NL2032375B1 - Collision avoidance device of aircraft - Google Patents

Collision avoidance device of aircraft Download PDF

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Publication number
NL2032375B1
NL2032375B1 NL2032375A NL2032375A NL2032375B1 NL 2032375 B1 NL2032375 B1 NL 2032375B1 NL 2032375 A NL2032375 A NL 2032375A NL 2032375 A NL2032375 A NL 2032375A NL 2032375 B1 NL2032375 B1 NL 2032375B1
Authority
NL
Netherlands
Prior art keywords
box body
mounting box
arc
arcuate
brushless motor
Prior art date
Application number
NL2032375A
Other languages
Dutch (nl)
Inventor
Zhao Junfeng
Shen Chuangshi
Pei Hongzheng
Zheng Donghan
Xu Yaye
Yao Fei
Zhao Yanhao
Zhang Jinsong
Hua Kangmin
Zhou Bo
Meng Lingbao
Li Guangchun
Li Bo
Zhang Yongwang
Chen Mengze
He Meijie
Luo Kaixian
Yu Jianguo
An Xin
Original Assignee
Univ Zhengzhou Aeronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Zhengzhou Aeronautics filed Critical Univ Zhengzhou Aeronautics
Priority to NL2032375A priority Critical patent/NL2032375B1/en
Application granted granted Critical
Publication of NL2032375B1 publication Critical patent/NL2032375B1/en

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Classifications

    • 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
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The present invention provides a collision avoidance device of an aircraft. The collision avoidance device of the aircraft includes a mounting box body and an investigation and 5 measurement mechanism Which is arranged above the mounting box body and includes a first arc-shaped box body arranged above the mounting box body; a first brushless motor is fixedly mounted in the first arc-shaped box body; an output shaft of the first brushless motor penetrates through a top of the first arc-shaped box body; a top of the output shaft of the first brushless motor is fixedly provided with a second arc-shaped 10 box body; and a laser radar device and an infrared assisted camera are fixedly mounted on a bottom inner wall of the second arc-shaped box body.

Description

COLLISION AVOIDANCE DEVICE OF AIRCRAFT
TECHNICAL FIELD
[01] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a collision avoidance device of an aircraft.
BACKGROUND ART
[02] With the development of science and technology, there 1s a huge development space for aircrafts in many fields such as traffic surveillance, communication relay, climate detection and land planning. Since there are often various types of obstacles in front of an aircraft when the aircraft executes a mission, an obstacle detection and avoidance device is urgently needed to ensure the flight safety of the aircraft. The implementation of an automatic obstacle avoidance function of the aircraft is based on obstacle detection. For this reason, it is necessary to provide a variety of sensors on a low-altitude aircraft, so that this kind of aircraft senses a surrounding environment by itself. Common components for detecting an environment mainly include vision sensors and non-vision sensors. The commonly used visual sensors include a monocular vision sensor and a binocular vision sensor. The monocular sensor cannot acquire depth information, and generally cannot be directly used for outdoor environment detection.
Although the binocular sensor can acquire depth information, it is difficult to detect farther obstacles due to a distance restriction between cameras. Non-vision sensors include a laser sensor, an ultrasonic sensor, an infrared sensor, a radar sensor, and other kinds of sensors. The laser sensor can only achieve detection in one direction.
Ultrasonic waves in the ultrasonic sensor are mechanical waves which have a short effective measurement distance. When applied to an aircraft, the ultrasonic sensor is easily interfered by other signals, and the ultrasonic waves are easy to attenuate, so that the detection accuracy is low; a relatively small volume of valid data will be measured, and accurate and smooth obstacle detection and information feedback cannot be achieved. Due to its short measurement distance, the infrared sensor cannot be mounted on an aircraft for efficient and accurate remote detection.
[03] Existing unmanned aerial vehicles are generally remotely operated by users on the basis of camera systems, and effective responses cannot be made timely.
[04] Therefore, it is necessary to provide a collision avoidance device of an aircraft to solve the above technical problems.
SUMMARY
[05] The technical problem solved in the present invention is to provide a collision avoidance device of an aircraft.
[06] In order to solve the above technical problems, the collision avoidance device of the aircraft provided in the present invention includes a mounting box body, an investigation and measurement mechanism and an auxiliary rotating mechanism; the investigation and measurement mechanism is arranged above the mounting box body, and includes a first arc-shaped box body; the arc-shaped box body is arranged above the mounting box body; a first brushless motor is fixedly mounted in the first arc-shaped box body; an output shaft of the first brushless motor penetrates through a top of the first arc-shaped box body; a top of the output shaft of the first brushless motor is fixedly provided with a second arc-shaped box body; a laser radar device and an infrared assisted camera are fixedly mounted on a bottom inner wall of the second arc-shaped box body; a top of the laser radar device and a top of the infrared assisted camera both extend out of the second arc-shaped box body; an anti-collision component is arranged in the second arc-shaped box body; the auxiliary rotating mechanism is arranged in the mounting box body, and includes a second brushless motor; the second brushless motor is fixedly mounted on a bottom inner wall of the mounting box body; an involute worm is rotatably mounted on the bottom inner wall of the mounting box body; an output shaft of the second brushless motor is fixedly connected to the involute worm; a connecting plate 1s rotatably mounted in the mounting box body; a movement hole 1s formed in a top of the mounting box body; a top of the connecting plate penetrates through the movement hole and is fixedly connected to the first arc-shaped box body; an arc-shaped bottom of the connecting plate is provided with a plurality of teeth; and the involute worm is meshed with the plurality of teeth.
[07] Preferably, the anti-collision component includes a square mounting box; the square mounting box is fixedly mounted on the bottom inner wall of the second arc-shaped mounting box body; a self-popup safety air bag is fixedly mounted on a bottom inner wall of the square mounting box; a top of the square mounting box extends out of the second arc-shaped mounting box body; and the top of the square mounting box is provided with a cover.
[08] Preferably, the cover is arc-shaped, a bottom of the cover is fixedly provided with a first magnetic ring; the top of the square mounting box is fixedly provided with a second magnetic ring; and magnetic poles of sides of the first magnetic ring and the second magnetic ring that are close to each other are opposite.
[09] Preferably, elastic silica gel cloth is fixedly mounted in the movement hole; and the elastic silica gel cloth is fixedly connected to the connecting plate.
[10] Preferably, the first arc-shaped box body and the second arc-shaped box body are both made of a light-weight aero-titanium alloy material, and have a wall thickness of 0.8-1 mm.
[11] Preferably, the first magnetic ring and the second magnetic ring are made of a neodymium iron boron material, and are 38H.
[12] Compared with the prior art, the collision avoidance device of the aircraft provided by the present invention has the following beneficial effects:
[13] (1) By the arrangement of the investigation and measurement mechanism and the auxiliary rotating mechanism, an unmanned aerial vehicle can work at any time.
Furthermore, the infrared assisted camera and the laser radar device can rotate a certain angle so that the investigation and measurement range is extended, and the possibility of collision between the unmanned aerial vehicle and an obstacle can be lowered to a certain extent, thus reducing the loss.
[14] (2) By the arrangement of the anti-collision component, in an emergency, the self-popup safety air bag can be released to prevent the unmanned aerial vehicle body from being collided and damaged. Meanwhile, the release of the self-popup safety air bag 1s also favorable for later searching.
[15] (3) By the arrangement of the light-weight aero-titanium alloy material, the weights of the first arc-shaped box body and the second arc-shaped box body are reduced, which is favorable for increasing the endurance mileage of the unmanned aerial vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[16] FIG. 1 1s a schematic diagram of a front-view sectional structure of a collision avoidance device of an aircraft provided by the present invention,
[17] FIG. 2 is a schematic sectional structural diagram of a square mounting box in the collision avoidance device of the aircraft shown in FIG. 1;
[18] FIG. 3 is an enlarged diagram of the part A in FIG. 1;
[19] FIG. 4 is an enlarged diagram of the part B in FIG. 2.
[20] Reference signs in the drawings: 1: mounting box body; 2: first arc-shaped box body; 3: first brushless motor; 4: second arc-shaped box body; 5: square mounting box; 6: self-popup safety air bag; 7: second brushless motor; 8: involute worm; 9: connecting plate; 10: movement hole; 11: elastic silica gel cloth; 12: laser radar device; 13: infrared assisted camera; 14: cover; 15: first magnetic ring; and 16: second magnetic ring.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[21] The present invention is further described below in combination with the accompanying drawings and implementation modes.
[22] Referring to FIG. 1, FIG. 2, FIG. 3 and FIG. 4, FIG. 1 is a schematic diagram of a front-view sectional structure of a collision avoidance device of an aircraft provided by the present invention; FIG. 2 is a schematic sectional structural diagram of a square mounting box in the collision avoidance device of the aircraft shown in FIG. 1; FIG. 3 is an enlarged diagram of the part A in FIG. 1; and FIG. 4 is an enlarged diagram of the part B in FIG. 2. In an embodiment of the present invention, the collision avoidance device of the aircraft includes a mounting box body 1, an investigation and measurement mechanism and an auxiliary rotating mechanism. The investigation and measurement mechanism is arranged above the mounting box body 1, and includes a first arc-shaped box body 2; the arc-shaped box body 2 is arranged above the mounting 5 box body 1; a first brushless motor 3 is fixedly mounted in the first arc-shaped box body 2; an output shaft of the first brushless motor 3 penetrates through a top of the first arc-shaped box body 2; a top of the output shaft of the first brushless motor 3 is fixedly provided with a second arc-shaped box body 4; a laser radar device 12 and an infrared assisted camera 13 are fixedly mounted on a bottom inner wall of the second arc-shaped box body 4; a top of the laser radar device 12 and a top of the infrared assisted camera 13 both extend out of the second arc-shaped box body 4; an anti-collision component is arranged in the second arc-shaped box body 4; the auxiliary rotating mechanism is arranged in the mounting box body 1, and includes a second brushless motor 7; the second brushless motor 7 is fixedly mounted on a bottom inner wall of the mounting box body 1; an involute worm 8 is rotatably mounted on the bottom inner wall of the mounting box body 1; an output shaft of the second brushless motor 7 is fixedly connected to the involute worm 8; a connecting plate 9 is rotatably mounted in the mounting box body 1; a movement hole 10 is formed in a top of the mounting box body 1; a top of the connecting plate 9 penetrates through the movement hole 10 and is fixedly connected to the first arc-shaped box body 2; an arc-shaped bottom of the connecting plate 9 is provided with a plurality of teeth; and the involute worm 8 is meshed with the plurality of teeth.
[23] By the arrangement of the investigation and measurement mechanism and the auxiliary rotating mechanism, an unmanned aerial vehicle can work at any time.
Furthermore, the infrared assisted camera 13 and the laser radar device 12 can rotate a certain angle so that the investigation and measurement range is extended, and the possibility of collision between the unmanned aerial vehicle and an obstacle can be lowered to a certain extent, thus reducing the loss.
[24] The anti-collision component includes a square mounting box 5; the square mounting box 5 is fixedly mounted on the bottom inner wall of the second arc-shaped mounting box body 4; a self-popup safety air bag 6 is fixedly mounted on a bottom inner wall of the square mounting box 5; a top of the square mounting box 5 extends out of the second arc-shaped mounting box body 4; and the top of the square mounting box
Sis provided with a cover 14.
[25] By the arrangement of the anti-collision component, in an emergency, the self-popup safety air bag 6 can be released to prevent the unmanned aerial vehicle body from being collided and damaged. Meanwhile, the release of the self-popup safety air bag is also favorable for later searching.
[26] The cover 14 is arc-shaped; a bottom of the cover 14 is fixedly provided with a first magnetic ring 15; the top of the square mounting box 5 is fixedly provided with a second magnetic ring 16; and magnetic poles of sides of the first magnetic ring 15 and the second magnetic ring 16 that are close to each other are opposite.
[27] By the arrangement of the first magnetic ring 15 and the second magnetic ring 16, the cover 14 can be connected to the square mounting box 5 and can be disconnected if necessary.
[28] Elastic silica gel cloth 11 is fixedly mounted in the movement hole 10; and the elastic silica gel cloth 11 is fixedly connected to the connecting plate 9.
[29] By the arrangement of the elastic silica gel cloth 11, dirt can be prevented from entering the mounting box body 1 through the movement hole 10, so as to protect the inside cleanness.
[30] The first arc-shaped box body 2 and the second arc-shaped box body 4 are both made of a light-weight aero-titanium alloy material, and have a wall thickness of 0.8-1 mm. [BI] By the arrangement of the light-weight aero-titanium alloy material, the weights of the first arc-shaped box body 2 and the second arc-shaped box body 4 are reduced, which is favorable for the endurance of an unmanned aerial vehicle.
[32] The first magnetic ring 15 and the second magnetic ring 16 are made of a neodymium iron boron material, and are 38H.
[33] By the arrangement of the first magnetic ring 15 and the second magnetic ring 16 which are made of the neodymium iron boron material and are 38H, the first magnetic ring and the second magnetic ring can have enough attracting forces to attract each other, which can adapt to the flight speed of the unmanned aerial vehicle.
[34] The working principle of the collision avoidance device of the aircraft provided by the present invention is as follows.
[35] First, the device is mounted on an unmanned aerial vehicle shell. A communication module and a control module are also mounted in the device. The first brushless motor 3, the second brushless motor 7, the laser radar device 12 and the infrared assisted camera 13 are all connected to the control module. When the laser radar device 12 and the infrared assisted camera 13 need to be rotated, the first brushless motor 3 is initiated to drive the second arc-shaped box body 4 to rotate. The second arc-shaped box body 4 rotates to drive the laser radar device 12 and the infrared assisted camera 13 to rotate. When angles of the laser radar device 12 and the infrared assisted camera 13 need to be adjusted, the second brushless motor 7 is initiated to drive the involute worm 8 to rotate. The involute worm 8 rotates to drive the connecting plate 9 to rotate, so as to drive the first arc-shaped box body 2 to rotate. The first arc-shaped box body 2 rotates to drive the first brushless motor 3 to rotate. The first brushless motor 3 rotates to drive the second arc-shaped box body 4 to rotate. The second arc-shaped box body 4 rotates to drive the laser radar device 12 and the infrared assisted camera 13 to rotate, thus adjusting the angles of the laser radar device 12 and the infrared assisted camera 13. When there is an obstacle, if the laser radar device 12 and the camera detect the obstacle, a signal is transmitted to the control module. The control module transmits the signal to an operator through the communication module. If the operator does not respond, when the aircraft is too close to the obstacle, the self-popup safety air bag 6 starts to expand to open the cover 14. The self-popup safety air bag 6 contacts and collides with the obstacle, which reduces the loss caused by direct collision between the unmanned aerial vehicle and the obstacle. One unmanned aerial vehicle can be provided with one or more devices according to a situation and a need, so that the unmanned aerial vehicle can be protected in all directions.

Claims (2)

ConclusiesConclusions 1. Inrichting voor het vermijden van botsingen van een luchtvaartuig, met het kenmerk dat die het volgende omvat: een onderzoeks- en meetmechanisme, waarbij het onderzoeks- en meetmechanisme aangebracht is boven het montagedooslichaam, en een eerste boogvormig dooslichaam omvat; het boogvormige dooslichaam boven het montagedooslichaam aangebracht is; een eerste borstelloze motor vast gemonteerd is in het eerste boogvormige dooslichaam; een uitgaande schacht van de eerste borstelloze motor door een bovenkant van het eerste boogvormige dooslichaam doordringt, een bovenkant van de uitgaande schacht van de eerste borstelloze motor vast voorzien is van een tweede boogvormig dooslichaam; een laserradarinrichting en een infraroodondersteunde camera vast gemonteerd zijn op een onderste binnenwand van het tweede boogvormige dooslichaam; een bovenkant van de laserradarinrichting en een bovenkant van de infraroodondersteunde camera zich beide uit het tweede boogvormige dooslichaam uitstrekken; in het tweede boogvormige dooslichaam een antibotsingscomponent aangebracht is; een hulprotatiemechanisme, waarbij het hulprotatiemechanisme aangebracht is in het montagedooslichaam, en een tweede borstelloze motor omvat; de tweede borstelloze motor vast gemonteerd is op een onderste binnenwand van het montagedooslichaam; een evolvente worm gemonteerd 1s op de onderste binnenwand van het montagedooslichaam; een uitgaande schacht van de tweede borstelloze motor vast verbonden is met de evolvente worm; in het montagedooslichaam een verbindingsplaat gemonteerd 1s; een bewegingsgat gevormd is in een bovenkant van het montagedooslichaam; een bovenkant van de verbindingsplaat het bewegingsgat doordringt en vast verbonden is met het eerste boogvormige dooslichaam; een boogvormige onderkant van de verbindingsplaat voorzien is van een veelheid van tanden; en de evolvente worm aangrijpt op de veelheid van tanden.1. An aircraft collision avoidance device, characterized in that it comprises: an examination and measurement mechanism, the examination and measurement mechanism being arranged above the mounting box body and comprising a first arcuate box body; the arcuate box body is arranged above the mounting box body; a first brushless motor is fixedly mounted in the first arcuate box body; an output shaft of the first brushless motor penetrates a top of the first arcuate box body, a top of the output shaft of the first brushless motor is fixedly provided with a second arcuate box body; a laser radar device and an infrared-assisted camera are fixedly mounted on a lower inner wall of the second arcuate box body; a top of the laser radar device and a top of the infrared-assisted camera both extend from the second arcuate box body; an anti-collision component is arranged in the second arcuate box body; an auxiliary rotation mechanism, the auxiliary rotation mechanism being mounted in the mounting box body and comprising a second brushless motor; the second brushless motor is fixedly mounted on a lower inner wall of the mounting box body; an involute worm mounted 1s on the lower inner wall of the mounting box body; an output shaft of the second brushless motor is rigidly connected to the involute worm; a connecting plate mounted in the mounting box body 1s; a movement hole is formed in a top of the mounting box body; a top of the connecting plate penetrates the movement hole and is firmly connected to the first arcuate box body; an arcuate bottom of the connecting plate is provided with a plurality of teeth; and the involute worm takes hold of the multitude of teeth. 2. Inrichting voor het vermijden van botsingen van het luchtvaartuig volgens conclusie 1, met het kenmerk dat de antibotsingscomponent een vierkante montagedoos omvat; de vierkante montagedoos vast gemonteerd is op de onderste binnenwand van het tweede boogvormige montagedooslichaam; een zelfopklappende veiligheidsairbag vast gemonteerd is op een onderste binnenwand van de vierkante montagedoos; een bovenkant van de vierkante montagedoos zich uit het tweede boogvormige montagedooslichaam uitstrekt; en de bovenkant van de vierkante montagedoos voorzien is van een deksel.An aircraft collision avoidance device according to claim 1, characterized in that the anti-collision component comprises a square mounting box; the square mounting box is fixedly mounted on the lower inner wall of the second arc-shaped mounting box body; a self-deploying safety airbag is permanently mounted on a lower inner wall of the square mounting box; a top of the square mounting box extends from the second arcuate mounting box body; and the top of the square mounting box has a lid.
NL2032375A 2022-07-05 2022-07-05 Collision avoidance device of aircraft NL2032375B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
NL2032375A NL2032375B1 (en) 2022-07-05 2022-07-05 Collision avoidance device of aircraft

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Application Number Priority Date Filing Date Title
NL2032375A NL2032375B1 (en) 2022-07-05 2022-07-05 Collision avoidance device of aircraft

Publications (1)

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NL2032375B1 true NL2032375B1 (en) 2024-01-19

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NL2032375A NL2032375B1 (en) 2022-07-05 2022-07-05 Collision avoidance device of aircraft

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