the aircraft body is easy to damage due to strong impact, so that potential safety hazards are caused.

Disclosure of Invention

The embodiment of the application provides an unmanned vehicles for personnel tracking, has solved prior art, and the problem that the aircraft collides and produces the potential safety hazard easily with the barrier outside the field of vision scope has realized improving the protection effect to the aircraft, improves the security performance.

The embodiment of the application provides an unmanned aerial vehicle for personnel tracking, which comprises a body, a horn arranged on the body and a rotor wing arranged on the horn, wherein an anti-collision device is arranged on the body; the anti-collision device comprises a protective ring sleeve arranged outside the machine body, a support rod arranged on the lower end face of the machine arm and a buffer mechanism arranged in the protective ring sleeve and connected with the support rod; the inner side of the protection ring sleeve is provided with a first side wall and a second side wall which are oppositely arranged, and a third side wall and a fourth side wall which are oppositely arranged; the buffer mechanism comprises two first fixing rods arranged between the first side wall and the second side wall and two second fixing rods arranged between the third side wall and the fourth side wall; the two first fixing rods are symmetrically arranged on two opposite sides of the machine body; the two second fixing rods are symmetrically arranged on the other two sides of the machine body; a space is arranged between the first fixing rod and the second fixing rod; the first fixed rod is connected with two first buffer sleeves at intervals in a sliding manner; the second fixed rod is connected with two second buffer sleeves at intervals in a sliding manner; the first buffer sleeve is fixedly connected with the support rod at the corresponding position; the second buffer sleeve is fixedly connected with the support rod at the corresponding position.

Furthermore, first blocking pieces are arranged on the first fixing rod and positioned on two sides of the first buffer sleeve; a first buffer spring is arranged between the first baffle and the first buffer sleeve; second blocking pieces are arranged on the second fixing rod and positioned on two sides of the second buffer sleeve; and a second buffer spring is arranged between the second baffle plate and the second buffer sleeve.

Further, a damping device is arranged below the machine body; the damping device comprises two bottom plates which are arranged in parallel and a damping plate movably arranged below the bottom plates; one bottom plate is fixedly connected with the lower ends of the two support rods arranged side by side; the lower end face of the bottom plate is provided with a buffer groove; a damping rod is connected in the buffer groove in a sliding manner; the damping plate is fixedly connected with the lower end of the damping rod; the damping rod is sleeved with a damping spring; and the two ends of the damping spring are respectively and fixedly connected with the bottom plate and the damping plate.

Further, a camera is arranged at the center of the lower end face of the machine body; and a cleaning device for cleaning the camera is arranged below the body.

Furthermore, the cleaning device comprises a moving ring movably arranged below the camera, an annular sponge sleeve arranged in the moving ring and a driving mechanism arranged below the machine body; the inner diameter of the sponge sleeve is smaller than the outer diameter of the camera; the outer diameter of the sponge sleeve is larger than that of the camera.

Furthermore, the driving mechanism comprises a driving rod fixedly arranged on the upper end surface of the damping plate and a mounting rod fixedly arranged on the outer side wall of the movable ring; the upper end of the driving rod penetrates through the bottom plate and is fixedly connected with one end of the mounting rod; the driving rod is in sliding fit with the bottom plate.

Further, the length directions of the bottom plate and the damping plate are consistent with the length direction of the first fixing rod; arc-shaped plates are arranged at the two ends of the bottom plate and the damping plate; one end of the arc-shaped plate, which is far away from the bottom plate or the damping plate, is bent towards the direction of the machine body.

Further, the machine arm is provided with a mounting groove; a motor is arranged in the mounting groove; an output shaft of the motor is connected with a rotating shaft; the rotating shaft is fixedly connected with the center of the rotor wing.

Further, an obstacle avoidance device is arranged on the machine arm; the obstacle avoidance device comprises a connecting seat fixed at the upper end of the machine arm, an adjusting rod sleeved outside the rotating shaft and positioned above the connecting seat, and a ball head arranged at the lower end of the adjusting rod; the rotating shaft is a flexible shaft, and the upper end of the rotating shaft sequentially penetrates through the horn, the bulb and the adjusting rod and is fixed with the center of the rotor wing; a spherical groove is formed in the center of the connecting seat; the ball head is clamped in the spherical groove; the adjusting rod is sleeved with a first connecting ring and a second connecting ring; a first connecting rod is arranged on one side of the first connecting ring; a second connecting rod is arranged on one side of the second connecting ring; one end of the first connecting rod is provided with a first rubber strip; one end of the second connecting rod is provided with a second rubber strip; one end of the first rubber strip is provided with a first L-shaped rod; a second L-shaped rod is arranged at one end of the second rubber strip; the first L-shaped rod is connected with the adjacent first fixing rod through a third connecting rod; and the second L-shaped rod is connected with the adjacent second fixed rod through a fourth connecting rod.

Further, a protective cover is arranged outside the rotor wing; the protective cover comprises protective rings arranged at intervals along the height direction of the rotor wing, positioning rods for connecting the two protective rings, and support rods for connecting the lower protective rings and the machine arm; the protective ring is positioned outside the rotor wing; a plurality of positioning rods are arranged at intervals along the circumferential direction of the protection ring; and two ends of the support rod are respectively and fixedly connected with the guard ring and the machine arm which are positioned below.

The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:

1. through setting up buffer stop, can effectively protect whole, reduce the damage that causes because the striking, multiple shock attenuation buffer structure can improve the security performance of aircraft greatly, is favorable to improving the life of aircraft.

2. Due to the adoption of the structure of the obstacle avoidance device, when the aircraft encounters an obstacle, the force applied to the collision is applied to the rotating shaft through the protection ring sleeve, so that the direction of the rotor wing is changed, the rotor wing can be driven to keep away from the obstacle when rotating, the problem that the aircraft is easy to collide with the obstacle and is damaged in the prior art is effectively solved, and the aircraft is greatly protected.

3. Owing to adopted damping device's structure, so can when the aircraft descends, carry out the shock attenuation buffering effectively to the aircraft for the aircraft can steadily fall to the ground, in addition through damping device's effect, can drive cleaning device and clean the camera, kills two birds with one stone, effectively improves the multifunctionality of aircraft, reduces the ash on camera surface, improves the cleanliness on camera surface.

Drawings

Fig. 1 is a schematic structural view of the whole in the embodiment of the present application;

FIG. 2 is a schematic structural view of a cleaning device according to an embodiment of the present application;

FIG. 3 is an enlarged schematic view at A in FIG. 2;

FIG. 4 is an enlarged schematic view at B of FIG. 1;

FIG. 5 is an enlarged schematic view at C of FIG. 2;

in the figure: 1. a body; 11. a horn; 111. mounting grooves; 12. a rotor; 13. a motor; 14. a rotating shaft; 15. a camera; 2. a protective cover; 21. a guard ring; 22. positioning a rod; 23. a stay bar; 3. an anti-collision device; 31. a protective ring sleeve; 311. a first U-shaped frame; 312. a second U-shaped frame; 313. a rubber column; 314. a rubber pad; 32. a strut; 4. a buffer mechanism; 41. a first fixing lever; 42. a second fixing bar; 43. a first cushion collar; 44. a second cushion collar; 45. a first baffle plate; 46. a second baffle plate; 47. a first buffer spring; 48. a second buffer spring; 5. an obstacle avoidance device; 51. a connecting seat; 511. a spherical groove; 52. adjusting a rod; 521. a first connecting ring; 522. a second connection ring; 53. a ball head; 54. a first connecting rod; 541. a first rubber strip; 542. a first L-shaped bar; 543. a third connecting rod; 55. a second connecting rod; 551. a second rubber strip; 552. a second L-shaped bar; 553. a fourth connecting rod; 6. a damping device; 61. a base plate; 611. a buffer tank; 62. a damper plate; 63. a shock-absorbing lever; 64. a damping spring; 65. an arc-shaped plate; 7. a cleaning device; 71. a moving ring; 72. a sponge sleeve; 8. a drive mechanism; 81. mounting a rod; 82. a drive rod.

Detailed Description

The embodiment of the application discloses provides an unmanned vehicles for personnel tracking, through set up buffer stop 3 in the fuselage 1 outside, can protect the aircraft many-sided, when the aircraft collides with the barrier, can have certain buffer capacity, effectively reduce fuselage 1 and receive strong striking, solved prior art, the aircraft collides and produces the problem of potential safety hazard with the barrier easily outside the field of vision scope, the improvement has been realized the protection effect to the aircraft, the security performance is improved.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

Referring to fig. 1, 2 and 3, an unmanned vehicles for personnel tracking, includes fuselage 1, horn 11, rotor 12, and fuselage 1 is symmetrical structure, and one end of horn 11 and one side fixed connection of fuselage 1 have seted up mounting groove 111 on horn 11, and fixed mounting has motor 13 in mounting groove 111, and the output shaft of motor 13 is vertical upwards to stretch out and fixedly connected with pivot 14, pivot 14 and the central fixed connection of rotor 12. The rotor wing 12 is rotatably installed at one end of the arm 11 far away from the fuselage 1 so as to provide power required by the flight of the unmanned aerial vehicle. There is protection casing 2 at the outer fixed mounting of rotor 12, protection casing 2 includes protecting ring 21, locating lever 22, vaulting pole 23, the protecting ring 21 cover is located the rotor 12 outside and is set up with rotor 12 interval, protecting ring 21 is provided with two along rotor 12 direction of height interval, locating lever 22 and vaulting pole 23 all are provided with a plurality ofly along the circumference interval of protecting ring 21, and the upper and lower both ends difference two adjacent protecting rings 21 of fixed connection of locating lever 22, the slope of vaulting pole 23 sets up, one end is fixed in on the protecting ring 21 that is located the below, other end fixed mounting is on horn 11, can support protecting ring 21, improve 2 overall structure's of protection casing stability. In the embodiment of the application, four horn 11 are preferably selected to form a cross shape with the fuselage 1, and the four horn 11 are uniformly arranged about the center of the fuselage 1, so that the balance of the whole aircraft can be improved. A camera 15 is installed at the center of the lower end surface of the body 1, and the camera 15 is a rotary camera 15 which can capture pictures in many aspects.

Referring to fig. 1, in order to improve protection of an aircraft, an anti-collision device 3 is mounted on a fuselage 1, the anti-collision device 3 comprises a protective ring 21 sleeve, a support rod 32 and a buffer mechanism 4, the protective ring 21 sleeve is located outside the fuselage 1 and comprises a first U-shaped frame 311 and a second U-shaped frame 312, two first U-shaped frames 311 and two second U-shaped frames 312 are arranged, the two first U-shaped frames 311 are symmetrically arranged on two opposite sides of the fuselage 1 relative to the center of the fuselage 1, openings of the two first U-shaped frames 311 are arranged oppositely, and a space is arranged between the two, the two second U-shaped frames 312 are symmetrically arranged at the other two sides of the machine body 1 about the center of the machine body 1, the openings of the two second U-shaped frames 312 are oppositely arranged, and a space is arranged between the first U-shaped frame 311 and the second U-shaped frame 312, the first U-shaped frame 311 and the second U-shaped frame 312 are enclosed to form a rectangular frame shape, the first U-shaped frame 311 is positioned above the second U-shaped frame 312, and the outer side walls of the first U-shaped frame 311 and the second U-shaped frame 312 are flush. Rubber columns 313 are arranged at four corners of the protective ring 21 sleeve, and the upper end and the lower end of each rubber column 313 are fixedly connected with the first U-shaped frame 311 and the second U-shaped frame 312 respectively. When the protective ring 21 sleeve is impacted, the rubber column 313 can allow the protective ring 21 sleeve to have slight deformation integrally, and the buffering performance of the protective ring 21 sleeve is improved. Rubber pads 314 are bonded to the outer side walls of the first U-shaped frame 311 and the second U-shaped frame 312. The inner side of the collar 21 has two oppositely disposed first and second side walls and two oppositely disposed third and fourth side walls. The lower end face of the end part of each horn 11 far away from the fuselage 1 is vertically and fixedly provided with a supporting rod 32. Buffer gear 4 installs in the inboard of protective ring 21 cover, connects protective ring 21 cover and buffer gear 4 through branch 32, when the aircraft received the striking or assaulted, can in time cushion the impact that receives through buffer gear 4, reduces the impact to fuselage 1 structure.

Referring to fig. 1 and 4, the buffering mechanism 4 includes a first fixing rod 41, a second fixing rod 42, a first buffering sleeve 43, a second buffering sleeve 44, a first blocking plate 45, a second blocking plate 46, a first buffering spring 47 and a second buffering spring 48, the first fixing rods 41 are arranged in parallel, the two first fixing rods 41 are both fixedly installed between the first side wall and the second side wall, the two first fixing rods 41 are symmetrically arranged at opposite sides of the machine body 1, the second fixing rods 42 are arranged in parallel, the two second fixing rods 42 are both fixedly installed between the third side wall and the fourth side wall, the two second fixing rods 42 are symmetrically arranged at other two sides of the machine body 1, a gap is arranged between the first fixing rod 41 and the second fixing rods 42, specifically, the first fixing rod 41 is arranged above the second fixing rod 42, and in order to improve the compactness of the structure, the positions of the first fixing rod 41 and the second fixing rod 42 are arranged at positions close to the supporting rod 32 in the protecting ring 21 sleeve The first buffer sleeves 43 are spaced apart from each other on each first fixing rod 41, the two first buffer sleeves 43 on the first fixing rods 41 correspond to the two support rods 32 close to the first fixing rods 41 one by one, the first buffer sleeves 43 are in sliding fit with the first fixing rods 41, the other sides of the first buffer sleeves 43 are fixedly connected to the corresponding support rods 32, when the first buffer sleeves 43 are impacted, the first buffer sleeves 43 can generate small displacement along the first fixing rods 41, the whole body is buffered, in order to further improve the buffering and damping effects, first blocking pieces 45 are fixedly mounted on the first fixing rods 41 and on the two sides of the first buffer sleeves 43, the first buffer springs 47 are sleeved on the first fixing rods 41, and the two ends of each first buffer spring 47 are fixedly connected to the opposite side walls of the first blocking pieces 45 and the first buffer sleeves 43 respectively. Two second buffer sleeves 44 are arranged on each second fixing rod 42 at intervals, the two second buffer sleeves 44 on the second fixing rods 42 correspond to the two support rods 32 close to the second fixing rods 42 one by one, the second buffer sleeves 44 are in sliding fit with the second fixing rods 42, the other sides of the second buffer sleeves 44 are fixedly connected with the corresponding support rods 32, when the second buffer sleeves 44 are impacted, the second buffer sleeves 44 can generate small displacement along the second fixing rods 42 to buffer the whole body, in order to further improve the buffering and damping effects, two second baffles 46 are fixedly arranged on the second fixing rods 42 and on two sides of the second buffer sleeves 44, the second buffer springs 48 are sleeved on the second fixing rods 42, and two ends of each second buffer spring 48 are fixedly connected with the opposite side walls of the second baffles 46 and the second buffer sleeves 44 respectively.

Referring to fig. 1 and 3, in order to improve the overall safety performance, an obstacle avoidance device 5 is mounted on the horn 11, and the flight direction of the aircraft can be automatically adjusted by the obstacle avoidance device 5 when the aircraft encounters an obstacle, so that the aircraft is far away from the obstacle. The obstacle avoidance device 5 comprises a connecting seat 51, an adjusting rod 52 and a ball head 53, wherein the connecting seat 51 is fixedly installed at the upper end of the machine arm 11 far away from the machine body 1, a spherical groove 511 is formed in the center of the upper end face of the connecting seat 51, the shape of the spherical groove 511 is matched with that of the ball head 53, the ball head 53 is clamped in the spherical groove 511 to form a ball connection with the connecting seat 51, the adjusting rod 52 is fixedly installed on the ball head 53, and the extension line of the adjusting rod 52 passes through the center of the ball head 53. The rotating shaft 14 of the rotor wing 12 is a flexible shaft, and can be specifically selected to be a flexible shaft made of rubber material, the upper end of the rotating shaft 14 sequentially penetrates through the horn 11, the ball 53 and the adjusting rod 52 and is fixed with the center of the rotor wing 12, the rotating shaft 14 and the connecting seat 51 are movably connected, the upper end of the adjusting rod 52 is rotatably connected with the center of the rotor wing 12, and abrasion generated when the motor 13 drives the rotor wing 12 to rotate is reduced. The adjusting rod 52 is sleeved with a first connecting ring 521 and a second connecting ring 522, and both the first connecting ring 521 and the second connecting ring 522 are movably matched with the adjusting rod 52. One side fixed connection of first connector link 521 has the first connecting rod 54 that the level set up, the one end fixed mounting of first connecting rod 54 has first rubber strip 541, the first L type pole 542 of one end fixedly connected with of first rubber strip 541, first connecting rod 54, first rubber strip 541, the horizontal part of first L type pole 542 all sets up on same straight line, and this straight line is parallel to each other with the length direction of first dead lever 41, the vertical portion downwardly extending of first L type pole 542 passes through third connecting rod 543 fixed connection with adjacent first dead lever 41. One side of the second connection ring 522 is fixedly connected with a horizontally arranged second connection rod 55, one end of the second connection rod 55 is fixedly provided with a second rubber strip 551, one end of the second rubber strip 551 is fixedly connected with a second L-shaped rod 552, the horizontal portions of the second connection rod 55, the second rubber strip 551 and the second L-shaped rod 552 are all arranged on the same straight line, the straight line is parallel to the length direction of the second fixing rod 42, and the vertical portion of the second L-shaped rod 552 extends downwards and is fixedly connected with the adjacent second fixing rod 42 through a fourth connection rod 553. Two first connecting rods 54 disposed along the length of the first fixing rod 41 are located at opposite sides of the two support rods 32. When the aircraft is impacted along the length direction of the first fixing rod 41, the first L-shaped rod 542 connected with the first fixing rod 41 is driven to move towards one side of the protective ring 21 sleeve by the first fixing rod 41, since the first L-shaped rod 542 is connected to the first rubber strip 541, the first rubber strip 541 pushes the first connecting rod 54, and further pushes the adjusting rod 52 to tilt in a direction away from the force of the force, under the action of the adjusting rod 52, the rotor wing 12 is inclined to the direction far away from the stress, and as the rotating shaft 14 is a flexible shaft, the motor 13 is driven, the rotor 12 is rotated, so that the rotor 12 generates a wind force along the length of the rotating shaft 14, and the wind power of the aircraft inclines downwards, and the wind power can be decomposed into a vertically downward component and a horizontally component close to one side of the stress direction, so that the aircraft can be far away from the obstacle, the obstacle can be automatically avoided, and the safety performance of the aircraft is improved. Because the first rubber strip 541 is arranged between the first L-shaped rod 542 and the adjusting rod 52, an included angle between the second L-shaped rod 552 connected with the adjusting rod 52 and the adjusting rod 52 can be allowed to have micro-change, and the motion effect of a connecting structure at other positions cannot be influenced. When the aircraft is impacted along the length direction of the second fixing rod 42 or obliquely along the length direction of the first fixing rod 41, the analysis process of the aircraft can drive the first L-shaped rod 542 or the second L-shaped rod 552 to drive the soft shaft to incline towards the corresponding direction according to the principle, so that the direction of the rotor 12 is changed, and the aircraft is driven to be far away from the obstacle.

Referring to fig. 2 and 5, a damping device 6 is installed below the fuselage 1, and can buffer the aircraft when the aircraft descends, reduce the impact on the overall structure of the fuselage 1, and improve the stability of the aircraft. Damping device 6 includes bottom plate 61, shock attenuation board 62, shock attenuation pole 63, damping spring 64, and bottom plate 61 and shock attenuation board 62 all are provided with two, and the length direction of bottom plate 61 and shock attenuation board 62 all is unanimous with the length direction of first dead lever 41, and the equal shaping in both ends of bottom plate 61 and shock attenuation board 62 has arc 65, and the one end that bottom plate 61 or shock attenuation board 62 were kept away from to arc 65 is crooked towards the direction of fuselage 1. One base plate 61 is fixedly connected with the lower ends of two support rods 32 arranged side by side, and the other base plate 61 is fixedly connected with the lower ends of the other two support rods 32 arranged side by side. Set up the dashpot 611 that two intervals set up at the lower terminal surface of bottom plate 61, equal sliding connection has a shock attenuation pole 63 in every dashpot 611, the shock attenuation pole 63 fixed connection that every shock attenuation board 62's up end all set up with the bottom plate 61 below that corresponds, outside shock attenuation pole 63 was located to damping spring 64 cover, the both ends difference fixed connection bottom plate 61's lower terminal surface and shock attenuation board 62's up end of damping spring 64, when the aircraft descends, damping plate 62 is prior to the ground contact, shock attenuation pole 63 upwards slides along dashpot 611, make damping spring 64 compressed, the shock attenuation is cushioned to the impact that damping plate 62 received.

Referring to fig. 2, in order to clean the camera 15 below the body 1 in time and remove floating dust on the surface of the camera 15, a cleaning device 7 is installed below the body 1. Cleaning device 7 includes shift ring 71, sponge cover 72, actuating mechanism 8, and shift ring 71 movable mounting is under camera 15, and shift ring 71's internal diameter is greater than camera 15's external diameter, and sponge cover 72 is the annular, and the lateral wall of sponge cover 72 and shift ring 71's inside wall fixed connection, and sponge cover 72 internal diameter is less than camera 15's external diameter, and sponge cover 72's external diameter is greater than camera 15's external diameter. In order to improve the cleaning ability of the sponge sleeve 72, a plurality of notches are formed in the inner side wall of the sponge sleeve 72, so that the sponge sleeve 72 can flexibly wipe the surface of the camera 15 when the sponge sleeve 72 is attached to the camera 15. Actuating mechanism 8 installs in fuselage 1 below, actuating mechanism 8 is including installing pole 81, actuating lever 82, installing pole 81 and actuating lever 82 all are provided with two about the central symmetry of shift ring 71, the one end of installing pole 81 is fixed in on the lateral wall of shift ring 71, the other end of installing pole 81 is to keeping away from the horizontal extension of direction of shift ring 71, the length direction mutually perpendicular of installing pole 81 and the length direction of shock attenuation board 62, two actuating levers 82 correspond with two shock attenuation boards 62 respectively, the lower extreme of actuating lever 82 and the up end fixed connection who subtracts shock attenuation board 62, the upper end of actuating lever 82 passes bottom plate 61 and keeps away from the one end fixed connection that shifts ring 71 with installing pole 81, and actuating lever 82 and bottom plate 61 sliding fit. When the aircraft descends, the interval between shock attenuation board 62 and the bottom plate 61 reduces for shift ring 71 removes along vertical direction, drives sponge cover 72 and cleans camera 15's surface, reduces the ash on camera 15 surface, improves the cleanliness on camera 15 surface, through this kind of mode, can effectively improve the holistic multifunctionality of aircraft.

The working principle of the embodiment of the application is as follows: when meeting with the barrier in the aircraft departure field of vision scope, the barrier is contradicted with protective ring 21 cover, the rubber pad 314 on protective ring 21 cover surface can provide certain cushion force for the aircraft, when the impact force of barrier to the aircraft is great, can make protective ring 21 cover's surface striking warp, drive first dead lever 41 or second dead lever 42 to keeping away from the direction deformation of atress, when first dead lever 41 or second dead lever 42 warp and remove, can drive regulation pole 52 and take place the skew, make the angle change of rotor 12, the wind-force resolvable of rotor 12 is vertical decurrent component force and the component force of level to being close to atress direction one side, make the barrier can be kept away from to the aircraft, automatic obstacle avoidance.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can substitute or change the technical solution and its concept of the present application within the technical scope disclosed in the present application, and shall be covered by the scope of the present application.

Claims

1. An unmanned aerial vehicle for personnel tracking comprises a body (1), a horn (11) arranged on the body (1) and a rotor wing (12) arranged on the horn (11), and is characterized in that an anti-collision device (3) is arranged on the body (1); the anti-collision device (3) comprises a protective ring (21) sleeve arranged outside the machine body (1), a support rod (32) arranged on the lower end face of the machine arm (11), and a buffer mechanism (4) arranged in the protective ring (21) sleeve and connected with the support rod (32);

the inner side of the protective ring (21) sleeve is provided with a first side wall and a second side wall which are oppositely arranged, and a third side wall and a fourth side wall which are oppositely arranged;

the buffer mechanism (4) comprises two first fixing rods (41) arranged between the first side wall and the second side wall and two second fixing rods (42) arranged between the third side wall and the fourth side wall; the two first fixing rods (41) are symmetrically arranged on two opposite sides of the machine body (1); the two second fixing rods (42) are symmetrically arranged on the other two sides of the machine body (1); a space is arranged between the first fixing rod (41) and the second fixing rod (42);

the first fixing rod (41) is connected with two first buffer sleeves (43) at intervals in a sliding manner; the second fixing rod (42) is connected with two second buffer sleeves (44) at intervals in a sliding manner; the first buffer sleeve (43) is fixedly connected with the support rod (32) at the corresponding position; the second buffer sleeve (44) is fixedly connected with the support rod (32) at the corresponding position.

2. The unmanned aerial vehicle for personnel tracking according to claim 1, wherein the first fixing rod (41) is provided with first blocking pieces (45) at both sides of the first buffer sleeve (43); a first buffer spring (47) is arranged between the first baffle plate (45) and the first buffer sleeve (43); second blocking pieces (46) are arranged on the second fixing rod (42) and positioned on two sides of the second buffer sleeve (44); a second buffer spring (48) is arranged between the second baffle plate (46) and the second buffer sleeve (44).

3. The unmanned aerial vehicle for personnel tracking according to claim 1, characterized in that a shock-absorbing device (6) is arranged below the fuselage (1); the damping device (6) comprises two bottom plates (61) which are arranged in parallel and a damping plate (62) which is movably arranged below the bottom plates (61); the bottom plate (61) is fixedly connected with the lower ends of the two support rods (32) which are arranged side by side;

the lower end face of the bottom plate (61) is provided with a buffer groove (611); a damping rod (63) is connected in the buffer groove (611) in a sliding manner; the damping plate (62) is fixedly connected with the lower end of the damping rod (63); the damping rod (63) is sleeved with a damping spring (64); and two ends of the damping spring (64) are respectively and fixedly connected with the bottom plate (61) and the damping plate (62).

4. The unmanned aerial vehicle for personnel tracking according to claim 3, characterized in that a camera (15) is provided at the center of the lower end face of the fuselage (1); a cleaning device (7) used for cleaning the camera (15) is arranged below the machine body (1).

5. The unmanned aerial vehicle for personnel tracking according to claim 4, characterized in that the cleaning device (7) comprises a moving ring (71) movably arranged below the camera (15), an annular sponge sleeve (72) arranged in the moving ring (71), and a driving mechanism (8) arranged below the fuselage (1);

the inner diameter of the sponge sleeve (72) is smaller than the outer diameter of the camera (15); the outer diameter of the sponge sleeve (72) is larger than that of the camera (15).

6. The unmanned aerial vehicle for personnel tracking according to claim 5, wherein the driving mechanism (8) comprises a driving rod (82) fixedly mounted on the upper end face of the shock absorbing plate (62), a mounting rod (81) fixedly mounted on the outer side wall of the moving ring (71);

the upper end of the driving rod (82) penetrates through the bottom plate (61) and is fixedly connected with one end of the mounting rod (81); the driving rod (82) is in sliding fit with the bottom plate (61).

7. The unmanned aerial vehicle for personnel tracking according to claim 6, wherein the length direction of the base plate (61) and the shock absorbing plate (62) coincides with the length direction of the first fixing bar (41); arc-shaped plates (65) are arranged at two ends of the bottom plate (61) and the damping plate (62); one end of the arc-shaped plate (65), which is far away from the bottom plate (61) or the damping plate (62), is bent towards the direction of the machine body (1).

8. The unmanned aerial vehicle for personnel tracking according to claim 1, characterized in that the horn (11) is provided with a mounting groove (111); a motor (13) is arranged in the mounting groove (111); an output shaft of the motor (13) is connected with a rotating shaft (14); the rotating shaft (14) is fixedly connected with the center of the rotor wing (12).

9. The unmanned aerial vehicle for personnel tracking according to claim 8, characterized in that an obstacle avoidance device (5) is arranged on the horn (11); the obstacle avoidance device (5) comprises a connecting seat (51) fixed at the upper end of the machine arm (11), an adjusting rod (52) sleeved outside the rotating shaft (14) and positioned above the connecting seat (51), and a ball head (53) arranged at the lower end of the adjusting rod (52);

the rotating shaft (14) is a flexible shaft, and the upper end of the rotating shaft (14) sequentially penetrates through the horn (11), the bulb (53) and the adjusting rod (52) and is fixed with the center of the rotor wing (12); the center of the connecting seat (51) is provided with a spherical groove (511); the ball head (53) is clamped in the spherical groove (511);

the adjusting rod (52) is sleeved with a first connecting ring (521) and a second connecting ring (522); a first connecting rod (54) is arranged on one side of the first connecting ring (521); a second connecting rod (55) is arranged on one side of the second connecting ring (522);

one end of the first connecting rod (54) is provided with a first rubber strip (541); one end of the second connecting rod (55) is provided with a second rubber strip (551);

one end of the first rubber strip (541) is provided with a first L-shaped rod (542); one end of the second rubber strip (551) is provided with a second L-shaped rod (552);

the first L-shaped rod (542) is connected with the adjacent first fixing rod (41) through a third connecting rod (543); the second L-shaped bar (552) is connected to an adjacent second fixing bar (42) by a fourth connecting bar (553).

10. The unmanned aerial vehicle for personnel tracking according to claim 1, characterized in that a protective cover (2) is provided outside said rotor (12); the protective cover (2) comprises protective rings (21) arranged at intervals along the height direction of the rotor wing (12), positioning rods (22) for connecting the two protective rings (21), and support rods (23) for connecting the lower protective ring (21) and the horn (11);

the guard ring (21) is located outside the rotor (12); a plurality of positioning rods (22) are arranged at intervals along the circumferential direction of the protective ring (21); two ends of the support rod (23) are respectively and fixedly connected with a protective ring (21) and a machine arm (11) which are positioned below.