CN114252286B - Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof - Google Patents
Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof Download PDFInfo
- Publication number
- CN114252286B CN114252286B CN202111630193.5A CN202111630193A CN114252286B CN 114252286 B CN114252286 B CN 114252286B CN 202111630193 A CN202111630193 A CN 202111630193A CN 114252286 B CN114252286 B CN 114252286B
- Authority
- CN
- China
- Prior art keywords
- rectangular
- aerial vehicle
- unmanned aerial
- plate
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 230000004888 barrier function Effects 0.000 claims abstract description 34
- 239000004744 fabric Substances 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 230000001788 irregular Effects 0.000 claims abstract description 13
- 238000004804 winding Methods 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000002547 anomalous effect Effects 0.000 abstract 1
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle obstacle avoidance detection, and particularly relates to an unmanned aerial vehicle wireless obstacle avoidance detection device and a detection method thereof. According to the invention, through the structural design of the barrier folding mechanism, the length of the rectangular curtain cloth can be effectively and properly adjusted according to the detection requirement, and barriers with different sizes are simulated, so that the detection convenience is improved; through the structural design of the obstacle swinging mechanism, the obstacle with irregular motion can be effectively simulated, the data of the detected obstacle with irregular motion is increased, and the detection accuracy is improved; through the structural design of centrifugal rod subassembly, can be effectual producing anomalous movement track, the unmanned aerial vehicle's of being convenient for detection.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle obstacle avoidance detection, and particularly relates to an unmanned aerial vehicle wireless obstacle avoidance detection device and a detection method thereof.
Background
With the wider and wider application of the unmanned aerial vehicle, the safety of the unmanned aerial vehicle in the flight process is more important. The unmanned aerial vehicle is in an unknown environment or in an indoor cruising, emergency rescue and disaster relief task, and the like, because the environment is complex and unknown and the GPS information is weak, how to autonomously fly and effectively avoid obstacles becomes a problem which needs to be urgently solved, and therefore, a detection device is needed to detect the obstacle avoidance performance of the unmanned aerial vehicle.
The current obstacle-avoiding detection device can not effectively simulate the state of an unmanned aerial vehicle when encountering suddenly appearing obstacles, and easily leads to the obstacle-avoiding effect of the unmanned aerial vehicle which can not be comprehensively detected when detecting.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle wireless obstacle avoidance detection device and a detection method thereof, which can effectively simulate the state of an unmanned aerial vehicle when an obstacle suddenly appears, increase data during detection and improve the obstacle avoidance effect of the unmanned aerial vehicle.
The technical scheme adopted by the invention is as follows:
the utility model provides a wireless obstacle detection device that keeps away of unmanned aerial vehicle, includes:
the lower end of the rectangular supporting plate is fixedly provided with a rectangular telescopic leg, and one end of the lower surface of the rectangular supporting plate is provided with a photoelectric switch;
the barrier folding mechanism is arranged at the lower part of the rectangular supporting plate and is used for retracting the barrier;
the obstacle swing mechanism is arranged on one side of the obstacle folding mechanism and is used for simulating a swinging obstacle.
Preferably, the barrier folding mechanism comprises a telescopic mechanism and a winding mechanism, the telescopic mechanism is used for extending the winding mechanism, and the winding mechanism is used for automatically storing.
Preferably, winding mechanism includes rectangle mount, spool, extension spring and rectangle curtain cloth, rectangle mount sliding connection is at the lower extreme of rectangle backup pad, the spool rotates to be connected in the inside of rectangle mount, the extension spring sets up in the outside of spool, the one end and the rectangle mount fixed connection of extension spring, the other end and the spool fixed connection of extension spring, the rectangle curtain cloth is convoluteed in the outside of spool, the one end and the spool fixed connection of rectangle curtain cloth.
Preferably, a first motor is fixed to the upper end of the rectangular supporting plate, a transmission assembly is installed at the output end of the first motor, a screw rod is connected to the upper end of the rectangular supporting plate in a rotating mode, the output end of the first motor is connected with the screw rod through the transmission assembly, and the screw rod is in threaded connection with the rectangular fixing frame.
Preferably, telescopic machanism includes first rectangle fixed plate, electric putter, first rectangle slide, two first racks, two first spur gears, two first rectangle connecting rods, two second spur gears, two second racks, second rectangle slide and second rectangle fixed plate, the lower extreme at the rectangle mount is fixed to first rectangle fixed plate, electric putter fixes the one side at first rectangle fixed plate, first rectangle slide sliding connection is at the opposite side of first rectangle fixed plate, electric putter's output and first rectangle slide fixed connection, two first rectangle slide is fixed respectively at the both ends of first rectangle slide, two first spur gears all rotate to be connected in the outside of first rectangle fixed plate and be close to the position department of two first racks respectively, two first rectangle connecting rods are fixed respectively in the one side that first rectangle fixed plate was kept away from to two first spur gears, two second rectangle connecting rods rotate to be connected respectively and keep away from the one end of first rectangle connecting rods and keep away from first spur gears, two second rectangle connecting rods are connected respectively and are connected at the one side of second rectangle fixed plate, two second rectangle slide is connected the second rectangle fixed plate, two second rectangle slide is connected below the second rectangle fixed plate, two second rectangle connecting rods are connected and second rectangle fixed plate, and second rectangle slide is connected to one side second straight gear.
Preferably, a rectangular connecting plate is fixed at the lower end of the second rectangular fixing plate, and one end, far away from the reel, of the rectangular cord fabric is fixedly connected with the rectangular connecting plate.
Preferably, obstacle swing mechanism includes L shape connecting rod, U-shaped mount, second motor, direction connecting rod, circular dead lever, rotatory piece, time shape mount and centrifugal rod subassembly, L shape connecting rod is fixed in one side of rectangle mount, the U-shaped mount is fixed in one side that the U-shaped mount was kept away from to L shape connecting rod, the upper end at the U-shaped mount is fixed to the second motor, the output at the second motor is fixed to the direction connecting rod, circular dead lever rotates the lower extreme of connecting at the direction connecting rod, the lower extreme at circular dead lever is fixed to the rotatory piece, it rotates the outside of connecting at rotatory piece to return the shape mount, it rotates with the U-shaped mount to return the shape mount and is connected, the centrifugal rod subassembly is installed at the lower extreme of rotatory piece.
Preferably, the centrifugal pole subassembly includes circular connecting rod, circular stock and spring, circular connecting rod threaded connection is at the lower extreme of rotatory piece, circular stock rotates to connect the one end of keeping away from rotatory piece at circular connecting rod, the spring is fixed between circular connecting rod and circular stock.
Preferably, the rotation extending point between the rotating block and the clip-shaped fixing frame is vertical to the rotation extending point between the clip-shaped fixing frame and the U-shaped fixing frame.
A detection method of an unmanned aerial vehicle wireless obstacle avoidance detection device is used for the unmanned aerial vehicle wireless obstacle avoidance detection device, and comprises the following steps:
the first step is as follows: starting a first motor, and driving a screw rod to rotate through a transmission assembly so as to move the rectangular fixing frame;
the second step: according to the detection requirement, the distance between the photoelectric switch and the rectangular fixing frame is changed;
the third step: the unmanned aerial vehicle flies below the rectangular support plate from the lower part of the photoelectric switch;
the fourth step: when the photoelectric switch detects the unmanned aerial vehicle, the barrier folding mechanism is stretched to generate a barrier, and the avoidance effect of the unmanned aerial vehicle is observed;
the fifth step: according to the detection needs, when photoelectric switch detects unmanned aerial vehicle, the mode of change work makes obstacle swing mechanism operation, produces the barrier of irregular motion, observes unmanned aerial vehicle's the effect of avoiing.
The invention has the technical effects that:
according to the invention, through the structural design of the barrier folding mechanism, the length of the rectangular curtain cloth can be effectively and properly adjusted according to the detection requirement, and barriers with different sizes are simulated, so that the detection convenience is improved;
according to the invention, through the structural design of the obstacle swinging mechanism, the obstacle with irregular motion can be effectively simulated, the data of the detected obstacle with irregular motion is increased, and the detection accuracy is improved;
according to the invention, through the structural design of the centrifugal rod assembly, irregular motion tracks can be effectively generated, and the detection of the unmanned aerial vehicle is facilitated.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the bottom structure of the present invention;
fig. 3 is a schematic structural view illustrating the connection of the barrier folding mechanism and the barrier swinging mechanism according to the present invention;
FIG. 4 is a schematic view of the barrier folding mechanism of the present invention;
FIG. 5 is a schematic view of the telescoping mechanism of the present invention;
FIG. 6 is a schematic view of the back of the telescoping mechanism of the present invention;
FIG. 7 is a schematic structural view of the winding mechanism of the present invention;
FIG. 8 is a schematic view of the structure of the obstacle swing mechanism of the present invention;
FIG. 9 is a schematic view showing the structure of the connection of the direction connecting rod, the circular fixing rod and the rotating block according to the present invention;
FIG. 10 is a schematic view of the construction of the centrifuge bar assembly of the present invention.
In the drawings, the reference numbers indicate the following list of parts:
1. a rectangular telescoping leg; 2. a rectangular support plate; 3. a first motor; 4. a transmission assembly; 5. a screw; 6. a rectangular fixing frame; 7. a reel; 8. a tension spring; 9. a rectangular cord fabric; 10. a first rectangular fixing plate; 11. an electric push rod; 12. a first rectangular slide plate; 13. a first rack; 14. a first straight gear; 15. a first rectangular connecting rod; 16. a second rectangular connecting rod; 17. a second spur gear; 18. a second rack; 19. a second rectangular slide plate; 20. a second rectangular fixing plate; 21. a rectangular connecting plate; 22. an L-shaped connecting rod; 23. a U-shaped fixing frame; 24. a second motor; 25. a direction connecting rod; 26. a circular fixing rod; 27. rotating the block; 28. a clip-shaped fixing frame; 29. a circular connecting rod; 30. a round long rod; 31. a spring; 32. a photoelectric switch.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
The embodiment is as follows:
as shown in fig. 1-9, an unmanned aerial vehicle wireless obstacle avoidance detection device comprises a rectangular support plate 2, an obstacle folding mechanism and an obstacle swinging mechanism, wherein a rectangular telescopic leg 1 is fixed at the lower end of the rectangular support plate 2, a photoelectric switch 32 is installed at one end of the lower surface of the rectangular support plate 2, the obstacle folding mechanism is arranged at the lower part of the rectangular support plate 2 and used for retracting an obstacle, the obstacle swinging mechanism is arranged on one side of the obstacle folding mechanism, and the obstacle swinging mechanism is used for simulating a swinging obstacle.
Specifically, make unmanned aerial vehicle, from the below of rectangle backup pad 2 and the one end that is located photoelectric switch 32 flies into, when photoelectric switch 32 detected unmanned aerial vehicle, will make barrier folding mechanism extend for imitate the not barrier of equidimension, detect the effect that unmanned aerial vehicle avoidd, according to the needs that detect, when photoelectric switch 32 detected unmanned aerial vehicle, start barrier swing mechanism, be used for imitating the barrier of irregular motion, detect the evading effect when unmanned aerial vehicle evades the irregular motion barrier.
As shown in fig. 3 to 7, the barrier folding mechanism includes a telescoping mechanism for extending the winding mechanism and a winding mechanism for automatically storing.
As shown in fig. 3, 4 and 7, the winding mechanism includes a rectangular fixing frame 6, a winding shaft 7, a tension spring 8 and a rectangular curtain cloth 9, the rectangular fixing frame 6 is slidably connected at the lower end of the rectangular supporting plate 2, the winding shaft 7 is rotatably connected inside the rectangular fixing frame 6, the tension spring 8 is arranged outside the winding shaft 7, one end of the tension spring 8 is fixedly connected with the rectangular fixing frame 6, the other end of the tension spring 8 is fixedly connected with the winding shaft 7, the rectangular curtain cloth 9 is wound outside the winding shaft 7, and one end of the rectangular curtain cloth 9 is fixedly connected with the winding shaft 7.
Specifically, when the rectangular curtain cloth 9 is extended, the reel 7 is rotated, so that the tension spring 8 is wound on the surface of the reel 7, and then the tension spring 8 generates elastic force, and when the extension of the rectangular curtain cloth 9 is cancelled, the rectangular curtain cloth 9 is retracted through the elastic force of the tension spring 8, is wound on the surface of the reel 7, and then is automatically stored.
As shown in fig. 1 and 2, a first motor 3 is fixed at the upper end of the rectangular support plate 2, a transmission component 4 is installed at the output end of the first motor 3, a screw rod 5 is rotatably connected to the upper end of the rectangular support plate 2, the output end of the first motor 3 is connected with the screw rod 5 through the transmission component 4, and the screw rod 5 is in threaded connection with the rectangular fixing frame 6.
Specifically, start first motor 3 for first motor 3 drives screw rod 5 through drive assembly 4 and rotates, and because of screw rod 5 rotates with rectangle backup pad 2 to be connected, screw rod 5 and 6 threaded connection of rectangle mount, rectangle mount 6 and 2 sliding connection of rectangle backup pad, and then drive the removal of rectangle mount 6, are convenient for change the distance between rectangle mount 6 and photoelectric switch 32.
It should be noted that, the lower end of the rectangular supporting plate 2 and the position close to the rectangular fixing frame 6 are provided with scale grooves, so that the distance between the photoelectric switch 32 and the rectangular fixing frame 6 can be observed conveniently.
As shown in fig. 4-7, the telescopic mechanism includes a first rectangular fixing plate 10, an electric push rod 11, a first rectangular sliding plate 12, two first racks 13, two first spur gears 14, two first rectangular connecting rods 15, two second rectangular connecting rods 16, two second spur gears 17, two second racks 18, a second rectangular sliding plate 19 and a second rectangular fixing plate 20, the first rectangular fixing plate 10 is fixed at the lower end of the rectangular fixing frame 6, the electric push rod 11 is fixed at one side of the first rectangular fixing plate 10, the first rectangular sliding plate 12 is slidably connected at the other side of the first rectangular fixing plate 10, the output end of the electric push rod 11 is fixedly connected with the first rectangular sliding plate 12, the two first rectangular sliding plates 12 are respectively fixed at two ends of the first rectangular sliding plate 12, the two first spur gears 14 are both rotatably connected at the outer side of the first rectangular fixing plate 10 and respectively close to the positions of the two first racks 13, the two first rectangular connecting rods 15 are respectively fixed at one side of the two first spur gears 14 far away from the first rectangular fixing plate 10, the two second rectangular connecting rods 16 are respectively rotatably connected at one end of the two first rectangular fixing plates 15 and respectively far away from the second spur gears 17, the one side of the second straight gears 17 are respectively connected at one side of the second rectangular fixing plate 18, and the second straight gears 17 are respectively connected at one side of the second straight gears 17.
Specifically, the electric push rod 11 is started, the first rectangular sliding plate 12 is slidably connected with the first rectangular fixing plate 10, the first rectangular sliding plate 12 is fixedly connected with the first rack 13, the first rack 13 is meshed with the first straight gear 14, the first straight gear 14 is rotatably connected with the first rectangular fixing plate 10, and then the first straight gear 14 is driven to rotate, and further the first straight gear 14 is driven to rotate, because the first straight gear 14 is fixedly connected with the first rectangular connecting rod 15, the first rectangular connecting rod 15 is rotatably connected with the second rectangular connecting rod 16, the second rectangular connecting rod 16 is fixedly connected with the second straight gear 17, the second straight gear 17 is rotatably connected with the second rectangular fixing plate 20, the second straight gear 17 is meshed with the second rack 18, the second rack 18 is fixedly connected with the second rectangular sliding plate 19, the second rectangular sliding plate 19 is slidably connected with the second rectangular fixing plate 20, and further the second rectangular fixing plate 20 is moved along the vertical direction, so as to facilitate extension and contraction of the telescopic mechanism.
Further, a rectangular connecting plate 21 is fixed at the lower end of the second rectangular fixing plate 20, and one end of the rectangular curtain cloth 9, which is far away from the reel 7, is fixedly connected with the rectangular connecting plate 21, so that the second rectangular fixing plate 20 moves along the vertical direction, and the rectangular curtain cloth 9 is driven to move, thereby facilitating the extension of the rectangular curtain cloth 9.
As shown in fig. 8 and 9, the obstacle swing mechanism includes an L-shaped connecting rod 22, a U-shaped fixing frame 23, a second motor 24, a direction connecting rod 25, a circular fixing rod 26, a rotating block 27, a clip fixing frame 28 and a centrifugal rod assembly, the L-shaped connecting rod 22 is fixed on one side of the rectangular fixing frame 6, the U-shaped fixing frame 23 is fixed on one side of the L-shaped connecting rod 22 away from the U-shaped fixing frame 23, the second motor 24 is fixed on the upper end of the U-shaped fixing frame 23, the direction connecting rod 25 is fixed on the output end of the second motor 24, the circular fixing rod 26 is rotatably connected to the lower end of the direction connecting rod 25, the rotating block 27 is fixed on the lower end of the circular fixing rod 26, the clip fixing frame 28 is rotatably connected to the outer side of the rotating block 27, the clip fixing frame 28 is rotatably connected to the U-shaped fixing frame 23, and the centrifugal rod assembly is installed on the lower end of the rotating block 27.
Specifically, the second motor 24 is started to drive the direction connecting rod 25 to rotate, and because the direction connecting rod 25 is rotatably connected with the circular fixing rod 26, the circular fixing rod 26 is fixedly connected with the rotating block 27, the rotating block 27 is rotatably connected with the clip fixing frame 28, the clip fixing frame 28 is rotatably connected with the U-shaped fixing frame 23, and then the swinging of the rotating block 27 is driven.
Further, the rotation extending point between the rotation block 27 and the clip 28 is perpendicular to the rotation extending point between the clip 28 and the U-shaped clip 23, so as to facilitate the reciprocating swing of the rotation block 27.
As shown in fig. 10, the centrifugal rod assembly comprises a round connecting rod 29, a round long rod 30 and a spring 31, wherein the round connecting rod 29 is in threaded connection with the lower end of the rotary block 27, the round long rod 30 is in rotary connection with one end of the round connecting rod 29 far away from the rotary block 27, and the spring 31 is fixed between the round connecting rod 29 and the round long rod 30.
Specifically, when the rotary block 27 swings, the round long rod 30 is rotatably connected with the round connecting rod 29, and the spring 31 fixes the round connecting rod 29 and the round long rod 30, so that the round long rod 30 generates irregular movement, and further obstacles appearing suddenly in life can be simulated, and the detection accuracy is improved.
The invention also discloses a detection method of the unmanned aerial vehicle wireless obstacle avoidance detection device, which specifically comprises the following steps:
the first step is as follows: starting the first motor 3, driving the screw rod 5 to rotate through the transmission component 4, and further moving the rectangular fixing frame 6;
the second step is that: according to the detection requirement, the distance between the photoelectric switch 32 and the rectangular fixing frame 6 is changed;
the third step: the unmanned aerial vehicle flies below the rectangular support plate 2 from the lower part of the photoelectric switch 32;
the fourth step: when the photoelectric switch 32 detects the unmanned aerial vehicle, the barrier folding mechanism is stretched to generate a barrier, and the avoidance effect of the unmanned aerial vehicle is observed;
the fifth step: according to the detection needs, when photoelectric switch 32 detects unmanned aerial vehicle, the mode of change work makes obstacle swing mechanism operation, produces the barrier of irregular motion, observes unmanned aerial vehicle's the effect of avoiding.
The working principle of the invention is as follows: start first motor 3, will drive screw rod 5 through drive assembly 4 and rotate, and then remove rectangle mount 6, according to the needs that detect, change the distance between photoelectric switch 32 and the rectangle mount 6, be convenient for observe the evading effect of unmanned aerial vehicle according to the barrier of different distances, make unmanned aerial vehicle, fly over 2 belows in the rectangle backup pad from photoelectric switch 32's below, when photoelectric switch 32 detects unmanned aerial vehicle, will make barrier folding mechanism extend, produce the barrier, observe unmanned aerial vehicle's the evading effect, according to the detection needs, when photoelectric switch 32 detects unmanned aerial vehicle, change the mode of work, make barrier swing mechanism operation, produce the barrier of irregular motion, the evading effect of the irregular motion barrier that meets that unmanned aerial vehicle observes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (6)
1. The utility model provides an unmanned aerial vehicle is wireless keeps away barrier detection device which characterized in that includes:
the lower end of the rectangular supporting plate (2) is fixed with a rectangular telescopic leg (1), and one end of the lower surface of the rectangular supporting plate (2) is provided with a photoelectric switch (32);
the barrier folding mechanism is arranged at the lower part of the rectangular supporting plate (2), and is used for retracting a barrier, the barrier folding mechanism comprises a telescopic mechanism and a winding mechanism, the telescopic mechanism is used for extending the winding mechanism, and the winding mechanism is used for automatically storing;
the winding mechanism comprises a rectangular fixing frame (6), a scroll (7), a tension spring (8) and a rectangular curtain cloth (9), the rectangular fixing frame (6) is connected to the lower end of the rectangular supporting plate (2) in a sliding mode, the scroll (7) is connected to the inside of the rectangular fixing frame (6) in a rotating mode, the tension spring (8) is arranged on the outer side of the scroll (7), one end of the tension spring (8) is fixedly connected with the rectangular fixing frame (6), the other end of the tension spring (8) is fixedly connected with the scroll (7), the rectangular curtain cloth (9) is wound on the outer side of the scroll (7), and one end of the rectangular curtain cloth (9) is fixedly connected with the scroll (7);
the telescopic mechanism comprises a first rectangular fixing plate (10), an electric push rod (11), a first rectangular sliding plate (12), two first racks (13), two first straight gears (14), two first rectangular connecting rods (15), two second rectangular connecting rods (16), two second straight gears (17), two second racks (18), a second rectangular sliding plate (19) and a second rectangular fixing plate (20), wherein the first rectangular fixing plate (10) is fixed at the lower end of a rectangular fixing frame (6), the electric push rod (11) is fixed at one side of the first rectangular fixing plate (10), the first rectangular sliding plate (12) is connected to the other side of the first rectangular fixing plate (10) in a sliding manner, the output end of the electric push rod (11) is fixedly connected with the first rectangular sliding plate (12), the two first rectangular sliding plates (12) are respectively fixed at two ends of the first rectangular sliding plate (12), the two first straight gears (14) are rotatably connected to the outer side of the first rectangular fixing plate (10) and are respectively close to the positions of the two first racks (13), the two first connecting rods (15) are respectively fixed at one side of the first rectangular connecting rods (14), and the two first connecting rods (14) are respectively far away from one side of the two first rectangular fixing plate (15), the two second straight gears (17) are fixedly connected to one ends, far away from the first rectangular connecting rod (15), of the two second rectangular connecting rods (16) respectively, the second rectangular fixing plate (20) is rotatably connected to one side of the second straight gears (17) and located below the first rectangular fixing plate (10), the second rectangular sliding plate (19) is rotatably connected to one side of the second rectangular fixing plate (20) and located below the first rectangular sliding plate (12), the two second racks (18) are fixed to two ends of the second rectangular sliding plate (19) respectively, and the two second racks (18) are rotatably connected with the two second straight gears (17) respectively;
the obstacle swinging mechanism is arranged on one side of the obstacle folding mechanism and is used for simulating a swinging obstacle;
obstacle swing mechanism includes L shape connecting rod (22), U-shaped mount (23), second motor (24), direction connecting rod (25), circular dead lever (26), rotatory piece (27), time shape mount (28) and centrifugal rod subassembly, one side at rectangle mount (6) is fixed in L shape connecting rod (22), one side of keeping away from U-shaped mount (23) is fixed in U-shaped mount (23), the upper end at U-shaped mount (23) is fixed in second motor (24), the output at second motor (24) is fixed in direction connecting rod (25) rotation, the lower extreme at direction connecting rod (25) is connected in the rotation of circular dead lever (26) in rotatory piece (27), time shape mount (28) rotate to be connected in the outside at rotatory piece (27), time shape mount (28) and U-shaped mount (23) rotation are connected, centrifugal rod subassembly is installed at the lower extreme at rotatory piece (27).
2. The unmanned aerial vehicle wireless obstacle avoidance detection device of claim 1, characterized in that: the utility model discloses a motor, including rectangle backup pad (2), transmission subassembly (4), screw rod (5), first motor (3) are connected with the upper end rotation of rectangle backup pad (2), the output of first motor (3) is connected with screw rod (5) through transmission subassembly (4), screw rod (5) and rectangle mount (6) threaded connection.
3. The unmanned aerial vehicle wireless obstacle avoidance detection device of claim 1, wherein: the lower end of the second rectangular fixing plate (20) is fixedly provided with a rectangular connecting plate (21), and one end, far away from the reel (7), of the rectangular cord fabric (9) is fixedly connected with the rectangular connecting plate (21).
4. The unmanned aerial vehicle wireless obstacle avoidance detection device of claim 1, wherein: the centrifugal rod assembly comprises a round connecting rod (29), a round long rod (30) and a spring (31), the round connecting rod (29) is in threaded connection with the lower end of a rotating block (27), the round long rod (30) is rotatably connected with one end of the round connecting rod (29) away from the rotating block (27), and the spring (31) is fixed between the round connecting rod (29) and the round long rod (30).
5. The unmanned aerial vehicle wireless obstacle avoidance detection device of claim 1, wherein: the rotation extending point between the rotating block (27) and the clip-shaped fixing frame (28) is vertical to the rotation extending point between the clip-shaped fixing frame (28) and the U-shaped fixing frame (23).
6. A detection method of an unmanned aerial vehicle wireless obstacle avoidance detection device is used for the unmanned aerial vehicle wireless obstacle avoidance detection device as claimed in any one of claims 1 to 5, and is characterized by comprising the following steps:
the first step is as follows: the first motor (3) is started, the screw rod (5) is driven to rotate through the transmission assembly (4), and the rectangular fixing frame (6) is further moved;
the second step: according to the detection requirement, the distance between the photoelectric switch (32) and the rectangular fixing frame (6) is changed;
the third step: the unmanned aerial vehicle flies below the rectangular support plate (2) from the lower part of the photoelectric switch (32);
the fourth step: when the photoelectric switch (32) detects the unmanned aerial vehicle, the barrier folding mechanism is stretched to generate a barrier, and the avoidance effect of the unmanned aerial vehicle is observed;
the fifth step: according to the detection requirement, when the photoelectric switch (32) detects the unmanned aerial vehicle, the working mode is changed, the obstacle swing mechanism runs, an obstacle with irregular movement is generated, and the avoiding effect of the unmanned aerial vehicle is observed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111630193.5A CN114252286B (en) | 2021-12-29 | 2021-12-29 | Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111630193.5A CN114252286B (en) | 2021-12-29 | 2021-12-29 | Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114252286A CN114252286A (en) | 2022-03-29 |
| CN114252286B true CN114252286B (en) | 2022-10-25 |
Family
ID=80798606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111630193.5A Active CN114252286B (en) | 2021-12-29 | 2021-12-29 | Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114252286B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116352756A (en) * | 2022-11-25 | 2023-06-30 | 威凯检测技术有限公司 | Obstacle avoidance function detection system and detection method for intelligent service robot in indoor scene |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923315A (en) * | 2012-11-22 | 2013-02-13 | 哈尔滨工业大学 | Inflation/deflation type air bag unfolding and coiling device |
| US10397495B1 (en) * | 2017-02-07 | 2019-08-27 | Amazon Technologies, Inc. | Self-contained mobile sensor calibration structure |
| CN211076389U (en) * | 2019-12-20 | 2020-07-24 | 仲恺农业工程学院 | Obstacle scene simulation platform for unmanned aerial vehicle obstacle avoidance test |
| CN112114592A (en) * | 2020-09-10 | 2020-12-22 | 南京大学 | Method for realizing autonomous crossing of movable frame-shaped barrier by unmanned aerial vehicle |
| CN112649213A (en) * | 2021-01-18 | 2021-04-13 | 许威 | Automobile unmanned test simulation collision determination device |
| CN113820145A (en) * | 2021-11-24 | 2021-12-21 | 北京智能车联产业创新中心有限公司 | Road intrusion safety detection system and detection method for automatic driving automobile |
| CN114348294A (en) * | 2021-12-31 | 2022-04-15 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Unmanned aerial vehicle obstacle avoidance testing method and device and computer equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7044584B2 (en) * | 2018-02-23 | 2022-03-30 | 本田技研工業株式会社 | Flight condition inspection system, flight condition inspection method and program |
-
2021
- 2021-12-29 CN CN202111630193.5A patent/CN114252286B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923315A (en) * | 2012-11-22 | 2013-02-13 | 哈尔滨工业大学 | Inflation/deflation type air bag unfolding and coiling device |
| US10397495B1 (en) * | 2017-02-07 | 2019-08-27 | Amazon Technologies, Inc. | Self-contained mobile sensor calibration structure |
| CN211076389U (en) * | 2019-12-20 | 2020-07-24 | 仲恺农业工程学院 | Obstacle scene simulation platform for unmanned aerial vehicle obstacle avoidance test |
| CN112114592A (en) * | 2020-09-10 | 2020-12-22 | 南京大学 | Method for realizing autonomous crossing of movable frame-shaped barrier by unmanned aerial vehicle |
| CN112649213A (en) * | 2021-01-18 | 2021-04-13 | 许威 | Automobile unmanned test simulation collision determination device |
| CN113820145A (en) * | 2021-11-24 | 2021-12-21 | 北京智能车联产业创新中心有限公司 | Road intrusion safety detection system and detection method for automatic driving automobile |
| CN114348294A (en) * | 2021-12-31 | 2022-04-15 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Unmanned aerial vehicle obstacle avoidance testing method and device and computer equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114252286A (en) | 2022-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114252286B (en) | Unmanned aerial vehicle wireless obstacle avoidance detection device and detection method thereof | |
| US8540005B2 (en) | Apparatus and method for monitoring and controlling a covering for an architectural opening | |
| CN113558528A (en) | Lifting device and floor sweeping robot | |
| CN107972861B (en) | Unmanned aerial vehicle | |
| CN111946996B (en) | A unmanned aerial vehicle shrink frame for carrying on panoramic camera | |
| CN112325068A (en) | Power equipment fault detection device and system | |
| CN107117218B (en) | Ejection climbing robot | |
| CN108682187A (en) | A kind of floating obstacle avoidance apparatus of novel magnetic | |
| CN103590742A (en) | Built-in magnetic control curtain of hollow glass | |
| CN112278249B (en) | Unmanned aerial vehicle running turns to device based on worm gear structure | |
| CN109669019B (en) | Hydrology real-time detection device | |
| CN210204619U (en) | Damping device and sweeping cleaning robot applied to commercial places | |
| CN212685906U (en) | Unmanned aerial vehicle soil erosion and water loss monitoring device | |
| CN112428931A (en) | Four-degree-of-freedom three-dimensional laser radar sensing device for unmanned driving | |
| CN220186269U (en) | Alarm device for aviation control | |
| CN110027719A (en) | A kind of unmanned plane electric lifting pan-tilt head | |
| CN211252424U (en) | Telescopic pedal structure | |
| CN214590211U (en) | High-altitude electrified power transmission equipment cleaning device based on unmanned aerial vehicle | |
| RU2013117036A (en) | DEVICE AND METHOD FOR OPERATING THE CLEANING-RELEASE OF THE AIRCRAFT CHASSIS | |
| CN216734806U (en) | Unmanned surveying vehicle for real-time transmission of graphs | |
| CN104405160A (en) | Parking space occupation device | |
| CN220136679U (en) | Unmanned aerial vehicle for monitoring crop growth information | |
| CN220721406U (en) | Unmanned aerial vehicle | |
| CN217673254U (en) | Unmanned aerial vehicle of municipal works surveys equipment | |
| CN216688858U (en) | Road construction is with road bed side slope construction protector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240523 Address after: 210000 science and technology innovation space 513, building 6-A, No. 75, Tiansheng Road, Changlu street, Jiangbei new area, Nanjing, Jiangsu Province Patentee after: Nanjing Ketian Technology Co.,Ltd. Country or region after: China Patentee after: Nanjing Dunkong Artificial Intelligence Technology Research and Development Co.,Ltd. Address before: 210000 804, building 6a, No. 75, Tiansheng Road, Jiangbei new area, Nanjing, Jiangsu Patentee before: Nanjing Ketian Technology Co.,Ltd. Country or region before: China |