CN113772083B

CN113772083B - Unmanned aerial vehicle for personnel tracking

Info

Publication number: CN113772083B
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: 2023-08-25
Anticipated expiration: 2041-10-22
Also published as: CN113772083A

Abstract

The application relates to the technical field of unmanned aerial vehicle 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 supporting 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 supporting rod; the anti-collision device protects the aircraft, the force borne by the impact of the aircraft is buffered through the buffer mechanism, and the anti-collision device has certain buffer capacity when the aircraft collides with an obstacle, so that the strong impact borne by the aircraft body is effectively reduced.

Description

Unmanned aerial vehicle for personnel tracking

Technical Field

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

Background

The unmanned aerial vehicle is unmanned aerial vehicle developed in recent years, and is provided with four rotors which are arranged in a cross manner, each rotor is provided with an independent motor, the force of a rotating machine body is obtained by changing the rotating speed of the motor, so that the flying gesture is adjusted, the functions of advancing, retreating, ascending, descending, hovering and the like are realized, and the unmanned aerial vehicle is widely applied to the fields of investigation, line inspection, aerial photography and the like, and is also popular with users as a flying toy.

In view of the above-mentioned related art, the present inventors have found that, in the process of implementing the technical solution of the present application in the embodiment of the present application, at least the following technical problems exist: when the aircraft flies out of the visual field, 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

According to the unmanned aerial vehicle for personnel tracking, the problem that potential safety hazards are generated due to the fact that the unmanned aerial vehicle is easy to collide with obstacles outside the visual field range in the prior art is solved, the protection effect on the unmanned aerial vehicle is improved, and the safety performance is improved.

The embodiment of the application provides an unmanned aerial vehicle for personnel tracking, which comprises a machine body, a horn arranged on the machine body and a rotor wing arranged on the horn, wherein an anti-collision device is arranged on the machine body; the anti-collision device comprises a protective ring sleeve arranged outside the machine body, a supporting 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 supporting rod; the inner side of the protective ring sleeve is provided with a first side wall, a second side wall, a third side wall and a fourth side wall, wherein the first side wall and the second side wall are oppositely arranged, and the third side wall and the fourth side wall 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 fixing rod is connected with two first buffer sleeves at intervals in a sliding manner; two second buffer sleeves are connected to the second fixing rod in a sliding manner at intervals; the first buffer sleeve is fixedly connected with the supporting rod at the corresponding position; the second buffer sleeve is fixedly connected with the supporting rod at the corresponding position.

Further, first baffle plates 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 plate and the first buffer sleeve; a second baffle is arranged on the second fixing rod and positioned at 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 which is movably arranged below the bottom plates; one bottom plate is fixedly connected with the lower ends of two side-by-side supporting rods; the lower end surface 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 two ends of the damping spring are respectively and fixedly connected with the bottom plate and the damping plate.

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

Further, 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.

Further, the driving mechanism comprises a driving rod fixedly arranged on the upper end surface of the shock absorption 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 direction of the bottom plate and the damping plate is consistent with the length direction of the first fixed rod; arc-shaped plates are arranged at two ends of the bottom plate and the damping plate; one end of the arc-shaped plate far away from the bottom plate or the shock absorbing plate is bent towards the direction of the machine body.

Further, the horn is provided with a mounting groove; a motor is arranged in the mounting groove; the 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, the horn is provided with an obstacle avoidance device; the obstacle avoidance device comprises a connecting seat fixed at the upper end of the horn, 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 ball head and the adjusting rod and is fixed with the center of the rotor wing; the center of the connecting seat is provided with a spherical groove; the ball head is clamped in the ball 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; one end of the second rubber strip is provided with a second L-shaped rod; the first L-shaped rod is connected with the adjacent first fixed rod through a third connecting rod; the second L-shaped rod is connected with the adjacent second fixing rod through a fourth connecting rod.

Further, a protective cover is arranged outside the rotor wing; the protective cover comprises protective rings, positioning rods and supporting rods, wherein the protective rings are arranged at intervals along the height direction of the rotor wing, the positioning rods are connected with the two protective rings, and the supporting rods are connected with the protective rings positioned below and the horn; the protection ring is positioned outside the rotor wing; the positioning rods are arranged at intervals along the circumferential direction of the protection ring; the two ends of the stay bar are respectively and fixedly connected with the guard ring and the horn which are positioned below.

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

1. through setting up buffer stop, can effectively protect to the whole, reduce the damage that leads to the fact 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, force borne by impact is acted on the rotating shaft through the protective ring sleeve when the aircraft encounters an obstacle, the direction of the rotor is changed, and when the rotor rotates, the aircraft can be driven to be away from the obstacle, so that the problem that the aircraft is easy to impact the obstacle to damage in the prior art is effectively solved, and further the protection of the aircraft is greatly improved.

3. Due to the adoption of the structure of the damping device, the aircraft can be effectively damped and buffered when the aircraft falls, so that the aircraft can stably fall to the ground, and in addition, the cleaning device can be driven to clean the camera through the action of the damping device, so that the multifunctional performance of the aircraft is effectively improved, the floating ash on the surface of the camera is reduced, and the cleanliness of the surface of the camera is improved.

Drawings

FIG. 1 is a schematic overall structure of an embodiment of the present application;

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

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

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

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

in the figure: 1. a body; 11. a horn; 111. a mounting groove; 12. a rotor; 13. a motor; 14. a rotating shaft; 15. a camera; 2. a protective cover; 21. a guard ring; 22. a positioning rod; 23. a brace rod; 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 support rod; 4. a buffer mechanism; 41. a first fixing rod; 42. a second fixing rod; 43. a first buffer sleeve; 44. a second buffer sleeve; 45. a first baffle; 46. a second baffle; 47. a first buffer spring; 48. a second buffer spring; 5. an obstacle avoidance device; 51. a connecting seat; 511. a spherical groove; 52. an adjusting rod; 521. a first connection ring; 522. a second connecting ring; 53. ball head; 54. a first connecting rod; 541. a first rubber strip; 542. a first L-shaped rod; 543. a third connecting rod; 55. a second connecting rod; 551. a second rubber strip; 552. a second L-shaped rod; 553. a fourth connecting rod; 6. a damping device; 61. a bottom plate; 611. a buffer tank; 62. a shock absorbing plate; 63. a shock-absorbing rod; 64. a damping spring; 65. an arc-shaped plate; 7. a cleaning device; 71. a moving ring; 72. a sponge sleeve; 8. a driving mechanism; 81. a mounting rod; 82. and a driving rod.

Detailed Description

The embodiment of the application discloses an unmanned aerial vehicle for personnel tracking, which is capable of protecting various aspects of the aerial vehicle by arranging an anti-collision device 3 on the outer side of a machine body 1, has a certain buffer capacity when the aerial vehicle collides with an obstacle, effectively reduces the impact of the machine body 1, solves the problem that the aerial vehicle collides with the obstacle easily outside the visual field to generate potential safety hazard in the prior art, and realizes the improvement of the protection effect of the aerial vehicle and the improvement of the safety performance.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Referring to fig. 1, 2 and 3, an unmanned aerial vehicle for personnel tracking comprises a body 1, a horn 11 and a rotor wing 12, wherein the body 1 is of a symmetrical structure, one end of the horn 11 is fixedly connected with one side of the body 1, a mounting groove 111 is formed in the horn 11, a motor 13 is fixedly mounted in the mounting groove 111, an output shaft of the motor 13 vertically extends upwards and is fixedly connected with a rotating shaft 14, and the rotating shaft 14 is fixedly connected with the center of the rotor wing 12. The rotor 12 is rotatably mounted on the end of the horn 11 remote from the fuselage 1 for providing the power required for flight of the unmanned aerial vehicle. The rotor 12 external fixation installs protection casing 2, protection casing 2 includes protection ring 21, locating lever 22, vaulting pole 23, the protection ring 21 cover is located the rotor 12 outside and is set up with rotor 12 interval, protection 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 protection ring 21's circumference interval, and locating lever 22's upper and lower both ends respectively two adjacent protection rings 21 of fixed connection, vaulting pole 23 slope sets up, one end is fixed in on the protection ring 21 that is located the below, other end fixed mounting is on horn 11, can support protection ring 21, improve protection casing 2 overall structure's stability. In the embodiment of the application, four horn 11 are preferably selected, and 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 arranged in the center of the lower end surface of the machine body 1, and the camera 15 is a rotary camera 15, so that pictures can be captured in multiple aspects.

Referring to fig. 1, in order to improve the protection of an aircraft, an anti-collision device 3 is mounted on a fuselage 1, the anti-collision device 3 comprises a protection ring sleeve 31, a supporting rod 32 and a buffer mechanism 4, the protection ring sleeve 31 is located outside the fuselage 1 and comprises a first U-shaped frame 311 and a second U-shaped frame 312, the first U-shaped frame 311 and the second U-shaped frame 312 are both provided with two, the two first U-shaped frames 311 are symmetrically arranged on two opposite sides of the fuselage 1 with respect to the center of the fuselage 1, the openings of the two first U-shaped frames 311 are oppositely arranged, an interval is arranged between the two second U-shaped frames 312 and the other two sides of the fuselage 1 with respect to the center of the fuselage 1, the two second U-shaped frames 312 are oppositely arranged, the interval is arranged between the two second U-shaped frames 312, the first U-shaped frames 311 are arranged above the second U-shaped frames 312 in a surrounding manner to form a rectangular frame shape, and the first U-shaped frames 311 are parallel and level with the outer side walls of the second U-shaped frames 312. Rubber columns 313 are arranged at four corners of the protective ring sleeve 31, 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. The provision of the rubber column 313 allows the guard ring 31 to have a minute deformation as a whole when the guard ring 31 is impacted, improving the cushioning performance of the guard ring 31. Further, rubber pads 314 are adhered to the outer side walls of the first and second U-shaped frames 311 and 312. The inner side of the guard ring 31 has two oppositely disposed first and second sidewalls, and two oppositely disposed third and fourth sidewalls. A strut 32 is vertically and fixedly mounted on the lower end face of the end of each arm 11 remote from the fuselage 1. The buffer mechanism 4 is arranged on the inner side of the protective ring sleeve 31, the protective ring sleeve 31 and the buffer mechanism 4 are connected through the supporting rods 32, and when an aircraft is impacted or impacted, the impact force can be buffered through the buffer mechanism 4 in time, so that the impact on the structure of the aircraft body 1 is reduced.

Referring to fig. 1 and 4, the buffer mechanism 4 includes a first fixing rod 41, a second fixing rod 42, a first buffer sleeve 43, a second buffer sleeve 44, a first baffle 45, a second baffle 46, a first buffer spring 47 and a second buffer spring 48, two first fixing rods 41 are disposed in parallel, the first fixing rod 41 is fixedly installed between the first side wall and the second side wall, the two first fixing rods 41 are symmetrically disposed on opposite sides of the machine body 1, the second fixing rod 42 is disposed with two second fixing rods 42 in parallel, the two second fixing rods 42 are fixedly installed between the third side wall and the fourth side wall, a gap is disposed between the two second buffer sleeves 42 and the first fixing rod 41 and the second fixing rod 42, specifically, the first fixing rod 41 is disposed above the second fixing rod 42, in order to improve the compactness of the structure, the first fixing rod 41 and the second fixing rod 42 are disposed in the position close to the strut 32 in the guard ring 31, the first buffer sleeve 43 is disposed on the first fixing rod 43 in parallel to the first fixing rod 41, the first buffer sleeve 43 is disposed on the first fixing rod 41 and is in a position close to the second fixing rod 41, and is in a position close to the second fixing rod 32, and is in a position close to the first buffer sleeve 41, and is in order to the second fixing rod 41, and is in a gap is disposed between the first fixing rod 41 and the second fixing rod 41 and a gap is disposed between the second buffering sleeve and the second buffering sleeve is disposed on the second buffering sleeve and the second buffering sleeve. And two ends of each first buffer spring 47 are fixedly connected with the opposite side walls of the first baffle 45 and the first buffer sleeve 43 respectively. The second buffer sleeves 44 are arranged on each second fixing rod 42 at intervals, the two second buffer sleeves 44 located on the second fixing rods 42 are in one-to-one correspondence with the two struts 32 close to the second fixing rods 42, 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 struts 32, when the second buffer sleeves 44 are impacted, small displacement can be generated along the second fixing rods 42 to buffer the whole body, in order to further improve the buffering and damping effect, the second retaining pieces 46 are fixedly arranged on the second fixing rods 42 and located 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 opposite side walls of the second retaining pieces 46 and the second buffer sleeves 44 respectively.

Referring to fig. 1 and 3, in order to improve the overall safety performance, the obstacle avoidance device 5 is mounted on the horn 11, and the flight direction of the aircraft can be automatically adjusted when the aircraft encounters an obstacle through the obstacle avoidance device 5, 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 arranged at the upper end of the horn 11 far away from the machine body 1, a ball groove 511 is formed in the center of the upper end surface of the connecting seat 51, the shape of the ball groove 511 is matched with that of the ball head 53, the ball head 53 is clamped in the ball groove 511 and is in ball connection with the connecting seat 51, the adjusting rod 52 is fixedly arranged on the ball head 53, and an extension line of the adjusting rod 52 passes through the center of the ball head 53. The pivot 14 of rotor 12 is the flexible axle, and the concrete flexible axle that the optional rubber material made, the upper end of pivot 14 passes horn 11, bulb 53, adjusts pole 52 in proper order and is fixed with the center of rotor 12, and pivot 14 and connecting seat 51 are swing joint, and the upper end of adjusting pole 52 rotates with the center of rotor 12 to be connected, reduces the wearing and tearing that produce when motor 13 drive rotor 12 rotates. The adjusting rod 52 is sleeved with a first connecting ring 521 and a second connecting ring 522, and the first connecting ring 521 and the second connecting ring 522 are movably matched with the adjusting rod 52. One side of the first connecting ring 521 is fixedly connected with a first connecting rod 54 which is horizontally arranged, one end of the first connecting rod 54 is fixedly provided with a first rubber strip 541, one end of the first rubber strip 541 is fixedly connected with a first L-shaped rod 542, horizontal parts of the first connecting rod 54, the first rubber strip 541 and the first L-shaped rod 542 are all arranged on the same straight line, the straight line is parallel to the length direction of the first fixing rod 41, and a vertical part of the first L-shaped rod 542 extends downwards and is fixedly connected with the adjacent first fixing rod 41 through a third connecting rod 543. One side fixedly connected with level of second go-between 522 sets up second connecting rod 55, the one end fixed mounting of second connecting rod 55 has second rubber strip 551, the one end fixedly connected with second L type pole 552 of second rubber strip 551, second connecting rod 55, second rubber strip 551, the horizontal part of second L type pole 552 all sets up on same straight line, and this straight line is parallel to each other with the length direction of second dead lever 42, the vertical portion downwardly extending of second L type pole 552 and pass through fourth connecting rod 553 fixed connection with adjacent second dead lever 42. Two first connecting rods 54 disposed along the length direction of the first fixing rod 41 are located at two opposite sides of the two struts 32. When the aircraft is impacted along the length direction of the first fixing rod 41, under the action of the first fixing rod 41, the first L-shaped rod 542 connected with the first fixing rod 41 is driven to move to one side of the protective ring sleeve 31, and as the first L-shaped rod 542 is connected with the first rubber strip 541, the first rubber strip 541 pushes the first connecting rod 54 to push the adjusting rod 52 to incline away from the direction of stress, under the action of the adjusting rod 52, the rotor wing 12 inclines away from the direction of stress, and as the rotating shaft 14 is a flexible shaft, the driving motor 13 can drive the rotor wing 12 to rotate, so that the rotor wing 12 generates a wind force along the length direction of the rotating shaft 14, and the wind force of the aircraft inclines downwards, the wind force can be decomposed into a vertical downward component and a horizontal component close to one side of the direction of stress, so that the aircraft can be away from an obstacle, the obstacle can be automatically avoided, and the safety performance of the aircraft can be improved. Because the first rubber strip 541 is arranged between the connection of the first L-shaped rod 542 and the adjusting rod 52, the small variation of the included angle between the second L-shaped rod 552 connected with the adjusting rod 52 and the adjusting rod 52 can be allowed, and the movement effect of the connection structure at other positions can not be influenced. When the aircraft is impacted along the length direction of the second fixing rod 42 or is impacted obliquely with the length direction of the first fixing rod 41, the analysis process is as described in the principle above, and the first L-shaped rod 542 or the second L-shaped rod 552 can be driven to drive the soft shaft to incline in the corresponding direction, so that the direction of the rotor wing 12 is changed, and the aircraft is driven to be far away from the obstacle.

Referring to fig. 2 and 5, a shock absorbing device 6 is installed below the fuselage 1, and is capable of buffering when the aircraft descends, reducing impact on the overall structure of the fuselage 1, and improving the stability of the aircraft. The damper 6 includes a bottom plate 61, a damper plate 62, a damper rod 63, and a damper spring 64, the bottom plate 61 and the damper plate 62 are both provided with two, the length directions of the bottom plate 61 and the damper plate 62 are both identical to the length directions of the first fixing rod 41, both ends of the bottom plate 61 and the damper plate 62 are both formed with arc plates 65, and one end of the arc plates 65 away from the bottom plate 61 or the damper plate 62 is bent toward the direction of the body 1. One bottom plate 61 is fixedly connected with the lower ends of two side-by-side struts 32, and the other bottom plate 61 is fixedly connected with the lower ends of the other two side-by-side struts 32. Two buffer grooves 611 which are arranged at intervals are formed in the lower end face of the bottom plate 61, a buffer rod 63 is slidably connected in each buffer groove 611, the upper end face of each buffer plate 62 is fixedly connected with the corresponding buffer rod 63 arranged below the bottom plate 61, the buffer spring 64 is sleeved outside the buffer rod 63, the two ends of the buffer spring 64 are fixedly connected with the lower end face of the bottom plate 61 and the upper end face of the buffer plate 62 respectively, when an aircraft falls, the buffer plate 62 contacts with the ground before the buffer rod 62 contacts with the ground, the buffer rod 63 slides upwards along the buffer grooves 611, so that the buffer spring 64 is compressed, and the buffer plate 62 is subjected to impact buffering and damping.

Referring to fig. 2, in order to facilitate timely cleaning of the camera 15 below the body 1, floating ash on the surface of the camera 15 is removed, and a cleaning device 7 is installed below the body 1. The cleaning device 7 comprises a moving ring 71, a sponge sleeve 72 and a driving mechanism 8, wherein the moving ring 71 is movably arranged under the camera 15, the inner diameter of the moving ring 71 is larger than the outer diameter of the camera 15, the sponge sleeve 72 is annular, the outer side wall of the sponge sleeve 72 is fixedly connected with the inner side wall of the moving ring 71, the inner diameter of the sponge sleeve 72 is smaller than the outer diameter of the camera 15, and the outer diameter of the sponge sleeve 72 is larger than the outer diameter of the camera 15. In order to facilitate improvement of the cleaning capability 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. The driving mechanism 8 is installed below the machine body 1, the driving mechanism 8 comprises two mounting rods 81 and 82, the mounting rods 81 and 82 are symmetrically arranged about the center of the moving ring 71, one end of each mounting rod 81 is fixed on the outer side wall of the moving ring 71, the other end of each mounting rod 81 horizontally extends in the direction away from the moving ring 71, the length direction of each mounting rod 81 is perpendicular to the length direction of each shock-absorbing plate 62, the two driving rods 82 respectively correspond to the two shock-absorbing plates 62, the lower ends of the driving rods 82 are fixedly connected with the upper end faces of the shock-absorbing plates 62, the upper ends of the driving rods 82 penetrate through the bottom plate 61 and are fixedly connected with one end, away from the moving ring 71, of each mounting rod 81, and the driving rods 82 are in sliding fit with the bottom plate 61. When the aircraft descends, the distance between the damping plate 62 and the bottom plate 61 is reduced, the movable ring 71 moves along the vertical direction, the sponge sleeve 72 is driven to wipe the surface of the camera 15, floating ash on the surface of the camera 15 is reduced, and the cleanliness of the surface of the camera 15 is improved.

The working principle of the embodiment of the application is as follows: when the aircraft flies out of the visual field and encounters an obstacle, the obstacle collides with the protective ring sleeve 31, the rubber pad 314 on the surface of the protective ring sleeve 31 can provide a certain buffer force for the aircraft, when the impact force of the obstacle to the aircraft is large, the surface of the protective ring sleeve 31 is enabled to collide and deform, the first fixing rod 41 or the second fixing rod 42 is driven to deform in a direction away from the stress, when the first fixing rod 41 or the second fixing rod 42 deforms and moves, the adjusting rod 52 is driven to deviate, the angle of the rotor wing 12 is changed, the wind power of the rotor wing 12 can be decomposed into a vertically downward component and a component horizontally approaching to one side of the stress direction, the aircraft can be far away from the obstacle, and the obstacle is automatically avoided.

The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art should be able to apply equivalents and modifications according to the technical scheme and the concept of the present application within the scope of the present application.

Claims

1. An unmanned aerial vehicle for personnel tracking comprises a machine body (1), a horn (11) arranged on the machine 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 machine body (1); the anti-collision device (3) comprises a protective ring sleeve (31) arranged outside the machine body (1), a supporting rod (32) arranged on the lower end surface of the machine arm (11) and a buffer mechanism (4) arranged in the protective ring sleeve (31) and connected with the supporting rod (32); the inner side of the protective ring sleeve (31) is provided with a first side wall, a second side wall, a third side wall and a fourth side wall, wherein the first side wall and the second side wall are oppositely arranged, and the third side wall and the fourth side wall 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);

two first buffer sleeves (43) are connected to the first fixing rod (41) in a sliding manner at intervals; two second buffer sleeves (44) are connected to the second fixing rod (42) in a sliding manner at intervals; the first buffer sleeve (43) is fixedly connected with the supporting rod (32) at the corresponding position; the second buffer sleeve (44) is fixedly connected with the supporting rod (32) at the corresponding position; a first baffle (45) is arranged on the first fixing rod (41) and positioned on two 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 baffle plates (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);

a damping device (6) is arranged below the machine body (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); one bottom plate (61) is fixedly connected with the lower ends of two side-by-side supporting rods (32); a buffer groove (611) is formed in the lower end face of the bottom plate (61); a shock absorption rod (63) is connected in a sliding way in the buffer groove (611); the damping plate (62) is fixedly connected with the lower end of the damping rod (63); a damping spring (64) is sleeved on the damping rod (63); two ends of the damping spring (64) are fixedly connected with the bottom plate (61) and the damping plate (62) respectively;

a camera (15) is arranged in the center of the lower end surface of the machine body (1); a cleaning device (7) for cleaning the camera (15) is arranged below the machine body (1); the cleaning device (7) comprises a movable ring (71) movably arranged below the camera (15), an annular sponge sleeve (72) arranged in the movable ring (71) and a driving mechanism (8) arranged below the machine body (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);

the driving mechanism (8) comprises a driving rod (82) fixedly arranged on the upper end surface of the shock absorption plate (62) and a mounting rod (81) fixedly arranged on the outer side wall of the movable 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).

2. An unmanned aerial vehicle for personnel tracking according to claim 1, wherein the length direction of the floor (61) and the shock absorbing plate (62) coincides with the length direction of the first fixing rod (41); arc 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) far away from the bottom plate (61) or the shock absorbing plate (62) is bent towards the direction of the machine body (1).

3. An unmanned aircraft for personnel tracking according to claim 1, wherein 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).

4. An unmanned aircraft for personnel tracking according to claim 3, wherein the horn (11) is provided with obstacle avoidance means (5); the obstacle avoidance device (5) comprises a connecting seat (51) fixed at the upper end of the horn (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 ball head (53) and the adjusting rod (52) and is fixed with the center of the rotor wing (12); a spherical groove (511) is formed in the center of the connecting seat (51); the ball head (53) is clamped in the ball groove (511);

a first connecting ring (521) and a second connecting ring (522) are sleeved on the adjusting rod (52); 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 fixed rod (41) through a third connecting rod (543); the second L-shaped rod (552) is connected with the adjacent second fixed rod (42) through a fourth connecting rod (553).

5. An unmanned aircraft for personnel tracking according to claim 1, wherein the rotor (12) is provided with a shield (2) externally; the protective cover (2) comprises protective rings (21) which are arranged at intervals along the height direction of the rotor wing (12), positioning rods (22) which are connected with the two protective rings (21), and stay bars (23) which are connected with the protective rings (21) positioned below and the horn (11);

the protection ring (21) is positioned outside the rotor wing (12); the positioning rods (22) are arranged at intervals along the circumferential direction of the protection ring (21); the two ends of the supporting rod (23) are respectively and fixedly connected with the guard ring (21) and the horn (11) which are positioned below.