CN218113007U - Unmanned aerial vehicle keeps away barrier device - Google Patents

Abstract

The utility model relates to an unmanned air vehicle technique field specifically is an unmanned air vehicle keeps away barrier device, include: the unmanned aerial vehicle frame, actuating mechanism is all installed in the four corners of unmanned aerial vehicle frame, the assembly axle is installed to actuating mechanism's bottom, install the axle bush on the assembly axle, install the collision on the axle bush and rotate the wheel, the mounting is installed to the bottom of assembly axle, bear the frame is installed to the bottom of unmanned aerial vehicle frame, the control housing is installed to the intermediate position on unmanned aerial vehicle frame top, the internally mounted of control housing has power, flight controller and master controller, the power is located flight controller and master controller one side. The utility model discloses the collision that sets up rotates the wheel and can rotate on unmanned aerial vehicle through assembly axle, axle bush, so when bumping with the barrier, the collision rotates the wheel and can shift the effort of collision to unmanned aerial vehicle through rotating, and the effort that can avoid the collision like this directly acts on unmanned aerial vehicle to influence the stability of unmanned aerial vehicle flight.

Description

Unmanned aerial vehicle keeps away barrier device

Technical Field

The utility model relates to an unmanned air vehicle technique field specifically is an unmanned air vehicle keeps away barrier device.

Background

The unmanned aerial vehicle is a totally-known unmanned aerial vehicle and is an unmanned aerial vehicle operated by using a wireless remote control device and a self-contained program control device. The unmanned aerial vehicle needs to be applied to a computer vision technology when avoiding obstacles; computer vision is a science for researching how to make a machine "see", and further, it means that a camera and a computer are used to replace human eyes to perform machine vision such as identification, tracking and measurement on a target, and further image processing is performed, so that the computer processing becomes an image more suitable for human eyes to observe or transmitted to an instrument to detect.

Through retrieval, the utility model patent of publication number CN 217416127U discloses an intelligent unmanned aerial vehicle autonomous obstacle avoidance stabilizing device, which comprises a body, four groups of wing plates are symmetrically arranged on two sides of the body, a rotor is arranged at the outer side end of each wing plate, a connecting piece is slidably arranged at the bottom of each wing plate, an elastic piece is arranged at one side, close to the body, of the top of each connecting piece inserted into each wing plate, the impact kinetic energy received by the first connecting plate during impact is absorbed through the elastic piece, the impact kinetic energy left after the first connecting plate is buffered and energy-absorbed during impact is absorbed through the air cushion, meanwhile, the bottom plates of the first extrusion plates on two sides are provided with U-shaped legs, the top ends of the U-shaped legs act on the bottom plates of the first extrusion plates during lifting, and the first extrusion plates act on the air cushion, so as to realize the effects of lifting and shock absorption; the outer side end of the first connecting plate is connected to the bottom of the inner side of the arc-shaped fence, the arc-shaped fences on the same side are connected through the arc-shaped buffer piece, and the bottom of the other end of the arc-shaped fence is connected with a second extrusion plate which is abutted to one end of the air cushion.

Unmanned aerial vehicle keeps away barrier device and carries out the anticollision through elastomeric element or protection protective screen when using mostly and handles, and elastomeric element can be with the elastic action on unmanned aerial vehicle after the collision, and this kind of mode is unfavorable for unmanned aerial vehicle stable flight when the collision, to above-mentioned condition, carries out technical innovation on current unmanned aerial vehicle keeps away barrier device basis.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unmanned aerial vehicle keeps away barrier device to provide unmanned aerial vehicle keeps away barrier device in solving above-mentioned background and carry out the anticollision through elastomeric element or protection protective screen mostly when using and handle, elastomeric element can be with the spring action on unmanned aerial vehicle after the collision, and this kind of mode is unfavorable for the problem of unmanned aerial vehicle stable flight when the collision.

In order to achieve the above purpose, the utility model provides a following technical scheme: an unmanned aerial vehicle keeps away barrier device includes:

the unmanned aerial vehicle frame, actuating mechanism is all installed in the four corners of unmanned aerial vehicle frame, the assembly axle is installed to actuating mechanism's bottom, install the axle bush on the assembly axle, install the collision on the axle bush and rotate the wheel, the mounting is installed to the bottom of assembly axle, bear the frame is installed to the bottom of unmanned aerial vehicle frame, the control housing is installed to the intermediate position on unmanned aerial vehicle frame top, the internally mounted of control housing has power, flight controller and master controller, the power is located flight controller and master controller one side.

Preferably, the dead ahead of unmanned aerial vehicle frame is inlayed and is equipped with ultrasonic sensor, ultrasonic sensor and flight controller electric connection, the laser radar support is installed to the upper end of control casing, laser radar is installed on the top of laser radar support, laser radar's mounting height is higher than actuating mechanism's height, and laser radar carries out electric connection through the USB serial ports with the master controller, through ultrasonic sensor and laser radar's combined action, can reach the obstacle-avoiding effect when unmanned aerial vehicle flies.

Preferably, actuating mechanism includes flight motor and flight blade, flight motor's output is connected with flight blade, flight blade passes through flight motor and realizes rotating, and flight motor is equipped with four groups with flight blade, realizes unmanned aerial vehicle's unmanned flight through actuating mechanism's rotation.

Preferably, the collision rotating wheel rotates on the assembly shaft through the bearing bush, four groups of collision rotating wheels, the assembly shaft, the bearing bush and the fixing piece are arranged, the fixing piece is in threaded connection with the assembly shaft, and the collision rotating wheel can improve the collision prevention capacity of the unmanned aerial vehicle during flying.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a size that sets up the collision and rotate the wheel is greater than the size of the ring that forms when flight blade flight rotates, so can when collision appears at unmanned aerial vehicle, at first make the collision rotate the wheel and collide with the barrier, thereby can improve the obstacle-avoiding effect of unmanned aerial vehicle when flight, the wheel is rotated through the assembly axle to the collision simultaneously, the axle bush can rotate on unmanned aerial vehicle, so when colliding with the barrier, the collision rotates the wheel and can shift the effort of collision to unmanned aerial vehicle through rotating, the effort that can avoid the collision like this directly acts on unmanned aerial vehicle, thereby influence the stability of unmanned aerial vehicle flight.

Drawings

FIG. 1 is a schematic view of the present invention;

fig. 2 is a schematic view of the internal structure of the control housing of the present invention;

FIG. 3 is a schematic view of the connecting structure between the collision rotating wheel and the assembling shaft of the present invention;

fig. 4 is a block diagram of the hardware composition structure of the control system of the present invention.

In the figure: 1. an unmanned aerial vehicle frame; 2. a drive mechanism; 201. a flying motor; 202. a flight blade; 3. a carrier; 4. an ultrasonic sensor; 5. a control housing; 6. a laser radar; 7. a laser radar mount; 8. a power source; 9. a flight controller; 10. a master controller; 11. a collision rotating wheel; 12. assembling a shaft; 13. bearing bushes; 14. and a fixing member.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1 and fig. 3, an unmanned aerial vehicle obstacle avoidance device includes: unmanned aerial vehicle frame 1, actuating mechanism 2 is all installed at the four corners of unmanned aerial vehicle frame 1, actuating mechanism 2 includes flying motor 201 and flight blade 202, the output of flying motor 201 is connected with flight blade 202, flight blade 202 realizes rotating through flying motor 201, flight motor 201 is equipped with four groups with flight blade 202, unmanned aerial vehicle's unmanned flight is realized through the rotation of actuating mechanism 2, assembly axle 12 is installed to actuating mechanism 2's bottom, assembly axle 12 one end is fixed in the below of flying motor 201, install axle bush 13 on the assembly axle 12, install collision turning wheel 11 on the axle bush 13, mounting 14 is installed to the bottom of assembly axle 12, collision turning wheel 11 rotates on assembly axle 12 through axle bush 13, collision turning wheel 11, assembly axle 12, axle bush 13 and mounting 14 are equipped with four groups, be threaded connection between mounting 14 and the assembly axle 12, through setting up the size that collision turning wheel 11 is greater than the size of the ring that formation when flight blade 202 flies to rotate, so can make collision turning wheel 11 collide with the barrier at first when unmanned aerial vehicle appearance collision, thereby can the unmanned aerial vehicle rotates the obstacle through the assembly axle bush 11 and the collision can influence the unmanned aerial vehicle rotation of unmanned aerial vehicle on the collision turning wheel 13, unmanned aerial vehicle can the collision of unmanned aerial vehicle.

As shown in fig. 1, fig. 2 and fig. 4, an unmanned aerial vehicle obstacle avoidance device includes: a control shell 5 is installed in the middle of the top end of the unmanned aerial vehicle rack 1, a power supply 8, a flight controller 9 and a main controller 10 are installed inside the control shell 5, the power supply 8 is located on one side of the flight controller 9 and the main controller 10, the main controller 10 and a remote regulation and control end are both provided with an ROS unmanned aerial vehicle operating system to achieve function package creation and algorithm design, the main controller 10 is communicated with the remote regulation and control end through WiFi, and the limitation of communication distance can be solved through a base station; the master controller 10 is being configured with whole unmanned aerial vehicle's function package, the operation function package obtains unmanned aerial vehicle's motion decision instruction and transfers and give flight controller 9, control actuating mechanism 2 carries out, long-range PC regulation and control end can adopt the mode of carry and long-range connection robot to transfer the controlling robot, also can design relevant function package and directly compile master controller 10 and realize unmanned aerial vehicle's operation, IMU installs in control housing 5, when unmanned aerial vehicle moves, flight controller 9 reads inertial measurement unit IMU's the original acceleration of flight and angular velocity, IMU passes through IIC serial ports and flight controller 9 communication, its gesture condition of calculating the aircraft when the operation, help the aircraft carry out the gesture, speed control and accurate positioning.

As shown in fig. 1, fig. 2 and fig. 4, an obstacle avoidance device for an unmanned aerial vehicle includes: laser radar support 7 is installed to the upper end of control casing 5, laser radar 6 is installed on the top of laser radar support 7, laser radar 6's the installation height is higher than actuating mechanism 2's height, laser radar 6 carries out electric connection and communication through the USB serial ports with master controller 10, laser radar sensor's range of finding is within 10m, the scanning angle is 0-360 range resolution ratio within 0.5mm, scanning frequency is 5-15hz, the environmental information that laser radar 6 perception obtained will directly transmit to master controller 10 as the input information of SLAM and navigation algorithm, help realize the SLAM of unmanned aerial vehicle in operational environment, autonomous navigation and real-time obstacle avoidance, the dead ahead of unmanned aerial vehicle frame 1 inlays and is equipped with ultrasonic sensor 4, two symmetric distribution's perforation is seted up to the front end face of unmanned aerial vehicle frame 1, ultrasonic sensor 4 is all installed to the inside of two perforation, ultrasonic sensor 4 and flight controller 9 electric connection, thus, can utilize the transmitting probe that ultrasonic sensor 4 contains to launch the ultrasonic wave, the ultrasonic wave meets the barrier in the medium and returns to ultrasonic sensor 4's receiving arrangement, thereby, can pass through the ultrasonic wave of receiving signal, according to the ultrasonic wave reflection difference and the echo transmission distance and the settlement distance that the people obtains the settlement, thereby.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides an unmanned aerial vehicle keeps away barrier device which characterized in that includes:

unmanned aerial vehicle frame (1), actuating mechanism (2) are all installed in the four corners of unmanned aerial vehicle frame (1), assembly axle (12) are installed to the bottom of actuating mechanism (2), install axle bush (13) on assembly axle (12), install collision rotation wheel (11) on axle bush (13), mounting (14) are installed to the bottom of assembly axle (12), bear frame (3) are installed to the bottom of unmanned aerial vehicle frame (1), control housing (5) are installed to the intermediate position on unmanned aerial vehicle frame (1) top, the internally mounted of control housing (5) has power (8), flight controller (9) and master controller (10), power (8) are located flight controller (9) and master controller (10) one side.

2. The obstacle avoidance device for the unmanned aerial vehicle according to claim 1, wherein an ultrasonic sensor (4) is embedded in the front of the unmanned aerial vehicle frame (1), and the ultrasonic sensor (4) is electrically connected with the flight controller (9).

3. An unmanned aerial vehicle obstacle avoidance device of claim 1, wherein a lidar bracket (7) is installed at the upper end of the control housing (5), and a lidar (6) is installed at the top end of the lidar bracket (7).

4. The obstacle avoidance device for the unmanned aerial vehicle as claimed in claim 1, wherein the driving mechanism (2) comprises a flying motor (201) and flying blades (202), the output end of the flying motor (201) is connected with the flying blades (202), the flying blades (202) rotate through the flying motor (201), and four sets of the flying motor (201) and the flying blades (202) are provided.

5. The unmanned aerial vehicle obstacle avoidance device of claim 3, wherein the installation height of the laser radar (6) is higher than that of the driving mechanism (2), and the laser radar (6) is electrically connected with the main controller (10) through a USB serial port.

6. The obstacle avoidance device of the unmanned aerial vehicle according to claim 1, wherein the collision rotating wheel (11) rotates on the assembly shaft (12) through a bearing bush (13), four groups of the collision rotating wheel (11), the assembly shaft (12), the bearing bush (13) and the fixing piece (14) are arranged, and the fixing piece (14) is in threaded connection with the assembly shaft (12).

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