CN205899016U - An obstacle avoidance device and system - Google Patents

Abstract

The utility model provides an obstacle avoidance device and system, wherein the obstacle avoidance device includes: an obstacle avoidance gimbal, a first-axis motor and a second-axis motor; the obstacle avoidance gimbal is electrically connected to the first-axis motor and the second-axis motor through an obstacle avoidance gimbal main control board, and the obstacle avoidance gimbal main control board controls the posture of the obstacle avoidance gimbal through the first-axis motor and the second-axis motor, wherein the obstacle avoidance gimbal main control board drives the obstacle avoidance gimbal to perform pitch rotation on the PITCH axis by controlling the first-axis motor; the obstacle avoidance gimbal main control board drives the obstacle avoidance gimbal to perform horizontal rotation on the YAW axis by controlling the second-axis motor. The obstacle avoidance device and system provided by the utility model control the posture of the obstacle avoidance gimbal through the first-axis motor and the second-axis motor, so that the obstacle avoidance gimbal can always follow the movement direction of the obstacle avoidance device, effectively detect obstacles in the horizontal direction ahead, avoid the risk of collision, and improve the safety of the operator.

Description

An obstacle avoidance device and system

technical field

The utility model relates to the technical field of obstacle avoidance, in particular to an obstacle avoidance device and system.

Background technique

At present, the application of obstacle avoidance technology is more and more widely. The traditional obstacle avoidance technology is to fix the obstacle avoidance device on the moving device, so that the relative movement between the obstacle avoidance device and the moving device cannot be made, and the obstacle avoidance device can only detect Whether there is an obstacle within the range of the fixed direction, when the moving device changes the moving direction, it is necessary to rely on the operator to judge whether there is an obstacle around, which cannot effectively detect the obstacle within the moving direction, and it is prone to the danger of collision with the obstacle, not only The safety of the user's operation is reduced, and the user's experience of using the obstacle avoidance technology is also reduced.

In view of the above-mentioned traditional obstacle avoidance technology, the obstacles within the range of motion direction of the moving device cannot be effectively detected, the risk of collision with obstacles is likely to occur, the safety of user operation is reduced, and the user experience of using obstacle avoidance technology has not yet been proposed. effective solution.

Utility model content

In view of this, the purpose of the embodiment of the utility model is to provide an obstacle avoidance device and system, which can effectively detect obstacles in the moving direction of the moving device, avoid the risk of collision due to undetected obstacles, and improve user operation. The safety and experience of using obstacle avoidance technology.

In the first aspect, the embodiment of the present utility model provides an obstacle avoidance device, which includes: an obstacle avoidance platform, a first axis motor and a second axis motor; an obstacle avoidance platform, a first axis motor, and a second axis motor Electrically connected to the main control board of the obstacle avoidance gimbal, the main control board of the obstacle avoidance gimbal controls the posture of the obstacle avoidance gimbal through the first axis motor and the second axis motor, wherein the main control board of the obstacle avoidance gimbal controls the first axis The motor drives the obstacle avoidance gimbal to rotate on the PITCH axis; the main control board of the obstacle avoidance gimbal drives the obstacle avoidance gimbal to rotate horizontally on the YAW axis by controlling the second axis motor.

In combination with the first aspect, the embodiment of the present utility model provides a first possible implementation manner of the first aspect, wherein the obstacle avoidance platform further includes: a gyroscope and a sensor main control board, and the gyroscope communicates with the avoidance vehicle through the sensor main control board. The main control board of the obstacle avoidance gimbal is electrically connected, and the gyroscope detects the driving angle parameters of the obstacle avoidance gimbal, and transmits the driving angle parameters to the main control board of the obstacle avoidance gimbal through the sensor main control board; the main control board of the obstacle avoidance gimbal Parameters to adjust the 1st axis motor and/or the 2nd axis motor. to control the posture of the obstacle avoidance gimbal.

In combination with the first possible implementation of the first aspect, the embodiment of the present utility model provides a second possible implementation of the first aspect, wherein the obstacle avoidance device further includes: a first One-axis magnetic encoder, the first-axis magnetic encoder is electrically connected to the main control board of the obstacle avoidance gimbal, and is used to transmit the detected rotation angle of the first-axis motor to the main control board of the obstacle avoidance gimbal; detect the second-axis motor The second-axis magnetic encoder of the rotation angle, the second-axis magnetic encoder is electrically connected to the main control board of the obstacle avoidance gimbal, and is used to transmit the detected rotation angle of the second-axis motor to the main control board of the obstacle avoidance gimbal; The main control board of the obstacle avoidance gimbal controls the posture of the obstacle avoidance gimbal according to the driving angle parameters, and the rotation angle of the first axis motor and/or the rotation angle of the second axis motor

In combination with the second possible implementation of the first aspect, the embodiment of the present utility model provides a third possible implementation of the first aspect, wherein the first axis magnetic encoder is arranged on the YAW axis support; the second axis magnetic The encoder is arranged on the fixing bracket of the main control board.

In combination with the first possible implementation of the first aspect, the embodiment of the present utility model provides a fourth possible implementation of the first aspect, wherein the above-mentioned obstacle avoidance platform includes: a radar connected to the sensor main control board The ranging sensor and the infrared ranging sensor, the radar ranging sensor is used for long-distance obstacle detection through the radar signal, and the radar detection result is transmitted to the main control board of the obstacle avoidance platform through the sensor main control board; the infrared ranging sensor is used for Near-distance obstacle detection is carried out through infrared signals, and the infrared detection results are transmitted to the obstacle avoidance gimbal main control board through the sensor main control board; the obstacle avoidance gimbal main control board transmits the radar detection results and/or infrared detection results to the installation place The equipment of the above-mentioned obstacle avoidance device, so that the equipment avoids obstacles.

In combination with the first aspect, the embodiment of the present utility model provides a fifth possible implementation manner of the first aspect, wherein the above-mentioned obstacle avoidance device further includes: a remote control device wirelessly connected to the main control board of the obstacle avoidance pan/tilt.

In combination with the first possible implementation of the first aspect, the embodiment of the present utility model provides a sixth possible implementation of the first aspect, wherein the gyroscope, the radar ranging sensor and the infrared ranging sensor are all packaged in a Inside the box, the box is provided with a window for the radar ranging sensor and the infrared ranging sensor to transmit signals.

In combination with the first aspect, the embodiment of the present utility model provides a seventh possible implementation manner of the first aspect, wherein, the second axis motor is arranged on the pan-tilt base through a sliding connection part; the sliding connection part includes: a small end of the slip ring part and the large end of the slip ring, the radius of the small end of the slip ring is smaller than the radius of the large end of the slip ring; the small end of the slip ring is located on the side close to the second shaft motor.

In combination with the seventh possible implementation of the first aspect, the embodiment of the present utility model provides an eighth possible implementation of the first aspect, wherein, the lower part of the pan/tilt base is provided with a motor fixing seat and a cover for the motor fixing seat plate.

In the second aspect, the embodiment of the present utility model also provides an obstacle avoidance system, wherein the system includes: an aircraft, and the obstacle avoidance device provided in the first aspect above; the obstacle avoidance device is arranged on the aircraft, and the obstacle avoidance device The main control board of the gimbal is electrically connected with the main control board of the aircraft through the contact board.

The obstacle avoidance device and the system provided by the embodiment of the utility model control the posture of the obstacle avoidance platform through the first axis motor and the second axis motor, so that the obstacle avoidance platform can always follow the obstacle avoidance device during the driving process of the obstacle avoidance device The direction of movement can effectively detect obstacles in the horizontal direction ahead, avoiding the risk of collision and improving the safety of the operator.

Further, the obstacle avoidance device and system provided by the embodiments of the present invention can effectively detect long-distance and short-distance obstacles in the horizontal direction ahead through the radar ranging sensor and infrared ranging sensor installed on the obstacle avoiding platform, And the main control board of the obstacle avoidance platform is used to control the obstacle avoidance according to the radar detection result and/or the infrared detection result, which can effectively avoid the risk of collision and improve the user experience of using the obstacle avoidance device.

In order to make the above-mentioned purpose, features and advantages of the present invention more comprehensible, preferred embodiments are specifically cited below, together with the accompanying drawings, and are described in detail as follows.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following drawings will be briefly introduced in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention. Therefore, it should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained according to these drawings without creative work.

Fig. 1 shows a schematic diagram of a three-dimensional structure of an obstacle avoidance device provided by Embodiment 1 of the present invention;

Fig. 2 shows an exploded view of an obstacle avoidance device provided by Embodiment 1 of the present invention;

Fig. 3 shows a cross-sectional view of the second axis motor of the obstacle avoidance device provided by Embodiment 1 of the present invention and the sliding connection part when it is connected;

Fig. 4 shows a circuit control principle block diagram of an obstacle avoidance device provided by Embodiment 2 of the present invention;

Fig. 5 shows a schematic diagram of a three-dimensional structure of an obstacle avoidance system provided by Embodiment 3 of the present invention;

Fig. 6 shows a schematic diagram of the three-dimensional structure of the posture of the obstacle-avoiding gimbal when the aircraft is flying forward according to Embodiment 3 of the present invention;

Fig. 7 shows a schematic diagram of the three-dimensional structure of an obstacle-avoiding pan-tilt attitude when the aircraft flies to the right according to Embodiment 3 of the present invention.

Graphical description:

100-obstacle avoidance device 200-aircraft

1-Obstacle avoidance gimbal 1a-Obstacle avoidance gimbal front cover 1b-Obstacle avoidance gimbal back cover

2-Radar ranging sensor 3-Sensor main control board 4-Gyroscope board

5-Infrared ranging sensor 6-First axis motor 7-First axis magnetic encoder

8-Metal nameplate 9-Main control cover 10-Obstacle avoidance gimbal main control board

11-main control board fixing bracket 12-second axis magnetic encoder

13-YAW shaft bracket 14-Second shaft motor 15-Sliding connection parts

15a-Small end of slip ring 15b-Big end of slip ring 16-Motor fixing seat

17-contact plate 18-cover plate of motor fixing seat

19-through hole

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiment is only a part of the embodiments of the present utility model, rather than all the embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present utility model.

Considering that in the traditional obstacle avoidance technology, the relative movement between the obstacle avoidance device and the moving device cannot be made, the obstacles within the range of the moving direction cannot be effectively detected, and the risk of collision is likely to occur, the embodiment of the utility model provides an avoidance The barrier device and system are described below through the embodiments.

Example 1

Referring to the three-dimensional structure diagram of an obstacle avoidance device shown in FIG. 1 and the exploded view of the obstacle avoidance device shown in FIG. 2 , this embodiment is described by taking the obstacle avoidance device installed on a moving device as an example. This obstacle avoidance device comprises: obstacle avoidance cloud platform 1, first shaft motor 6 and second shaft motor 14, in the present embodiment, first shaft motor 6 is arranged on the YAW shaft support 13 (the first shaft motor 6 is not shown in Fig. 1 A shaft motor 6), is connected with the obstacle avoidance platform 1, and the second shaft motor 14 is arranged in the motor holder 16 (the second shaft motor 14 is not shown in Fig. 1), the first shaft motor 6 and the second shaft motor The specific setting position of 14 can be flexibly set according to the structure of the specific moving device, which is not limited in this embodiment.

The obstacle avoidance platform 1 is electrically connected with the first axis motor 6 and the second axis motor 14 through the obstacle avoidance platform main control board 10, and the obstacle avoidance platform main control board 10 is controlled by the first axis motor 6 and the second axis motor 14 The posture of the obstacle avoidance gimbal 1, wherein the obstacle avoidance gimbal main control board 10 drives the obstacle avoidance gimbal 1 to pitch and rotate on the PITCH axis by controlling the first axis motor 6, and controls the second axis motor 14 to drive the obstacle avoidance gimbal 1 Do horizontal rotation on the YAW axis. When the moving device changes the moving direction, by controlling the first axis motor 6 and the second axis motor 14, the obstacle avoidance platform 1 can always be kept horizontally forward relative to the moving direction of the moving device, and then detect obstacles within the range of the moving direction thing.

The obstacle avoidance device provided by the above-mentioned embodiment 1 controls the first axis motor and the second axis motor through the main control board of the obstacle avoidance platform, and then controls the posture of the obstacle avoidance platform, so that the obstacle avoidance platform can always follow the movement of the motion device Direction, effectively detect obstacles in the horizontal direction ahead, avoid the risk of collision, and improve the safety of the operator.

Fig. 2 shows the explosion diagram of the obstacle avoidance device described in the above-mentioned embodiment 1, as shown in Fig. 2, it should be noted that the explosion diagram of the obstacle avoidance device shown in Fig. 2 only includes the main structure, not Schematic diagram of all structures of the obstacle avoidance device.

As shown in Figure 2, the obstacle avoidance platform 1 is a box, which includes: the obstacle avoidance platform front cover 1a and the obstacle avoidance platform rear cover 1b, wherein the radar ranging sensor 2, the sensor main control board 3 , gyroscope board 4, and infrared ranging sensor 5 are all packaged in the casing of the obstacle avoidance platform 1, and the window for transmitting signals of the radar ranging sensor 2 and the infrared ranging sensor 5 is provided on the obstacle avoiding platform front cover 1a .

The first axis motor 6 is connected with the box body of the obstacle avoidance platform 1, and is installed on the upper part of the YAW axis bracket 13, as shown in Figure 2, the first axis magnetic encoder 7 is also fixed on the YAW axis bracket 13, and a metal nameplate 8 are packaged on the YAW shaft support 13 tops.

Main control cover 9, obstacle avoidance pan/tilt main control board 10, main control board fixing bracket 11, second axis magnetic encoder 12, YAW axis bracket 13, second axis motor 14, sliding connection part 15, motor fixing seat 16 , the contact plate 17 and the cover plate 18 of the motor holder are installed sequentially from top to bottom, as shown in FIG.

The sliding connection part 15 includes: a slip ring small end portion 15a and a slip ring large end portion 15b, the radius of the slip ring small end portion 15a is smaller than the radius of the slip ring large end portion 15b, and the slip ring small end portion 15a is located close to the second shaft One side of the motor 14, as shown in Figure 3. When there is an external force (for example, the force of the motor rotation), the slip ring small end 15a and the slip ring large end 15b can rotate relatively; the two ends of the slip ring small end 15a and the slip ring large end 15b (Fig. 3) is used for passing through the connecting wire of the circuit. When the obstacle avoidance gimbal 1 rotates 360 degrees on the YAW axis, the circuit will not be wound up, and there is a penetrating wire in the middle of the second axis motor 14. Stepped through hole 19, the small end portion 15a of the slip ring goes deep into the through hole 19, and the large end portion 15b of the slip ring leans against the step of the second shaft motor 14; the motor holder 16 and the cover plate 18 of the motor holder are arranged on The lower position of the pan-tilt base, when realized specifically, the cover plate 18 of the motor fixing seat presses the large end portion 15b of the slip ring, so that the large end portion 15b of the slip ring is fixed, and when the second axis motor 14 rotates, the slip ring will be driven The small end 15a is relatively rotated.

The obstacle avoidance device provided by the above embodiments is fixed on the motion device through the base of the pan/tilt, and the obstacle avoidance pan/tilt can make relative movements through the first axis motor and the second axis motor, adjust the posture, and can always follow the movement of the motion device direction, effectively detect obstacles in the horizontal direction ahead, and avoid the risk of collision.

Example 2

In order to facilitate further understanding of the obstacle avoidance device provided by the embodiment of the present utility model, on the basis of embodiment 1, the embodiment of the present utility model also provides a block diagram of the circuit control principle of the obstacle avoidance device described in the above embodiment 1, as shown in Figure 4 As shown, the obstacle avoidance device is installed on the motion device as an example for illustration, wherein the motion device can be electrically connected to the motion control board of the obstacle avoidance device. Specifically, the circuit control of the obstacle avoidance device mainly includes the following components:

Obstacle avoidance pan/tilt main control board, sensor main control board, gyroscope, radar ranging sensor, infrared ranging sensor, first axis motor, first axis magnetic encoder, second axis motor, second axis magnetic encoder movement Control board, gimbal adapter board, governor board, battery. In specific implementation, the working process of the main components is as follows:

The gyroscope is electrically connected to the obstacle avoidance gimbal main control board through the sensor main control board. The main control board of the obstacle-avoiding gimbal adjusts the first-axis motor and/or the second-axis motor according to the driving angle parameters to control the posture of the obstacle-avoiding gimbal, so that the obstacle-avoiding gimbal always follows the movement direction of the motion device.

During specific implementation, the above-mentioned obstacle avoidance device further includes: a first-axis magnetic encoder for detecting the rotation angle of the first-axis motor, and a second-axis magnetic encoder for detecting the rotation angle of the second-axis motor, wherein the first-axis magnetic The encoder is electrically connected to the obstacle avoidance gimbal main control board, and is used to transmit the detected rotation angle of the first axis motor to the obstacle avoidance gimbal main control board; the second axis magnetic encoder is electrically connected to the obstacle avoidance gimbal main control board. Connection, used to transmit the detected rotation angle of the second axis motor to the main control board of the obstacle avoidance gimbal. Based on this, the main control board of the obstacle avoidance gimbal controls the posture of the obstacle avoidance gimbal through the first axis motor and/or the second axis motor may include: the main control board of the obstacle avoidance gimbal rotates the first axis motor according to the driving angle parameter The angle and/or the rotation angle of the second axis motor control the posture of the obstacle avoidance gimbal.

The above-mentioned obstacle avoidance device also includes when detecting obstacles: a radar ranging sensor and an infrared ranging sensor respectively connected to the sensor main control board, wherein the radar ranging sensor is used for long-distance obstacle detection through radar signals, and the radar The detection result is transmitted to the main control board of the obstacle avoidance gimbal through the sensor main control board; the infrared ranging sensor is used to detect obstacles at close range through the infrared signal, and the infrared detection result is transmitted to the main control of the obstacle avoidance gimbal through the sensor main control board plate.

The main control board of the obstacle avoidance platform determines the position of the detected obstacle according to the radar detection result and/or the infrared detection result, and transmits the detection result to the equipment on which the obstacle avoidance device is installed, such as an aircraft, etc., so that The device avoids obstacles, wherein the avoidance control of obstacles includes: the user can use a remote control device wirelessly connected to the main control board of the obstacle avoidance platform, such as a remote control, to control the equipment electrically connected to the obstacle avoidance device to avoid Obstacles, or, according to the radar detection results and/or the infrared detection results, the main control board of the obstacle avoidance platform controls the motion device electrically connected to the obstacle avoidance device to perform automatic obstacle avoidance control. A sort of.

The obstacle avoidance device provided by Embodiment 2 of the above-mentioned utility model detects long-distance and short-distance obstacles in the horizontal direction in front of the moving device through the radar ranging sensor and the infrared ranging sensor arranged on the obstacle avoiding platform, and performs obstacle detection. Object avoidance control can effectively avoid the risk of collision, improve the safety of the operator and the user experience of using the obstacle avoidance device.

Example 3

On the basis of Embodiment 1 and Embodiment 2, the embodiment of the present utility model also provides an obstacle avoidance system. The above obstacle avoidance device is set on an aircraft as an example for illustration. As shown in Figure 5, the obstacle avoidance system includes The obstacle avoidance device 100 and the aircraft 200.

The obstacle avoidance device 100 is arranged on the aircraft 200, wherein the main control board of the obstacle avoidance gimbal of the obstacle avoidance device is electrically connected with the main control board of the aircraft through a contact board.

The user can control the flight state of the aircraft 200 through the remote control. During the flight of the aircraft 200, the gyroscope detects the angle parameters of the obstacle avoidance gimbal, and transmits the driving angle parameters to the main controller of the obstacle avoidance gimbal through the sensor main control board. board; the main control board of the obstacle avoidance gimbal adjusts the first axis motor and/or the second axis motor according to the driving angle parameters to control the posture of the obstacle avoidance gimbal, so that the obstacle avoidance gimbal always follows the movement direction of the motion device.

When the aircraft 200 flies forward, it has a forward tilt angle relative to the ground. The gyroscope transmits the angle parameter to the main control board of the obstacle avoidance gimbal through the sensor main control board. The distance sensor and the infrared distance sensor are always kept in a horizontal state, so as to detect obstacles in the horizontal direction.

When the aircraft 200 is flying to the right, the main control board of the obstacle avoidance gimbal receives the angle parameter, and controls the second axis motor to make the obstacle avoidance gimbal rotate 90 degrees on the YAW axis, and at the same time controls the first axis motor to make the obstacle avoidance The gimbal is pitched and rotated on the PITCH axis, and the posture of the obstacle avoidance gimbal is adjusted so that the direction detected by the radar ranging sensor and the infrared ranging sensor is consistent with the flying direction of the aircraft 200, and obstacles in the horizontal direction ahead are always detected.

When an obstacle is detected, the user can control the aircraft 200 to avoid the obstacle through the remote control, and when the aircraft 200 is out of the user's sight, it can also automatically avoid the obstacle.

6 shows a schematic diagram of the three-dimensional structure of the posture of the obstacle avoidance gimbal when the aircraft 200 is flying forward. After the posture is adjusted, the obstacle avoidance gimbal maintains a forward horizontal state and detects obstacles within the horizontal range ahead of the moving direction.

7 shows a schematic diagram of the three-dimensional structure of the attitude of the obstacle-avoiding gimbal when the aircraft 200 is flying to the right. The direction detected by the ranging sensor is consistent with the flying direction of the aircraft 200 .

The operation process and technical effects of the obstacle avoidance system provided by Embodiment 3 of the present utility model are the same as those of the foregoing embodiments. For a brief description, for parts not mentioned in this embodiment, reference may be made to the corresponding content in the foregoing embodiments.

The obstacle avoidance system provided by the above-mentioned embodiment 3, during the flight of the aircraft, by adjusting the posture of the obstacle avoidance platform, the direction detected by the radar ranging sensor and the infrared ranging sensor is consistent with the flying direction of the aircraft, which can effectively detect the flight direction of the aircraft. Obstacles in the direction avoid the risk of collision, improve the safety of user operation and the user experience of the obstacle avoidance system.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, use a specific The azimuth structure and operation, therefore can not be construed as the limitation of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In addition, in the description of the present utility model, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

The above is only a specific embodiment of the present utility model, but the scope of protection of the present utility model is not limited thereto. Anyone familiar with the technical field can easily think of changes or changes within the technical scope disclosed by the utility model Replacement should be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be based on the protection scope of the claims.

Claims (10)

1. a kind of fault avoidnig device is it is characterised in that include: avoidance head, the first spindle motor and the second spindle motor；

Described avoidance head is electrically connected by avoidance head master control borad with described first spindle motor, described second spindle motor, described Avoidance head master control borad controls the posture of described avoidance head by described first spindle motor and described second spindle motor, wherein,

Described avoidance head master control borad is turned by controlling avoidance head described in described first axle Motor drive to do pitching in pitch axle Dynamic；

Described avoidance head master control borad is turned by controlling described second spindle motor to drive described avoidance head to do level in yaw axle Dynamic.

2. fault avoidnig device according to claim 1 is it is characterised in that described avoidance head also includes:

Gyroscope and sensor master control borad, described gyroscope is by described sensor master control borad and described avoidance head master control borad electricity Connect, described gyroscope detects the traveling angle parameter of described avoidance head, by described traveling angle parameter by described sensing Device master control borad transmits to described avoidance head master control borad；

Described avoidance head master control borad adjusts described first spindle motor and/or described second axle electricity according to described traveling angle parameter Machine, to control the posture of described avoidance head.

3. fault avoidnig device according to claim 2 is it is characterised in that described fault avoidnig device also includes:

Detect the first axle magnetic coder of the rotational angle of described first spindle motor, described first axle magnetic coder and described avoidance Head master control borad electrically connects, and the rotational angle for detection obtains described first spindle motor transmits to described avoidance head master control Plate；

Detect the second axle magnetic coder of the rotational angle of described second spindle motor, described second axle magnetic coder and described avoidance Head master control borad electrically connects, and the rotational angle for detection obtains described second spindle motor transmits to described avoidance head master control Plate；

Described avoidance head master control borad according to described traveling angle parameter, and described first spindle motor rotational angle and/or The rotational angle of described second spindle motor controls the posture of described avoidance head.

4. fault avoidnig device according to claim 3 is it is characterised in that described first axle magnetic coder is arranged at yaw axle props up On frame；Described second axle magnetic coder is arranged on master control borad fixed support.

5. fault avoidnig device according to claim 2 is it is characterised in that described avoidance head includes:

The radar range finding sensor being connected respectively with described sensor master control borad and infrared distance sensor, described radar range finding passes Sensor is used for carrying out long-distance barrier analyte detection by radar signal, detections of radar result is passed through described sensor master control borad and passes Transport to described avoidance head master control borad；

Described infrared distance sensor is used for carrying out closely detection of obstacles by infrared signal, and infrared detections are passed through Described sensor master control borad transmits to described avoidance head master control borad；

Described detections of radar result and/or described infrared detections are transmitted by described avoidance head master control borad keeps away to described in installation The equipment of fault device, so that described equipment avoiding barrier.

6. fault avoidnig device according to claim 1 is it is characterised in that described fault avoidnig device also includes:

The remote control unit being wirelessly connected with described avoidance head master control borad.

7. fault avoidnig device according to claim 5 it is characterised in that described gyroscope, described radar range finding sensor and Described infrared distance sensor is all packaged in a casing, and described casing is provided with for described radar range finding sensor and described The window of infrared distance sensor transmission signal.

8. fault avoidnig device according to claim 1 is it is characterised in that described second spindle motor is set by the part that is slidably connected It is placed on head base；

The described part that is slidably connected includes: slip ring small end and the big end of slip ring, and the radius of described slip ring small end is less than described The radius of the big end of slip ring；Described slip ring small end is located at the side near described second spindle motor.

9. fault avoidnig device according to claim 8 is it is characterised in that the bottom of described head base is provided with motor and fixes Seat and the cover plate of described motor fixing seat.

10. a kind of obstacle avoidance system is it is characterised in that include: aircraft, and the avoidance described in claim 1～9 any one Device；

Described fault avoidnig device is arranged on described aircraft, the avoidance head master control borad of described fault avoidnig device and described aircraft Master control borad is electrically connected by contact board.