CN209396055U - Aircraft obstacle avoidance system and aircraft - Google Patents
Aircraft obstacle avoidance system and aircraft Download PDFInfo
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- CN209396055U CN209396055U CN201822096721.3U CN201822096721U CN209396055U CN 209396055 U CN209396055 U CN 209396055U CN 201822096721 U CN201822096721 U CN 201822096721U CN 209396055 U CN209396055 U CN 209396055U
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- aircraft
- pressure data
- support wheel
- data collector
- outer framework
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Abstract
This application involves nuclear power plant's inspection technical field, a kind of aircraft obstacle avoidance system and aircraft are disclosed.Inner frame is disposed on aircraft body, pressure data collector, rolling structure and outer framework, when aircraft collides in flight course with barrier, directly and bar contact by outer framework, outer framework generates rotation under the effect of external force, the normal force generated when counteracting aircraft and bar contact, the pressure data of collision generation is detected by pressure data collector simultaneously and is sent to pressure data processing unit, pressure data processing unit obtains corresponding radial force size and Orientation after being handled, so that aircraft body changes the direction of motion, realize the avoidance operation of aircraft.It efficiently avoids aircraft body and directly collides with barrier, by the way of the direction of motion of the pressure data change of flight device of pressure data collector acquisition, can be realized the identification of smaller barrier, have the advantages that avoidance is highly reliable.
Description
Technical field
This application involves nuclear power plant's inspection technical fields, more particularly to a kind of aircraft obstacle avoidance system and aircraft.
Background technique
With the rapid development of science and technology, unmanned plane obtains in fields such as mine prospection, power grid inspection, mappings
Be widely applied, by unmanned plane can in time, required information is accurately obtained in complicated landform environment, be people production
Huge convenience is brought with life.Since unmanned plane working environment is more complicated, in order to hide barrier in time during the work time
Hinder object, generally requires that corresponding obstacle avoidance system is arranged on unmanned plane.
Traditional unmanned plane mainly passes through the progress such as sensors such as stereoscopic vision, laser radar, infrared sensor or ultrasound
Then avoidance is realized in information collection.However stereoscopic vision, laser radar or infrared sensor are difficult to detect the transparencies such as glass
Body；Infrared sensor and ultrasonic sensor lack of resolution, it is difficult to the lesser object of size is detected, so that transporting in unmanned plane
It is easy to collide with barrier during row.Therefore, traditional unmanned plane obstacle avoidance system has the shortcomings that avoidance poor reliability.
Utility model content
Based on this, it is necessary to aiming at the problem that traditional unmanned plane obstacle avoidance system avoidance poor reliability, provide a kind of flight
Device obstacle avoidance system and aircraft.
A kind of aircraft obstacle avoidance system, the system comprises: inner frame is fixedly installed on the outer surface of aircraft body；
Pressure data collector is fixedly installed on side of the inner frame far from the aircraft body；Rolling structure, fixed setting
In the one end of the pressure data collector far from the inner frame；Outer framework surrounds the aircraft body, the outer framework
It is set to the one end of the rolling structure far from the pressure data collector；Pressure data processing unit connects the pressure
Data collector, the pressure data processing unit are set to the outer surface of the inner frame.
In one embodiment, the rolling structure includes support wheel base, support wheel and support wheel shaft, the support wheel base
Closed end be fixedly connected with the pressure data collector far from one end of the inner frame, the support wheel passes through the branch
Support wheel shaft is set to the open end of the support wheel base, and the outer framework contacts setting with the support wheel.
In one embodiment, the closed end of the support wheel base is Nian Jie with the pressure data collector or screw thread connects
It connects.
In one embodiment, the shape of the support wheel base is U-shaped.
In one embodiment, the shape of the support wheel base is c-type.
In one embodiment, the shape of the inner frame and the outer framework is circle.
In one embodiment, the quantity of the pressure data collector is three or more, the quantity of the rolling structure
It is consistent with the quantity of the pressure data collector.
In one embodiment, the pressure data collector is Nian Jie with the inner frame or is threadedly coupled.
A kind of aircraft, the aircraft include aircraft body and aircraft avoidance described in any of the above embodiments system
System.
In one embodiment, the aircraft is unmanned plane.
Above-mentioned aircraft obstacle avoidance system and aircraft are disposed with inner frame on aircraft body, pressure data is adopted
Storage, rolling structure and outer framework, when aircraft collides in flight course with barrier, by outer framework directly with
Bar contact, outer framework generate rotation under the effect of external force, the normal direction generated when counteracting aircraft and bar contact
Power, while the pressure data of collision generation is detected by pressure data collector and is sent to pressure data processing unit, pressure
Data processing equipment obtains corresponding radial force size and Orientation after being handled, so that aircraft body changes movement
The avoidance operation of aircraft is realized in direction.By above-mentioned aircraft obstacle avoidance system and aircraft, aircraft sheet is efficiently avoided
Body directly collides with barrier, using the direction of motion of the pressure data change of flight device of pressure data collector acquisition
Mode can be realized the identification of smaller barrier, have the advantages that avoidance is highly reliable.
Detailed description of the invention
Fig. 1 is aircraft obstacle avoidance system structural schematic diagram in an embodiment；
Fig. 2 is aircraft obstacle avoidance system structural schematic diagram in another embodiment；
Fig. 3 is the side view of rolling structure in an embodiment；
Fig. 4 is the side view of rolling structure in another embodiment.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the preferred embodiment of the application.But the application can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, purpose of providing these embodiments is keeps the understanding to disclosure of this application more saturating
It is thorough comprehensive.
Referring to Fig. 1, a kind of aircraft obstacle avoidance system, comprising: inner frame 100 is fixedly installed on aircraft body 600
Outer surface；Pressure data collector 200 is fixedly installed on the one end of inner frame 100 far from aircraft body 600；Rolling structure
300, it is fixedly installed on the one end of pressure data collector 200 far from inner frame 100；Outer framework 400 surrounds aircraft body
600, outer framework 400 is set to the one end of rolling structure 300 far from pressure data collector 200；Pressure data processing unit
500,200 (not shown) of pressure data collector is connected, pressure data processing unit 500 is set to the outer surface of inner frame 100.
Wherein, pressure data collector 200 is for acquiring the pressure data generated when colliding and being sent to pressure data processing dress
500 are set, pressure data processing unit 500 is handled for receiving pressure data, obtains the size and Orientation of corresponding radial force
And it is sent to the control device of aircraft.
Specifically, a frame, as inner frame 100 are provided on aircraft body 600, inner frame 100 specifically can be with
To be fixedly installed on directly by way of being bonded or being threadedly coupled on aircraft body 600, can also with when in aircraft body
It is arranged after certain extension device on 600, by extending device fixed setting.It is appreciated that the setting side of inner frame 100
Formula is not unique, if can in the case where not influencing aircraft work, meet packing pressure data collector 200,
The reasonable setting of rolling structure 300, outer framework 400 and pressure data processing unit 500.Pressure data collector 200, rolling
Dynamic structure 300 and outer framework 400 are set in turn in side of the inner frame 100 far from aircraft body 600, and outer framework 400 surrounds
Entire aircraft body 600 is configured, portion when guaranteeing that aircraft collides during the work time, with bar contact
It is divided into outer framework 400.When aircraft and barrier collide, outter frame shelf is in contact in external force and with outer framework 400
Rolling structure 300 under the action of rotate, generated when offsetting aircraft with bar contact by the rotation of outer framework 400
Normal force, suffered pressure data and be sent to pressure when then colliding by the detection of pressure data collector 200
Data processing equipment 500, pressure data processing unit 500 are analyzed and processed to obtain corresponding radial force size and Orientation, fly
The flight appearance for the radial force size and Orientation change of flight device that the control device of row device is obtained by pressure data processing unit 500
State, offsets the influence of radial force, to realize the avoidance operation of aircraft.In one embodiment, pressure data collector 200
For pressure sensor.It is appreciated that pressure data collector 200 carries out the acquisition and transmission of pressure data, number pressure in real time
According to the control device of processing unit 500 and aircraft, pressure data is handled and is controlled based on the received in real time, guarantees to fly
Row device safe and stable operation.The setting position of pressure data processing unit 500 is not unique, for example, in another implementation
In example, pressure data processing unit 500 is set to aircraft body 600 referring to Fig. 2, can also be, is able to realize
Reception and analysis are carried out to pressure data in real time.
Referring to Fig. 3, in one embodiment, rolling structure 300 includes support wheel base 310, support wheel 330 and support wheel
The closed end of axis 320, support wheel base 310 is fixedly connected with pressure data collector 200 far from one end of inner frame 100, support
For wheel 330 by supporting wheel shaft 320 to be set to the open end of support wheel base 310, outer framework 400 contacts setting with support wheel 330.
Specifically, support wheel base 310 includes blind end and open end, wherein the closed end of support wheel base 310 and number pressure
Be fixedly connected according to collector 200, support wheel 330 by supporting wheel shaft 320 to be set to the open end of support wheel base 310, realize with
The contact of outter frame shelf, in order to be rotated when outer framework 400 collides with barrier, while to pressure data
Collector 200 generates certain pressure.In one embodiment, support wheel base 310 is only in the two sides of fixed support wheel shaft 320
Side is just provided with corresponding support construction, has the advantages that save material.For above-mentioned only in two sides setting support construction
Embodiment, the shape of support wheel base 310 are not that uniquely, in one embodiment, the shape of support wheel base 310 is U-shaped yet
The both ends of (i.e. the form of U-type groove), support wheel shaft 320 are fixedly installed on the two sides of U-type groove respectively, and support wheel 330 is set to
Support wheel shaft 320.In another embodiment, the shape of support wheel base 310 can also be c-type, support wheel shaft 320 and support wheel
330 set-up mode is similar with above-mentioned U-shaped shape, and details are not described herein.It should be pointed out that support wheel base 310 can also be
Side is provided with respective support structure, as long as closed end is fixedly connected with pressure data collector 200, open end fixation is set
It is equipped with support wheel shaft 320 and support wheel 330, realizing can rotate when outer framework 400 and barrier collide, for example,
It is designed as a groove structure.
It should be pointed out that referring to Fig. 4, in one embodiment, support wheel base 310, which is also designed to both ends, to be had
There is the support construction of opening, for example, two block baffles are respectively set in the two sides of fixed support wheel shaft 320；It opens at either both ends
The support construction of mouth, the intermediate cylindrical shape being hollowed out, the cross-sectional area of support wheel base 310 is acquired less than pressure data at this time
The cross-sectional area of device 200, support wheel shaft 320 is similar with above-mentioned U-shaped shape with the set-up mode of support wheel 330, repeats no more.It is logical
The support wheel base 310 crossed in the present embodiment equally can be realized when outer framework 400 and barrier collision, and outer framework 400 occurs
Rotation, pressure data collector 200 collect corresponding pressure data.It is appreciated that the specific structure and not only of outer framework 400
The structure being limited in the various embodiments described above is fixedly connected as long as can be realized with pressure data collector 200, outer framework 400
When colliding with barrier, outer framework 400 is rotated, and pressure data collector 200 collects corresponding pressure data and sends
To pressure data processing unit 500.
In one embodiment, by taking U-shaped support wheel base 310 as an example, the closed end of support wheel base 310 and pressure data are acquired
The bonding of device 200 is threadedly coupled.It should be pointed out that in other embodiments, can also be support wheel using other way
The closed end of seat 310 is fixedly connected with pressure data collector 200.
In one embodiment, referring to Fig. 1, the shape of outer framework 400 and inner frame 100 is circle.Specifically, it adopts
With circular 400 structure of outer framework, when outer framework 400 and barrier collide, it is easy to so that outer framework 400 rotates,
To offset influence of the normal force to aircraft of generation.In the present embodiment, inner frame 100 is also configured as and outer framework
400 identical circular shapes, convenient for pressure data collector 200, the rolling structure 300 between inner frame 100 and outer framework 400
Design, have the advantages that design it is simple.It is appreciated that the shape of inner frame 100 is not uniquely, referring to Fig. 2, inside casing
100 shapes of frame can also be rectangle or other shapes, be able to realize the pressure between inner frame 100 and outer framework 400
The fixed setting of force data collector 200 and rolling structure 300.It should be pointed out that the shape of outer framework 400 is also different
It is limited to circle, can also be ellipse etc. in other embodiments, as long as can be rotated when colliding with barrier
?.
In one embodiment, pressure data collector 200 is Nian Jie with inner frame 100 or is threadedly coupled.Specifically, pressure
The connection type of data collector 200 and inner frame 100 is not that uniquely, can be bonding or threaded connection, it will be understood that
In other embodiments, it can also be and be otherwise fixedly connected, be able to realize pressure data collector 200
It is fixedly installed on inner frame 100, the acquisition of pressure data is carried out when colliding with barrier and is sent to pressure data processing dress
Set 500.
In one embodiment, the quantity of pressure data collector 200 be three or more, the quantity of rolling structure 300 with
The quantity of pressure data collector 200 is consistent.
Specifically, in order to improve size and the side of the radial force that pressure data processing unit 500 is analyzed and processed
To accuracy (in order to guarantee to aircraft avoidance operate accuracy), can be fixedly installed on inner frame 100 multiple
The acquisition of the progress pressure data of pressure data collector 200.The quantity of pressure data collector 200 and rolling structure 300 with set
Seated position corresponds, and when outer framework 400 and barrier collision, each pressure data collector 200 acquires accordingly respectively
Pressure data be sent to pressure data processing unit 500 and be analyzed and processed, and then obtain suitable radial force size and side
To the flight attitude for the control device change of flight device for being sent to aircraft, the avoidance operation of aircraft is realized.It should be understood that
It is to please refer to Fig. 1 or Fig. 2, in one embodiment, the quantity of pressure data collector 200 is four, and four pressure datas are adopted
Storage 200 is respectively arranged at front, rear, left and right four direction when aircraft work, has pressure data quantity collected
Advantage small, analysis processing structure accuracy is high.It is appreciated that in other embodiments, one or two can also be only arranged
Pressure data collector 200, also can be realized according to pressure data collected carry out attitude of flight vehicle adjustment purpose.
Above-mentioned aircraft obstacle avoidance system is disposed with inner frame 100, pressure data acquisition on aircraft body 600
Device 200, rolling structure 300 and outer framework 400 pass through outline border when aircraft collides in flight course with barrier
Frame 400 directly generates rotation under the effect of external force, counteracts aircraft and connect with barrier with bar contact, outer framework 400
The normal force generated when touching, while by the pressure data of the detection collision generation of pressure data collector 200 and being sent to pressure
Data processing equipment 500, pressure data processing unit 500 obtain corresponding radial force size and Orientation after being handled, from
And aircraft body 600 is made to change the direction of motion, realize the avoidance operation of aircraft.By above-mentioned aircraft obstacle avoidance system,
It efficiently avoids aircraft body 600 and directly collides with barrier, the pressure acquired using pressure data collector 200
The mode of the direction of motion of data change of flight device, can be realized the identification of smaller barrier, with highly reliable excellent of avoidance
Point.
A kind of aircraft, referring to Fig. 1, including the aircraft obstacle avoidance system of aircraft body 600 and any of the above-described.
Specifically, a frame, as inner frame 100 are provided on aircraft body 600, inner frame 100 specifically can be with
To be fixedly installed on directly by way of being bonded or being threadedly coupled on aircraft body 600, can also with when in aircraft body
It is arranged after certain extension device on 600, by extending device fixed setting.It is appreciated that the setting side of inner frame 100
Formula is not unique, if can in the case where not influencing aircraft work, meet packing pressure data collector 200,
The setting of rolling structure 300, outer framework 400 and pressure data processing unit 500.Pressure data collector 200 rolls knot
Structure 300 and outer framework 400 are set in turn in side of the inner frame 100 far from aircraft body 600, and outer framework 400 is around entire
Aircraft body 600 is configured, and when guaranteeing that aircraft collides during the work time, the part with bar contact is
Outer framework 400.When aircraft and barrier collide, outter frame shelf is in external force and the rolling being in contact with outer framework 400
It is rotated under the action of dynamic structure 300, the method generated when offsetting aircraft and bar contact by the rotation of outer framework 400
Then Xiang Li is detected suffered pressure data when colliding by pressure data collector 200 and is sent to pressure data
Processing unit 500, pressure data processing unit 500 are analyzed and processed to obtain corresponding radial force size and Orientation, aircraft
The flight attitude of radial force size and Orientation change of flight device that is obtained by pressure data processing unit 500 of control device,
The influence of radial force is offset, to realize the avoidance operation of aircraft.
In one embodiment, pressure data collector 200 is pressure data collector 200.It is appreciated that pressure data
Collector 200 carries out the acquisition and transmission of pressure data, the control device of pressure data processing unit 500 and aircraft in real time
Pressure data is handled and is controlled based on the received in real time, guarantees aircraft security stable operation.Pressure data processing dress
The setting position for setting 500 is not uniquely, for example, in another embodiment, can also be pressure data processing unit
500 are set to aircraft body 600, are able to realize in real time to pressure data progress reception and analysis.It should refer to
Out, in one embodiment, aircraft is unmanned plane, i.e., above-mentioned aircraft obstacle avoidance system is applied to unmanned plane, so as to
In, in the tasks such as geological prospecting or power grid inspection of execution, flight capable of being adjusted when colliding with barrier in time in unmanned plane
Posture realizes avoidance operation.
Above-mentioned aircraft is disposed with inner frame 100, pressure data collector 200, rolling on aircraft body 600
Dynamic structure 300 and outer framework 400, it is direct by outer framework 400 when aircraft collides in flight course with barrier
With bar contact, outer framework 400 generates rotation under the effect of external force, generates when counteracting aircraft and bar contact
Normal force, while by the pressure data of the detection collision generation of pressure data collector 200 and being sent to pressure data processing dress
500 are set, pressure data processing unit 500 obtains corresponding radial force size and Orientation after being handled, so that flight
Device ontology 600 changes the direction of motion, realizes the avoidance operation of aircraft.Above-mentioned aircraft during the work time, can be avoided winged
Row device ontology 600 directly collides with barrier, the pressure data change of flight device acquired using pressure data collector 200
The direction of motion mode, can be realized the identification of smaller barrier, have the advantages that avoidance is highly reliable.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to claim therefore cannot be interpreted as.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of aircraft obstacle avoidance system, which is characterized in that the system comprises:
Inner frame is fixedly installed on the outer surface of aircraft body；
Pressure data collector is fixedly installed on side of the inner frame far from the aircraft body；
Rolling structure is fixedly installed on the one end of the pressure data collector far from the inner frame；
Outer framework, surrounds the aircraft body, and the outer framework is set to the rolling structure and adopts far from the pressure data
One end of storage；
Pressure data processing unit, connects the pressure data collector, and the pressure data processing unit is set in described
The outer surface of frame.
2. aircraft obstacle avoidance system according to claim 1, which is characterized in that the rolling structure include support wheel base,
Support wheel and support wheel shaft, the closed end of the support wheel base and the one end of the pressure data collector far from the inner frame
It is fixedly connected, the support wheel is set to the open end of the support wheel base, the outer framework and institute by the support wheel shaft
State support wheel contact setting.
3. aircraft obstacle avoidance system according to claim 2, which is characterized in that the closed end of the support wheel base with it is described
Pressure data collector bonding is threadedly coupled.
4. aircraft obstacle avoidance system according to claim 2, which is characterized in that the shape of the support wheel base is U-shaped.
5. aircraft obstacle avoidance system according to claim 2, which is characterized in that the shape of the support wheel base is c-type.
6. aircraft obstacle avoidance system according to claim 1, which is characterized in that the shape of the inner frame and the outer framework
Shape is circle.
7. aircraft obstacle avoidance system according to claim 1, which is characterized in that the quantity of the pressure data collector is
Three or more, the quantity of the rolling structure is consistent with the quantity of the pressure data collector.
8. aircraft obstacle avoidance system according to claim 1, which is characterized in that the pressure data collector with it is described interior
Frame bonding is threadedly coupled.
9. a kind of aircraft, which is characterized in that the aircraft includes described in aircraft body and claim any one of 1-8
Aircraft obstacle avoidance system.
10. aircraft according to claim 9, which is characterized in that the aircraft is unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822096721.3U CN209396055U (en) | 2018-12-13 | 2018-12-13 | Aircraft obstacle avoidance system and aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822096721.3U CN209396055U (en) | 2018-12-13 | 2018-12-13 | Aircraft obstacle avoidance system and aircraft |
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| CN209396055U true CN209396055U (en) | 2019-09-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879521A (en) * | 2021-11-18 | 2022-01-04 | 歌尔科技有限公司 | Unmanned plane |
-
2018
- 2018-12-13 CN CN201822096721.3U patent/CN209396055U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113879521A (en) * | 2021-11-18 | 2022-01-04 | 歌尔科技有限公司 | Unmanned plane |
| CN113879521B (en) * | 2021-11-18 | 2023-12-01 | 歌尔科技有限公司 | Unmanned plane |
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