CN115320848B - Unmanned aerial vehicle system with keep away barrier function - Google Patents
Unmanned aerial vehicle system with keep away barrier function Download PDFInfo
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- CN115320848B CN115320848B CN202211255907.3A CN202211255907A CN115320848B CN 115320848 B CN115320848 B CN 115320848B CN 202211255907 A CN202211255907 A CN 202211255907A CN 115320848 B CN115320848 B CN 115320848B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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Abstract
The invention belongs to the field of unmanned aerial vehicles, and provides an unmanned aerial vehicle system with an obstacle avoidance function, which has the advantages of simple structure, high obstacle detection precision, long detection distance, strong light interference resistance, light weight, high operation reliability, low manufacturing and maintenance cost and the like; the invention includes: the invention relates to a flight control part and a scanning imaging obstacle avoidance part, wherein a horizontal scanning part, a top scanning part and a bottom scanning part are arranged in the scanning imaging obstacle avoidance part, the horizontal scanning part circumferentially detects obstacles in horizontal flight, the top scanning part turns partial detection beams of the horizontal scanning part to the position above an unmanned aerial vehicle to detect the obstacles at the top, and the bottom scanning part turns partial detection beams of the horizontal scanning part to the position below the unmanned aerial vehicle to detect the obstacles at the bottom.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, relates to the unmanned aerial vehicle technology, and particularly provides an unmanned aerial vehicle system with an obstacle avoidance function.
Background
The unmanned plane is an unmanned plane which is operated by radio remote control equipment and a self-contained program control device, the unmanned plane is provided with no cockpit, but is provided with an automatic pilot, a program control device and other equipment, and personnel at a ground, a naval vessel or a mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the unmanned plane through radar and other equipment. The unmanned aerial vehicle can take off like a common airplane or launch to lift off by using a boosting rocket under the radio remote control, and can also be carried to the air by a mother aircraft to be thrown and flown; during recovery, the aircraft can automatically land in the same way as a common aircraft landing process, can also be recovered by a remote control parachute or a blocking net, and can be repeatedly used for multiple times; the method is widely applied to the fields of aerial reconnaissance, monitoring, communication, anti-latency, electronic interference and the like.
The unmanned aerial vehicle has different obstacle avoidance requirements in different application scenes, for example, when the unmanned aerial vehicle is used for routing inspection in a project site, a special distance or angle is required to be maintained between the unmanned aerial vehicle and a building main body so as to avoid possible collision; in dark places such as tunnels and the like, the inspection task can be completed under the condition of unclear sight only by actively avoiding the original obstacles and even quickly avoiding the flying animals; when the iron tower is patrolled, the tiny electric wires need to be avoided so as to avoid danger caused by winding of tiny objects; when the formation is performed, unmanned aerial vehicles in the formation are prevented from colliding. The perfect obstacle avoidance system needs to adapt to different application scenes simultaneously, and the accident rate is reduced, so the obstacle avoidance technology becomes an important issue in the development of unmanned aerial vehicles.
"range finding" keeps away the basis of barrier as unmanned aerial vehicle, as long as unmanned aerial vehicle can accurate measurement and the barrier between the distance, just can stop advancing before colliding to the barrier. At present, an unmanned aerial vehicle obstacle avoidance system mainly has the following modes: the system comprises an ultrasonic obstacle avoidance technology, an infrared obstacle avoidance technology, a visual obstacle avoidance technology and a laser obstacle avoidance technology, wherein the laser obstacle avoidance technology is most widely applied. The laser obstacle avoidance technology specifically calculates the distance between the laser and an object by controlling the time of the laser passing through the light to turn back, and then obtains a 3D depth of field image, and has the advantages of long detection distance, high scanning speed, high precision and good light interference resistance; however, the existing laser obstacle avoidance device has large weight and limited field view angle, and cannot simultaneously detect horizontal flight direction, top and bottom obstacles of the unmanned aerial vehicle, if a plurality of laser obstacle avoidance devices are configured simultaneously, the self weight of the unmanned aerial vehicle is obviously increased, and the technical difficulty, the production cost and the maintenance cost of unmanned aerial vehicle manufacture are further improved.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an unmanned aerial vehicle system with an obstacle avoidance function.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an unmanned aerial vehicle system with keep away barrier function includes: fly the controlling part and scan formation of image and keep away barrier spare, fly the controlling part and include: fuselage and flight power spare, flight power spare provides power for the fuselage, the fuselage includes: a housing and a support; the barrier piece is kept away in scanning formation of image sets up on the fuselage, includes: the horizontal scanning part detects obstacles in the horizontal flying circumferential direction, the top scanning part relays and turns part of detection beams of the horizontal scanning part to the upper part of the flying power part through the relay power part to detect the obstacles, the bottom scanning part relays and turns part of detection beams of the horizontal scanning part to the lower part of the airplane body through the relay power part to detect the obstacles, and the controller is used for controlling the horizontal scanning part, the top scanning part, the bottom scanning part and the relay power part to realize the obstacle detection and avoidance.
Preferably, the support member includes: n support sub-members, wherein N is more than or equal to 3; n support the subelement along casing outer wall circumference evenly distributed, and be located same horizontal plane, every supports the subelement and includes: the supporting and fixing pipe and the supporting legs are horizontally and fixedly arranged on the outer wall of the machine shell, a first spiral groove and a sliding block are arranged on the inner wall of the supporting and fixing pipe, and a magnetic coil is fixedly embedded in the first spiral groove; the supporting leg is in a right-angle rod shape, the horizontal section of the supporting leg is embedded in the supporting and fixing pipe, and the outer wall of the supporting leg is provided with a second spiral groove; after the magnetic coil is connected with direct current, a magnetic field is generated to push the supporting leg to move back and forth along the axis of the supporting and fixing pipe, and meanwhile, the second spiral groove is matched with the sliding block to enable the supporting leg to rotate around the axis of the supporting and fixing pipe in the circumferential direction, so that the vertical section of the supporting leg is folded and released.
Preferably, the flight power member includes: transmission shaft, rotor blade and flying motor, flying motor sets up in the casing, the transmission shaft is the center pin coincidence of tubulose, and axis and casing, and flying motor is connected to the transmission shaft bottom, and the transmission shaft top is passed the casing after-fixing and is set up the rotor blade, and flying motor passes through the transmission shaft and drives the rotor blade and provide power for the fuselage.
Preferably, the horizontal scanning member includes: scanning backup pad, scanning driving pipe, horizontal scanning motor, laser emission receiver, the fixed suit of scanning backup pad level is on the casing outer wall, scanning driving pipe suit outside the casing, and be located the scanning backup pad, scanning driving pipe inner wall circumference is provided with interior teeth of a cogwheel, the horizontal scanning motor is fixed to be set up on the inner wall of casing, is provided with the outer teeth of a cogwheel in the pivot of horizontal scanning motor, the outer teeth of a cogwheel pass behind the casing lateral wall with interior teeth of a cogwheel meshing for horizontal scanning motor drives the scanning driving pipe and takes place relative rotation in a circumferential direction with the casing in the scanning backup pad, the fixed setting of laser emission receiver implements the barrier and surveys on the outer wall of scanning driving pipe.
Preferably, the relay power member includes: the relay device comprises a central relay pipe, a relay hose, a relay motor, a relay worm and a relay worm wheel, wherein the central relay pipe is arranged in a casing, the axis of the central relay pipe is superposed with the central axis of the casing, the relay motor is arranged in the casing, the relay worm is arranged on a rotating shaft of the relay motor, and the relay worm wheel is fixedly sleeved on the outer wall of the central relay pipe and meshed with the relay worm, so that the relay motor drives the central relay pipe to rotate; the bottom end of the central relay pipe penetrates through the bottom end face of the shell, a relay hose is fixedly embedded at the top end of the central relay pipe, the free end of the relay hose penetrates through a transmission shaft of the flight power part, and the relay hose rotates along with the central relay pipe and freely rotates in the transmission shaft.
Preferably, the top scan element comprises: the top relay tube is in a right-angle tubular shape, the horizontal section of the top relay tube is positioned below the shell and fixedly connected with the central relay tube through a relay shaft, a first supporting plate is arranged on the inner side of the vertical section of the top relay tube, and the top relay tube is hung on the scanning supporting plate through the first supporting plate and rotates along with the central relay tube to rotate relatively to the shell in the circumferential direction; the top relay optical fiber is embedded in the top relay pipe and sequentially penetrates through the central relay pipe and the relay hose, and the top laser transmitting and receiving mirror is arranged on the end face of the free end of the relay hose; a first transmitting relay lens and a first receiving relay lens are fixedly embedded in the vertical section of the top relay tube and are respectively arranged corresponding to the transmitting port and the receiving port of the laser transmitting receiver, so that transmitting laser emitted by the transmitting port of the laser transmitting receiver enters the top relay optical fiber after being refracted by the first transmitting relay lens, and is transmitted to the upper part of the shell through the top laser transmitting and receiving mirror after passing through the top relay optical fiber.
Preferably, the bottom scanning element comprises: the bottom relay tube is in a right-angle tubular shape, the horizontal section of the bottom relay tube is positioned below the shell and fixedly connected with the top relay tube through a relay shaft, a second supporting plate is arranged on the inner side of the vertical section of the bottom relay tube, the bottom relay tube is hung on the scanning supporting plate through the second supporting plate and rotates along with the rotation of the central relay tube in a relative circumferential direction with the shell, and the second supporting plate and the first supporting plate are uniformly distributed on the scanning supporting plate along the circumference; the bottom relay optical fiber is embedded in the bottom relay tube, and the bottom laser transmitting and receiving mirror is arranged on the outer side of the horizontal section of the bottom relay tube; and a second transmitting relay lens and a second receiving relay lens are fixedly embedded in the vertical section of the bottom relay tube and are respectively arranged corresponding to the transmitting port and the receiving port of the laser transmitting receiver, so that transmitting laser emitted by the transmitting port of the laser transmitting receiver is refracted by the second transmitting relay lens and then enters the bottom relay optical fiber, and is transmitted to the lower part of the machine shell through the bottom laser transmitting and receiving mirror after passing through the bottom relay optical fiber, meanwhile, the bottom laser transmitting and receiving mirror receives reflected laser passing through the barrier, and the reflected laser enters the receiving port of the laser transmitting receiver through the second receiving relay lens after passing through the bottom relay optical fiber.
Further preferably, the rotation direction of the central relay pipe is the same as the rotation direction of the scan driving pipe and opposite to the rotation direction of the flying power member, and the rotation speed of the central relay pipe is different from the rotation speed of the scan driving pipe.
Based on the technical scheme, the invention has the beneficial effects that:
1) The unmanned aerial vehicle system with the obstacle avoidance function has the advantages of reasonable structural design, simple structure, high obstacle detection precision, long detection distance, strong light interference resistance, light weight, high operation reliability and low manufacturing and maintenance cost;
2) The unmanned aerial vehicle system with the obstacle avoidance function is provided with the flight control part and the scanning imaging obstacle avoidance part, the flight control part adopts a single-rotor flight power system, the complexity of the whole machine manufacturing process, the manufacturing cost and the maintenance cost are obviously reduced, the whole machine flight reliability is improved, the torque generated on a machine shell when the rotor blades of the flight control part rotate is offset through the reverse rotation of the scanning imaging obstacle avoidance part, and the flight stability of the whole machine is improved;
3) The invention relates to a scanning imaging obstacle avoidance piece of an unmanned aerial vehicle system with an obstacle avoidance function, which is characterized in that a horizontal scanning piece, a top scanning piece and a bottom scanning piece are arranged in the scanning imaging obstacle avoidance piece, the horizontal scanning piece performs obstacle detection on the horizontal flight circumference on a casing, the top scanning piece turns partial detection light beams of the horizontal scanning piece to the position above a rotor blade on the horizontal scanning piece to perform top obstacle detection, and the bottom scanning piece turns partial detection light beams of the horizontal scanning piece to the position below the casing on the horizontal scanning piece to perform bottom obstacle detection.
Drawings
Fig. 1 is a schematic view of a main view structure of an unmanned aerial vehicle system with an obstacle avoidance function according to the present invention;
fig. 2 is a schematic top-view perspective structure view of the unmanned aerial vehicle system with obstacle avoidance function according to the present invention;
fig. 3 is a schematic view of a bottom perspective structure of the unmanned aerial vehicle system with obstacle avoidance function according to the present invention;
fig. 4 is a schematic top view of the unmanned aerial vehicle system with obstacle avoidance function according to the present invention;
fig. 5 is a schematic cross-sectional three-dimensional structure diagram of the unmanned aerial vehicle system with obstacle avoidance function in the present invention;
fig. 6 is a schematic structural diagram of a supporting component in the unmanned aerial vehicle system with an obstacle avoidance function according to the present invention;
wherein: 1 is a machine shell, 1-1 is a partition plate, 1-2 is a flight control cavity, and 1-3 is an obstacle avoidance cavity; 2 is a supporting component, 2-1 is a supporting fixed pipe, and 2-2 is a supporting leg; 3 is a transmission shaft, 4 is a rotor blade, 5 is a flight motor, 6 is a scanning support plate, 7 is a scanning transmission pipe, 8 is a horizontal scanning motor, 9 is a laser emission receiver, 11 is a central relay pipe, 12 is a relay hose, 13 is a relay motor, 14 is a relay worm, 15 is a relay worm wheel, 16 is a top relay pipe, 16-1 is a first supporting plate, 17 is a top laser emission receiver mirror, 18 is a bottom relay pipe, 18-1 is a second supporting plate, and 19 is a bottom laser emission receiver mirror.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples.
The embodiment provides an unmanned aerial vehicle system with keep away barrier function, its structure as shown in fig. 1~ 6, include: a flight control part and a scanning imaging obstacle avoidance part; the method specifically comprises the following steps:
the flight control comprises: a fuselage and a flight power part;
the fuselage includes: a machine shell 1 and a supporting piece, wherein,
the casing 1 is cylindrical, the top end face and the bottom end face of the casing are closed, a partition plate 1-1 is arranged in the inner cavity of the casing 1, the partition plate 1-1 divides the inner cavity of the casing 1 into a flight control cavity 1-2 and an obstacle avoidance cavity 1-3, and the flight control cavity 1-2 is positioned above the obstacle avoidance cavity 1-3; the partition plate 1-1 is also used for increasing the sealing performance of flight control and obstacle avoidance control elements so as to improve the waterproof and dustproof performance of the whole machine;
the support member includes: n supporting sub-elements 2, N is more than or equal to 3; n support son 2 along 1 outer wall circumference evenly distributed of casing, and be located same horizontal plane, every supports son 2 and includes: the supporting and fixing pipe 2-1 and the supporting leg 2-2, the supporting and fixing pipe 2-1 is horizontally and fixedly arranged on the outer wall of the machine shell 1, the inner wall of the supporting and fixing pipe 2-1 is provided with a first spiral groove and a sliding block, and a magnetic coil is fixedly embedded in the first spiral groove; the supporting leg 2-2 is in a right-angle rod shape, the horizontal section of the supporting leg 2-2 is embedded in the supporting and fixing pipe 2-1, and the outer wall of the supporting leg is provided with a second spiral groove; after the direct current is introduced into the magnetic coil, a magnetic field is generated to push the supporting leg 2-2 to reciprocate along the axis of the supporting and fixing tube 2-1, meanwhile, the second spiral groove is matched with the sliding block to enable the supporting leg 2-2 to circumferentially rotate around the axis of the supporting and fixing tube 2-1, the vertical section of the supporting leg 2-2 is folded and released, and further the supporting piece supports the unmanned aerial vehicle system, when the unmanned aerial vehicle system is in a flight state, the supporting leg 2-2 is folded, so that the scanning imaging obstacle avoiding piece can conveniently scan, image and avoid obstacles in the environment in the horizontal flight direction, and when the unmanned aerial vehicle system is in a parking state, the supporting leg 2-2 is released, so that the unmanned aerial vehicle system can land;
the flight power part includes: the unmanned aerial vehicle system comprises a transmission shaft 3, rotor blades 4 and a flying motor 5, wherein the flying motor 5 is arranged in a flying cavity 1-2 and is positioned on a partition plate 1-1, the transmission shaft 3 is tubular, the axis of the transmission shaft is overlapped with the central axis of a casing 1, the bottom end of the transmission shaft 3 is connected with the flying motor 5, and the top end of the transmission shaft 3 penetrates through the top end face of the casing 1 and then is fixedly provided with the rotor blades 4, so that the flying motor 5 drives the rotor blades 4 to rotate through the transmission shaft, and the flying function of the unmanned aerial vehicle system is realized; the flight power part adopts a single-rotor type power system, so that the manufacturing cost and the maintenance cost of the whole aircraft are obviously reduced, and the flight reliability of the whole aircraft is improved; the torque generated to the shell 1 when the rotor blades 4 rotate can be counteracted through the reverse rotation of the scanning imaging obstacle avoidance piece, and the flight stability of the whole machine is effectively improved;
the scanning formation of image keeps away barrier includes: the device comprises a horizontal scanning piece, a top scanning piece, a bottom scanning piece, a relay power piece and a controller;
the horizontal scanning member includes: the scanning device comprises a scanning support plate 6, a scanning transmission pipe 7, a horizontal scanning motor 8 and a laser emission receiver 9, wherein the scanning support plate 6 is in a circular ring plate shape, the scanning support plate 6 is horizontally and fixedly sleeved on the outer wall of a machine shell 1, the scanning transmission pipe 7 is sleeved outside the machine shell 1 and positioned on the scanning support plate 6, and a first thrust ball bearing is arranged between the scanning transmission pipe 7 and the scanning support plate 6 (one end face of the first thrust ball bearing is fixedly connected with the corresponding end face of the scanning transmission pipe, and the other end face of the first thrust ball bearing is fixedly connected with the corresponding end face of the scanning support plate 6), so that the scanning transmission pipe 7 and the machine shell 1 rotate in a relative circumferential direction through the first thrust ball bearing; inner gear teeth are circumferentially arranged on the inner wall of the scanning transmission pipe 7, the horizontal scanning motor 8 is fixedly arranged on the inner wall of the machine shell 1 and is positioned in the obstacle avoidance cavity 1-3, outer gear teeth are arranged on a rotating shaft of the horizontal scanning motor 8, the outer gear teeth penetrate through the outer wall of the machine shell 1 and are meshed with the inner gear teeth, so that when the horizontal scanning motor 8 drives the outer gear teeth to rotate, the scanning transmission pipe 7 is driven to rotate around the machine shell 1 through the inner gear teeth, the rotating direction of the scanning transmission pipe is opposite to that of the rotor blades 4, the torque generated on the machine shell 1 when a part of the rotor blades 4 rotate is offset, and the machine shell 1 is prevented from rotating; the laser transmitting and receiving device 9 is fixedly arranged on the outer wall of the scanning transmission pipe 7, so that the laser transmitting and receiving device 9 rotates along with the scanning transmission pipe 7;
further, the number of the laser emitting receivers 9 is two, and the two laser emitting receivers 9 are uniformly distributed along the circumferential direction of the scanning transmission pipe 7; as another option, if the number of the laser emitting and receiving devices 9 is one, a counterweight block is correspondingly configured, and the laser emitting and receiving devices 9 and the counterweight block are uniformly distributed along the circumferential direction of the scanning transmission pipe 7, so as to improve the stability of the scanning transmission pipe 7 during rotation; furthermore, the vertical field angle of the laser transmitter-receiver 9 is greater than 90 degrees, so that the laser transmitter-receiver 9 scans and detects obstacles around the unmanned aerial vehicle system when rotating along with the scanning transmission pipe 7, and obstacles can be avoided in time in the horizontal flight process;
the relay power unit includes: the relay device comprises a central relay tube 11, a relay hose 12, a relay motor 13, a relay worm 14 and a relay worm wheel 15, wherein the central relay tube 11 is arranged in an obstacle avoidance cavity 1-3, the axis of the central relay tube coincides with the central axis of the enclosure 1, the relay motor 13 is arranged in the obstacle avoidance cavity 1-3 and is positioned on the bottom end face of the enclosure 1, the relay worm 14 is arranged on a rotating shaft of the relay motor 13, and the relay worm wheel 15 is fixedly sleeved on the outer wall of the central relay tube 11 and is meshed with the relay worm 14, so that the relay motor 13 drives the central relay tube 11 to rotate through the relay worm 14 and the relay worm wheel 15; the bottom end of the central relay pipe 11 penetrates through the bottom end face of the machine shell 1, a relay hose 12 is fixedly embedded in the top end of the central relay pipe 11, the free end of the relay hose 12 penetrates through the transmission shaft 3, and the relay hose 12 rotates along with the central relay pipe 11 and freely rotates in the transmission shaft 3; sealing treatment is carried out between the relay hose 12 and the transmission shaft 3;
the top scan component includes: the top relay tube 16 is in a right-angle tubular shape, the horizontal section of the top relay tube 16 is positioned below the machine shell 1 and is fixedly connected with the central relay tube 11 through a relay shaft, a first supporting plate 16-1 is arranged on the inner side (facing one side of the machine shell) of the vertical section of the top relay tube 16, the top relay tube 16 is hung on the scanning supporting plate 6 through the first supporting plate 16-1, and a second thrust ball bearing is arranged between the first supporting plate 16-1 and the scanning supporting plate 6 (one end face of the second thrust ball bearing is fixedly connected with the corresponding end face of the first supporting plate 16-1, and the other end face of the second thrust ball bearing is fixedly connected with the corresponding end face of the scanning supporting plate), so that the top relay tube rotates on the scanning supporting plate 6 along with the central relay tube 11 through the second thrust ball bearing and rotates relative to the machine shell 1 in the circumferential direction; the top relay optical fiber is embedded in the top relay pipe 16 and sequentially penetrates through the central relay pipe 11 and the relay hose 12, and the top laser transmitting and receiving mirror 17 is arranged on the end face of the free end of the relay hose 12; a first transmitting relay lens and a first receiving relay lens are fixedly embedded in the vertical section of the top relay tube 16, and the first transmitting relay lens and the first receiving relay lens are respectively arranged corresponding to the transmitting port and the receiving port of the laser transmitting receiver 9, so that the transmitting laser emitted by the transmitting port of the laser transmitting receiver 9 is refracted by the first transmitting relay lens, enters the top relay optical fiber, passes through the top relay optical fiber and is transmitted to the upper part of the rotor blade 4 through the top laser transmitting receiver mirror 17, meanwhile, the top laser transmitting receiver mirror 17 receives the reflected laser passing through the obstacle, and the reflected laser passes through the top relay optical fiber and then enters the receiving port of the laser transmitting receiver 9 through the first receiving relay lens; because the top laser transmitting and receiving mirror 17 transmits laser to the upper part of the rotor blade 4 in a fan-shaped distribution, the rotating top laser transmitting and receiving mirror 17 can perform surface-shaped scanning on the upper part of the rotor blade 4 and detect obstacles above the rotor blade in time;
further, the rotation direction of the top relay pipe 16 is opposite to the rotation direction of the rotor blade 4, and the rotation speed of the top relay pipe 16 is different from the rotation speed of the scanning transmission pipe 7, so that a first transmitting relay lens and a first receiving relay lens embedded in the top relay pipe 16 can be overlapped with the laser transmitting receiver 9 along a radial line to relay and transmit the transmitting laser and the reflected laser; for example, the rotation speed of the top relay tube is 10r/s, the rotation speed of the scanning transmission tube is 1r/s, the top relay tube can always catch up with the laser transmitting and receiving device in the rotation process, the first transmitting relay lens, the first receiving relay lens and the laser transmitting and receiving device 9 coincide along the radial line after catching up, and the radial coincidence times can be adjusted by adjusting the rotation speed difference of the two;
the bottom scan component includes: the bottom relay tube 18, the bottom laser transmitting and receiving mirror 19 and the bottom relay fiber, the bottom relay tube 18 is in a right-angle tubular shape, the horizontal section of the bottom relay tube 18 is located below the machine shell 1 and is fixedly connected with the top relay tube 16 through a relay shaft, a second supporting plate 18-1 is arranged on the inner side (facing one side of the machine shell) of the vertical section of the bottom relay tube 18, the bottom relay tube 18 is hung on the scanning supporting plate 6 through the second supporting plate 18-1, the second supporting plate 18-1 and the first supporting plate 16-1 are uniformly distributed on the scanning supporting plate 6 along the circumference, and the second supporting plate 18-1 and the scanning supporting plate 6 are connected through a second thrust ball bearing (one end surface of the second thrust ball bearing is fixedly connected with the corresponding end surface of the second supporting plate 18-1, and the other end surface is fixedly connected with the corresponding end surface of the scanning supporting plate), so that the bottom relay tube 18 rotates on the scanning supporting plate 6 along with the central relay tube 11 through the second thrust ball bearing and rotates relatively circumferentially with the machine shell 1; the bottom relay optical fiber is embedded in the bottom relay tube 18, and the bottom laser transmitting and receiving mirror 19 is arranged at the outer side (back to one side of the machine shell) of the horizontal section of the bottom relay tube 18; a second transmitting relay lens and a second receiving relay lens are fixedly embedded in the vertical section of the bottom relay tube 18 and are respectively arranged corresponding to the transmitting port and the receiving port of the laser transmitting receiver 9, so that the transmitting laser emitted by the transmitting port of the laser transmitting receiver 9 is refracted by the second transmitting relay lens and enters the bottom relay optical fiber, passes through the bottom relay optical fiber and is transmitted to the lower part of the machine shell 1 through the bottom laser transmitting and receiving mirror 19, meanwhile, the bottom laser transmitting and receiving mirror 19 receives the reflected laser passing through the obstacle, and the reflected laser passes through the bottom relay optical fiber and then enters the receiving port of the laser transmitting receiver 9 through the second receiving relay lens; similarly, since the bottom laser transceiver mirror 19 emits laser light to the lower side of the housing 1 in a fan-shaped distribution, the rotating bottom laser transceiver mirror 19 can perform planar scanning on the lower side of the housing 1 and detect an obstacle below the housing 1 in time;
the controller is arranged in the flight control cavity 1-2 and located on the partition plate 1-1, and is used for controlling the laser transmitting and receiving device 9 to emit transmitting laser and generating a 3D depth of field image of the obstacle according to a reflected laser signal, and further controlling the flight motor 5 in the flight power part, the horizontal scanning motor 8 of the scanning imaging obstacle avoidance part and the relay motor 13 to achieve obstacle avoidance; specifically, the method comprises the following steps: the torque acted on the machine shell 1 by the top relay pipe 16, the bottom relay pipe 18 and the laser emission receiver 9 which rotate circumferentially along the same direction and the torque acted on the machine shell 1 by the rotor blade 4 are mutually offset, so that the stability of the machine shell 1 is improved; simultaneously, when the unmanned aerial vehicle system need turn, only need adjust laser emission receiver 9 or top relay pipe 16, the rotational speed of bottom relay pipe 18 through horizontal scanning motor 8 or relay motor 13, realize turning through changing the moment of torsion that top relay pipe 16, bottom relay pipe 18 and laser emission receiver 9 acted on casing 1 and rotor blade 4 to the moment of torsion difference of casing 1, relay hose 12 can satisfy the bending demand of unmanned aerial vehicle system forward with the backward flight in-process to top relay optic fibre.
Furthermore, still be provided with the camera that has the cloud platform on the 1 outer wall of casing, the camera is used for accomplishing the shooting task.
Furthermore, the specific process of the unmanned aerial vehicle system with the obstacle avoidance function for obstacle avoidance is as follows:
1) The controller controls the flight power part to rotate according to a preset program, and controls the top relay pipe 16, the bottom relay pipe 18 and the laser emission receiver 9 to rotate reversely so as to drive the airplane body (the casing) to take off according to a preset track;
2) When the airplane body takes off, the controller controls each supporting part 2 to retract the supporting legs 2-2;
3) The controller transmits detection laser to the surroundings through the laser transmitting and receiving device 9 according to a preset program, and simultaneously receives reflected laser reflected by an obstacle so as to form a 3D depth of field map of the horizontal flight circumference of the airplane body (the machine shell);
4) Because the rotating speed of the top relay pipe 16 and the rotating speed of the bottom relay pipe 18 have a rotating speed difference with the rotating speed of the laser radiation receiver, the first transmitting relay lens and the first receiving relay lens embedded in the top relay pipe 16 are coincided with the laser radiation receiver 9 along a radial line according to a preset frequency so as to relay the transmitted laser and the reflected laser of the laser radiation receiver 9, and a 3D depth of field map of the top of the machine body (casing) is formed;
5) A second transmitting relay lens and a second receiving relay lens which are embedded in the bottom relay tube 18 are overlapped with the laser transmitting and receiving device 9 along a radial line according to a preset frequency so as to relay the transmitted laser and the reflected laser of the laser transmitting and receiving device 9 and form a 3D depth of field image of the bottom of the machine body (machine shell);
6) And the controller controls the flight power part to avoid the obstacle to fly according to the 3D depth of field image in the horizontal flight circumferential direction, the 3D depth of field image at the top and the 3D depth of field image at the bottom.
In conclusion, the unmanned aerial vehicle system with the obstacle avoidance function provided by the invention has the advantages of reasonable structural design, simple structure, high obstacle detection precision, long detection distance, strong light interference resistance, light weight, high operation reliability and low manufacturing and maintenance cost; the invention is provided with the flight control part and the scanning imaging obstacle avoidance part, the flight control part adopts a single-rotor-wing flight power system, the complexity of the manufacturing process of the whole machine, the manufacturing cost and the maintenance cost are obviously reduced, the flight reliability of the whole machine is improved, the torque generated on the shell when the rotor blades of the flight control part rotate is offset through the reverse rotation of the scanning imaging obstacle avoidance part, and the flight stability of the whole machine is improved. Furthermore, the scanning imaging obstacle avoidance piece is internally provided with a horizontal scanning piece, a top scanning piece and a bottom scanning piece, the horizontal scanning piece performs obstacle detection on the horizontal flight circumference on the shell, the top scanning piece turns part of detection light beams to the upper part of the rotor blade on the horizontal scanning piece to perform top obstacle detection, and the bottom scanning piece turns part of detection light beams to the lower part of the shell on the horizontal scanning piece to perform bottom obstacle detection.
While the invention has been described with reference to specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.
Claims (5)
1. An unmanned aerial vehicle system with keep away barrier function includes: flight control spare and scanning formation of image keep away barrier spare, it includes to fly the control spare: fuselage and flight power spare, flight power spare provides power for the fuselage, the fuselage includes: a housing and a support; its characterized in that, the scanning formation of image keeps away barrier piece and sets up on the fuselage, includes: the system comprises a horizontal scanning piece, a top scanning piece, a bottom scanning piece, a relay power piece and a controller, wherein the horizontal scanning piece performs obstacle detection on the horizontal flying circumference, the top scanning piece performs obstacle detection by relaying and turning part of detection beams of the horizontal scanning piece to the position above the flying power piece through the relay power piece, the bottom scanning piece performs obstacle detection by relaying and turning part of detection beams of the horizontal scanning piece to the position below a machine body through the relay power piece, and the controller is used for controlling the horizontal scanning piece, the top scanning piece, the bottom scanning piece and the relay power piece to realize obstacle detection and avoidance;
the flight power part includes: the aircraft comprises a transmission shaft, rotor blades and a flight motor, wherein the flight motor is arranged in a casing, the transmission shaft is tubular, the axis of the transmission shaft is superposed with the central shaft of the casing, the bottom end of the transmission shaft is connected with the flight motor, the rotor blades are fixedly arranged after the top end of the transmission shaft penetrates through the casing, and the flight motor drives the rotor blades to provide power for the aircraft body through the transmission shaft;
the horizontal scanning member includes: the scanning device comprises a scanning support plate, a scanning transmission pipe, a horizontal scanning motor and a laser emission receiver, wherein the scanning support plate is horizontally fixedly sleeved on the outer wall of a machine shell, the scanning transmission pipe is sleeved outside the machine shell and is positioned on the scanning support plate, inner gear teeth are circumferentially arranged on the inner wall of the scanning transmission pipe, the horizontal scanning motor is fixedly arranged on the inner wall of the machine shell, outer gear teeth are arranged on a rotating shaft of the horizontal scanning motor, the outer gear teeth penetrate through the side wall of the machine shell and are meshed with the inner gear teeth, so that the horizontal scanning motor drives the scanning transmission pipe to circumferentially rotate relative to the machine shell on the scanning support plate, and the laser emission receiver is fixedly arranged on the outer wall of the scanning transmission pipe to implement obstacle detection;
the relay power unit includes: the relay device comprises a central relay pipe, a relay hose, a relay motor, a relay worm and a relay worm wheel, wherein the central relay pipe is arranged in a casing, the axis of the central relay pipe is superposed with the central axis of the casing, the relay motor is arranged in the casing, the relay worm is arranged on a rotating shaft of the relay motor, and the relay worm wheel is fixedly sleeved on the outer wall of the central relay pipe and meshed with the relay worm, so that the relay motor drives the central relay pipe to rotate; the bottom end of the central relay pipe penetrates through the bottom end face of the shell, a relay hose is fixedly embedded at the top end of the central relay pipe, the free end of the relay hose penetrates through a transmission shaft of the flight power part, and the relay hose rotates along with the central relay pipe and freely rotates in the transmission shaft;
the top scan component includes: the top relay tube is in a right-angle tubular shape, the horizontal section of the top relay tube is positioned below the shell and fixedly connected with the central relay tube through a relay shaft, a first supporting plate is arranged on the inner side of the vertical section of the top relay tube, and the top relay tube is hung on the scanning supporting plate through the first supporting plate and rotates along with the central relay tube to rotate relatively to the shell in the circumferential direction; the top relay optical fiber is embedded in the top relay pipe and sequentially penetrates through the central relay pipe and the relay hose, and the top laser transmitting and receiving mirror is arranged on the end face of the free end of the relay hose;
the bottom scan element comprises: the bottom relay tube is in a right-angle tubular shape, the horizontal section of the bottom relay tube is positioned below the shell and fixedly connected with the central relay tube through a relay shaft, a second supporting plate is arranged on the inner side of the vertical section of the bottom relay tube, the bottom relay tube is hung on the scanning supporting plate through the second supporting plate and rotates along with the rotation of the central relay tube in a relative circumferential direction with the shell, and the second supporting plate and the first supporting plate are uniformly distributed on the scanning supporting plate along the circumference; the bottom relay optical fiber is embedded in the bottom relay tube, and the bottom laser transmitting and receiving mirror is arranged on the outer side of the horizontal section of the bottom relay tube.
2. The unmanned aerial vehicle system with obstacle avoidance function of claim 1, wherein the support member comprises: n support sub-members, wherein N is more than or equal to 3; n support the subelement along casing outer wall circumference evenly distributed, and be located same horizontal plane, every supports the subelement and includes: the supporting and fixing pipe and the supporting legs are horizontally and fixedly arranged on the outer wall of the machine shell, a first spiral groove and a sliding block are arranged on the inner wall of the supporting and fixing pipe, and a magnetic coil is fixedly embedded in the first spiral groove; the supporting leg is in a right-angle rod shape, the horizontal section of the supporting leg is embedded in the supporting and fixing pipe, and the outer wall of the supporting leg is provided with a second spiral groove; after the magnetic coil is connected with direct current, a magnetic field is generated to push the supporting leg to move back and forth along the axis of the supporting fixed pipe, and meanwhile the second spiral groove is matched with the sliding block to enable the supporting leg to rotate circumferentially around the axis of the supporting fixed pipe.
3. The unmanned aerial vehicle system with obstacle avoidance function of claim 1, wherein the rotation direction of the central relay pipe is the same as the rotation direction of the scanning transmission pipe and opposite to the rotation direction of the flight power member, and the rotation speed of the central relay pipe is different from the rotation speed of the scanning transmission pipe.
4. The unmanned aerial vehicle system with obstacle avoidance function according to claim 1, wherein a first transmitting relay lens and a first receiving relay lens are fixedly embedded in the vertical section of the top relay pipe, and the first transmitting relay lens and the first receiving relay lens are respectively arranged corresponding to the transmitting opening and the receiving opening of the laser transmitting receiver, so that the transmitted laser light emitted from the transmitting opening of the laser transmitting receiver is refracted by the first transmitting relay lens and enters the top relay optical fiber, and is transmitted to the upper side of the housing through the top laser transmitting receiver mirror after passing through the top relay optical fiber, and meanwhile, the top laser transmitting receiver mirror receives the reflected laser light passing through the obstacle, and the reflected laser light enters the receiving opening of the laser transmitting receiver through the first receiving relay lens after passing through the top relay optical fiber.
5. The unmanned aerial vehicle system with obstacle avoidance function of claim 1, wherein a second transmitting relay lens and a second receiving relay lens are fixedly embedded in the vertical section of the bottom relay pipe, and the second transmitting relay lens and the second receiving relay lens are respectively arranged corresponding to the transmitting port and the receiving port of the laser transmitting receiver, so that the transmitting laser emitted from the transmitting port of the laser transmitting receiver is refracted by the second transmitting relay lens and enters the bottom relay optical fiber, and is transmitted to the lower side of the casing through the bottom laser transmitting receiver mirror after passing through the bottom relay optical fiber, and meanwhile, the bottom laser transmitting receiver mirror receives the reflected laser passing through the obstacle, and the reflected laser passes through the bottom relay optical fiber and then enters the receiving port of the laser transmitting receiver through the second receiving relay lens.
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