CN106598074B - Improve the method for unmanned plane stability and based on the regional dynamics patrol system taken photo by plane - Google Patents
Improve the method for unmanned plane stability and based on the regional dynamics patrol system taken photo by plane Download PDFInfo
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- CN106598074B CN106598074B CN201710016542.1A CN201710016542A CN106598074B CN 106598074 B CN106598074 B CN 106598074B CN 201710016542 A CN201710016542 A CN 201710016542A CN 106598074 B CN106598074 B CN 106598074B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
Improve the method for unmanned plane stability and based on the regional dynamics patrol system taken photo by plane, it is related to air vehicle technique field, the method for above-mentioned raising unmanned plane stability is the following steps are included: Step 1: measuring electricity of the unmanned plane when executing various flare maneuvers and keeping flight stability state adjusts input voltage value and corresponding throttle value；Step 2: connecting the voltage regulation unit of adjustable voltage between the battery and electricity of the unmanned plane are adjusted；Step 3: according to the currently performed flare maneuver of unmanned plane, it controls the voltage regulation unit and exports the voltage adjusted to electricity, so that electricity of the unmanned plane measured in input voltage value and step 1 that the electricity is adjusted when executing the flare maneuver and keeping flight stability state adjusts input voltage value consistent, while the winged control of the unmanned plane being allowed to transfer in row control to electricity referring to the throttle value when executing the flare maneuver and keeping flight stability state measured in step 1.
Description
Technical field
The present invention relates to air vehicle technique field, in particular to a kind of method for improving unmanned plane stability and based on taking photo by plane
Regional dynamics patrol system.
Background technique
Traditional multi-rotor unmanned aerial vehicle generally uses manual remote control mode to be controlled.In order to smoothly fly, unmanned plane is needed
Steady take-off process is wanted, this needs manipulator to have certain driving professional skill, does not have the general of professional driving efficiency very much
Logical crowd cannot upper hand quickly, can not safety operation multi-rotor unmanned aerial vehicle take off.Application No. is 2015102434546 middle promulgateds by the State Council
Bright patent discloses a kind of unmanned plane automatic lifting stick method and system, and solution is that multi-rotor unmanned aerial vehicle automatic steady is allowed to rise
Flying to certain safe distance height, (by determining Gao Danyuan, such as ultrasonic distance-measuring sensor or baroceptor determine
Take off highly) after, fuselage program just authorizes remote operator using remote control mode come remote control operation unmanned plane, to reduce
Fly difficulty.However in the autonomous take-off process of unmanned plane, with increasing for number of flights, cell voltage decline, electricity is adjusted to electricity
The driving capability of machine declines, and the revolving speed of motor is declined, so that lift deficiency, control effect occurs in take-off process in unmanned plane
Fruit is poor, and cannot steadily taking off, (particularly evident in the biggish situation of wind-force especially in ambient enviroment, voltage reduces in flight course
It is also possible to the unstable situation of unmanned plane occur) or even the up and down phenomenon of fuselage, if there is artificial prison in take-off process
Control, operator can also be adjusted according to the actual situation, however for entire flight course (including take off and descent)
The autonomous unmanned plane of no manual intervention would be possible to occur taking off unsuccessfully, unmanned plane the case where crashing.
Current consumption grade multi-rotor unmanned aerial vehicle is used primarily in that video is taken photo by plane, device for electric power line patrol, Traffic monitoring and information are adopted
In terms of collection and police tracking, in above-mentioned application, unmanned plane generallys use GPS and digital map navigation, and unmanned aerial vehicle (UAV) control is calculated
Method is relative complex and to the more demanding of cruising ability, when flight path is longer, it is also necessary to manually in terminal to unmanned plane
It is recycled.In addition, for the multi-rotor unmanned aerial vehicle flown between urban compact building, since GPS location precision is generally 5
Rice or so (positioning accuracy is related with the number of satellite of communication), if being blocked by building, precision can be lower, therefore necessarily requires map
Precision can satisfy precision navigation requirement, current commonly used Baidu/Amap error generally at 3 meters or so, and
For certain new buildings, trees and some small buildings it could even be possible to not marked in map navigation system
(existing Baidu/Amap on current market can also be unfavorable in the case certainly, and use and draw map certainly, but from
Draw map larger workload and have certain technical difficulty for some small enterprise/individuals), this just needs to nobody and takes
It carries anti-collision system (such as being just equipped with barrier automatic identification system on the indoor unmanned plane of big boundary) and knocks building to avoid it
Object or trees, thus the control algolithm of unmanned plane will be more complicated, and manufacturing cost also becomes higher, thus in certain journey
Application of the unmanned plane in the complicated grounds environment such as Big Residential District, campus, large scale industry garden and plant area is limited on degree.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of methods for improving multi-rotor unmanned aerial vehicle stability.Another party
Face (can be Big Residential District, institution of higher education in fixed area using the improved unmanned plane of the above method the present invention also provides a kind of
Garden, large scale industry garden or plant area) in the regional dynamics patrol system that is gone on patrol based on the mode of taking photo by plane.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of side for improving unmanned plane stability
Method, comprising:
Step 1: measuring electricity of the unmanned plane when executing various flare maneuvers and keeping flight stability state adjusts input
Voltage value and corresponding throttle value
Step 2: connecting the voltage regulation unit of adjustable voltage between the battery and electricity of the unmanned plane are adjusted；
Step 3: control the voltage regulation unit according to the currently performed flare maneuver of unmanned plane and export the voltage adjusted to electricity,
So that the unmanned plane measured in input voltage value and step 1 that the electricity is adjusted is executing the flare maneuver and is keeping flight stability
Electricity when state adjusts input voltage value consistent, while the winged control of the unmanned plane being allowed to be somebody's turn to do referring to what is measured in step 1 in execution
Flare maneuver simultaneously keeps throttle value when flight stability state to transfer in row control to electricity.
Wherein, the voltage regulation unit includes Sepic chopper circuit, optically coupled circuit and sample circuit；
The battery and electricity of the Sepic chopper circuit connection optically coupled circuit, sample circuit and unmanned plane are adjusted, the light
Coupling circuit connect winged control and the Sepic chopper circuit of unmanned plane, the sample circuit connection Sepic chopper circuit and unmanned plane
Winged control；
The unmanned plane is executed into various flare maneuvers and electricity corresponding to flight stability state is kept to adjust input voltage value
It being preset in the winged control of unmanned plane, Sepic chopper circuit is exported the voltage value adjusted to electricity and feeds back to winged control by the sample circuit,
The winged control will export corresponding compared with its preset voltage value corresponding with current flight movement and according to comparison result control
Pwm control signal, cut-off of the pwm control signal after optically coupled circuit improves amplitude to Sepic chopper circuit switching tube
It is controlled with conducting, is exported to realize and control the Sepic chopper circuit according to the currently performed flare maneuver of unmanned plane
The voltage adjusted to electricity, so that the input voltage value that the electricity is adjusted is executing the flare maneuver and keeping flying with preset unmanned plane
Electricity when stable state adjusts input voltage value consistent.
Alternatively, the voltage regulation unit includes single-chip microcontroller, Sepic chopper circuit, optically coupled circuit and sample circuit；
The battery and electricity of the Sepic chopper circuit connection optically coupled circuit, sample circuit and unmanned plane are adjusted, the light
Coupling circuit connect single-chip microcontroller and Sepic chopper circuit, the sample circuit connection Sepic chopper circuit and single-chip microcontroller, described
Single-chip microcontroller is powered by the system power supply circuit of unmanned plane and is connected to the winged control of unmanned plane to obtain current flight action message；
The unmanned plane is executed into various flare maneuvers and electricity corresponding to flight stability state is kept to adjust input voltage value
It is preset in single-chip microcontroller, Sepic chopper circuit is exported the voltage value adjusted to electricity and feeds back to single-chip microcontroller by the sample circuit, described
Single-chip microcontroller will export corresponding PWM compared with its preset voltage value corresponding with current flight movement and according to comparison result control
Signal is controlled, the pwm control signal to the cut-off of Sepic chopper circuit switching tube and is led after optically coupled circuit improves amplitude
It is logical to be controlled, it exports to realize and control the Sepic chopper circuit according to the currently performed flare maneuver of unmanned plane to electricity
The voltage of tune, so that input voltage value and preset unmanned plane that the electricity is adjusted are executing the flare maneuver and keeping flight stability
Electricity when state adjusts input voltage value consistent.
Based on above-mentioned design, the present invention also provides a kind of based on the regional dynamics patrol system taken photo by plane, including patrol monitoring
The landing platform of the unmanned plane cluster, quantity identical as the multi-rotor unmanned aerial vehicle that stand, are made of multi rack multi-rotor unmanned aerial vehicle is used
In to the multi-rotor unmanned aerial vehicle provide navigation land marking and be arranged on the landing platform and with patrol monitoring station
The wireless receiver of communication connection；
The multi-rotor unmanned aerial vehicle improves its autonomous flight stability using the above method, and the landing platform can be stopped more
Rotor wing unmanned aerial vehicle simultaneously provides charging to it, and each landing platform stops a frame multi-rotor unmanned aerial vehicle；
The land marking marks patrol route on the ground, and the patrol route is in end to end closed figure,
The landing platform is arranged at intervals on patrol route；
The multi-rotor unmanned aerial vehicle includes take photo by plane camera unit, mark recognition unit and wireless communication module, the mark
Recognition unit identification land marking guarantee multi-rotor unmanned aerial vehicle from current landing platform take off after can be along patrol route autonomous flight
And it drop to next landing platform；
When patrol, the patrol monitoring station passes through wireless communication module of the wireless receiver in multi-rotor unmanned aerial vehicle
Sending is taken off instruction, and all multi-rotor unmanned aerial vehicles are taken off from landing platform where it simultaneously, in flight course, the camera shooting of taking photo by plane
Unit photographs correspond to the video image of beat, and the video information of shooting is sent to accordingly by the wireless communication module in real time
Wireless receiver, received video information is transmitted to patrol monitoring station by the wireless receiver, more rotations
Wing unmanned plane successively flies to next landing platform from a landing platform along patrol route in a manner described, to realize in fixation
It is gone on patrol in region.
Wherein, the land marking includes being applied over the road surface identification lines of road surface and being applied on landing platform
Landing label symbol；
The mark recognition unit includes being located at the first of multi-rotor unmanned aerial vehicle front lower place land marking image for obtaining
Camera and for obtain be located at multi-rotor unmanned aerial vehicle immediately below land marking image second camera；
The image that first camera obtains isolates route ahead signal after processing, and the second camera obtains
Figure isolate current position signal after processing, the winged control unit combination route ahead signal of the multi-rotor unmanned aerial vehicle and
The corresponding multi-rotor unmanned aerial vehicle that controls of the variation of current position signal flies or turns forward along patrol route or drop to down
Landing platform.
Preferably, the road surface identification lines are the yellow/White traffic graticule for being applied over road surface, the yellow/white
The surface of traffic marking and label symbol of landing is coated with one layer of reflectorized material, is equipped in the multi-rotor unmanned aerial vehicle for shining
The LED spotlight of front lower place and underface road surface is penetrated, the landing platform is connected to the street lamp of road both sides by a fixed bracket
On bar.
It is furthermore preferred that wireless receiver on the wireless communication module of the multi-rotor unmanned aerial vehicle and landing platform it
Between carried out wireless communication using OFDM transmission technology, use cable modem between the wireless receiver and patrol monitoring station
Letter, the multi-rotor unmanned aerial vehicle is along patrol route flight course, and the wireless communication module is automatically in each wireless data transceiving
Soft handover is carried out between device, so that the video information real-time Transmission for camera unit shooting of taking photo by plane described in guaranteeing is to going on patrol monitoring station.
In above-mentioned unmanned plane patrol system, the landing platform further includes one for carrying out electromagnetism to multi-rotor unmanned aerial vehicle
The bottom of the wireless charging base of inductive charging, the multi-rotor unmanned aerial vehicle is equipped with power receiving coil, and the wireless charging base includes
What controller, power transmission coil, coil mounting base, electric resistance touch-control panel and the driving coil mounting base all around moved
Driving device, the power transmission coil are fixed in coil mounting base, and the coil mounting base and power transmission coil are all provided in electricity
The lower section of resistive touch panel, the landing label symbol is printed on electric resistance touch-control panel, in the multi-rotor unmanned aerial vehicle
Equipped with three or more supporting legs, the position of the power receiving coil is fixed relative to supporting leg and its position between supporting leg
Relationship is previously written in the control program of wireless charging base, after the multi-rotor unmanned aerial vehicle drops on landing platform, the branch
The bottom end of support leg is pressed on electric resistance touch-control panel, and the controller is first according to the change of electric resistance touch-control panel pressure spot resistance value
Change calculates accurate location of each supporting leg on electric resistance touch-control panel, further according between the power receiving coil and supporting leg
Positional relationship calculates the accurate location of power receiving coil, then controls the driving device driving coil mounting base movement, so that
The power transmission coil is accurately moved to the underface of power receiving coil, and before charging starts, the controller issues instruction cutting to electricity
The power supply of resistive touch panel, after charging complete, the controller issues power supply of the instruction cutting to power transmission coil.
Further, the landing platform further includes that a top is equipped with the closed cabin of electrically operated gate and for driving the electricity
The motor of dynamic door folding, the motor are controlled by the controller of the wireless charging base, and the wireless charging base is integrally set
In in closed cabin, being also printed on landing label symbol in the electrically operated gate, a radio receiver, institute are additionally provided in the electrically operated gate
Multi-rotor unmanned aerial vehicle is stated equipped with remote control module, the remote control module sends opening-closing door signal, the control to radio receiver
Device processed controls the positive/negative rotation of motor, so that the electrically operated gate overturning be driven to open/close.
Further, the wireless receiver is set to outside closed cabin, and the patrol monitoring station passes through no line number
Control mode switch instruction is issued according to wireless communication module of the transceiver in multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle exists
It is switched between automatic control mode and manual control mode, under the manual control mode, the mark recognition unit
It stops working.
After the method provided through the invention improves existing unmanned plane, even if cell voltage is with the working time
When increasing and declining, voltage regulation unit can also act according to current flight and output to the voltage that electricity is adjusted correspondingly is adjusted to best
Value, fly control be supplied to electricity tune pwm signal pulsewidth (throttle value) it is consistent with preset value constant in the case where, effective guarantee electricity
The driving capability to motor is adjusted, ensure that the stability of motor speed, unmanned plane is steadily flown to solve cell voltage decline
It is influenced caused by row.Such as the single-unit battery core of lithium battery is damaged suddenly in flight course, cell voltage sharply drops moment at this time
Low, the acute variation of voltage will lead to the unexpected lift deficiency of unmanned plane, quickly drops, very likely generates fall in such cases
Machine/aircraft bombing event, after being improved using method provided by the invention, even if occurring such situation suddenly, if battery at this time
Remaining total electricity remains to maintain unmanned plane normal flight, then the voltage value that voltage regulation unit quickly will be imparted to electricity tune is raised to fly with this
After adaptable preset voltage value is made in action, so that it may guarantee the steady of rotor revolving speed, avoid pendant caused by unexpected lift deficiency
Machine situation.
As another aspect of the present invention, unmanned plane patrol system provided by the invention is by identifying that land marking is led
Boat, patrol route are marked by land marking, are navigated during unmanned plane patrol without GPS and storing map, therefore it is controlled
Mode is relatively easy and is not in cause positioning accuracy to reduce because building blocks, fly and drift off the course or knock on the way building
The case where object is more importantly, due to precisely being navigated using land marking, as long as land marking is arranged in relatively spacious
Place, unmanned plane not need to avoid collision by anti-collision system.What is particularly worth mentioning is that provided by the invention
In unmanned plane patrol system, the unmanned plane cluster of multi rack multi-rotor unmanned aerial vehicle (more typical for quadrotor drone at present) composition
It respectively takes off simultaneously from different landing platforms, the patrol work to entire patrol route can be completed in a very short period of time.
Such as entire 70 kilometers of patrol route overall length, 14 landing platforms are arranged altogether, each in one landing platform of every 5 kilometers of settings
A frame quadrotor drone is stopped on landing platform, forms the cluster of a 14 frame unmanned planes, it is assumed that quadrotor drone is put down
Equal flying speed is 10m/s, then unmanned plane flies to the time of next landing platform from a landing platform less than 9 minutes, by
It takes off simultaneously in unmanned plane cluster and starts to go on patrol, then theoretically can just complete the patrol work of entire patrol route in 9 minutes
Make.It charges on landing platform after unmanned plane landing landing platform, by the common unmanned machine battery of consumer level is continuous on the market at present
Boat 20-25 minute, charging are calculated for time-consuming 120 minutes from 0% to 100%, and the electricity of consumption is about in above-mentioned 9 minutes flight time
40% or so, therefore landing platform only needs the just achievable charging to unmanned plane in 60 minutes or so, that is to say, that unmanned plane patrol system
Every 69 minutes are united with regard to achievable primary to 70 kilometers of routes patrols, patrol efficiency and frequency compare existing artificial patrol
To be increased dramatically, (the above citing is only used for being illustrated beneficial effects of the present invention, and those skilled in the art should be bright
It is white, when practical application can according to the conditions such as patrol frequency, unmanned plane cruise duration to the quantity of unmanned plane and landing platform into
Row is corresponding to be changed), in personnel's wage higher and higher today, obviously can be greatly reduced using above-mentioned unmanned plane patrol system
The human cost of large-scale infrastructure management company, AnBao Co., Ltd.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of voltage regulation unit in embodiment 1.
Fig. 2 is the entire block diagram of unmanned plane patrol system in embodiment 2.
Fig. 3 is the positive structure schematic of landing platform in embodiment 2.
Fig. 4 is the overlooking structure diagram of landing platform in embodiment 2.
Fig. 5 is the schematic diagram of internal structure of wireless charging base in embodiment 2.
Fig. 6 is the overlooking structure diagram of wireless charging base in embodiment 2.
Specific embodiment
In the description of the present invention, the meaning of " plurality " is refer to two and two or more.It needs to illustrate in advance, although
The present invention not in unmanned plane for guarantee its normal flight necessary to gyroscope, height sensor, accelerometer, electronic compass
And the units such as electricity tune are specifically described, but it will be appreciated by those skilled in the art that, in unmanned plane according to the present invention
In, it equally include these essential components.For convenient for those skilled in the art understand that the present invention compared with the existing technology
Improvements are below illustrated basic conception of the invention.
The method that unmanned plane stability is improved in the present invention is based primarily upon following design: 1, using the unmanned plane being completed
(voltage of the battery system of unmanned plane is nominal voltage at this time) obtains artificial behaviour by manually carrying out multiple test flight to it
Electricity of the unmanned plane when executing various flare maneuvers and keeping flight stability state adjusts input voltage value and throttle value during control.
2, voltage regulation unit is set between battery and electricity are adjusted.3, according to the currently performed flare maneuver of unmanned plane, it is defeated to control voltage regulation unit
Out to the voltage that electricity is adjusted, so that the unmanned plane measured in input voltage value and step 1 that electricity is adjusted is executing the flare maneuver and is protecting
Electricity when holding flight stability state adjusts input voltage value consistent, while allowing the winged control of the unmanned plane referring to measuring in step 1
Executing the flare maneuver and throttle value when keeping flight stability state transfers in row control to electricity.
Unmanned plane patrol system provided by the invention is based primarily upon following design: 1, with multiple UAVs set up one nobody
Machine cluster, patrol monitoring station is by wireless receiver on each landing platform and UAV Communication to realize to the unmanned plane
Cluster is uniformly controlled.2, land marking is set, and land marking marks patrol route, is identified by the mark on unmanned plane single
Member identification land marking realizes patrol navigation, and navigation procedure is not based on GPS and storing map, therefore can avoid missing because of positioning accuracy
Difference leads to the case where aircraft impact building.3, the unmanned plane cluster is dispersed in each point on patrol route, it is all nobody
Machine takes off patrol simultaneously, and all unmanned plane Autonomous landings charge to landing platform after the completion of single patrol, to reduce list
The amount of battery consumption of secondary patrol time and single patrol, improves patrol efficiency and frequency.
For the ease of the understanding of those skilled in the art, below with reference to 2 specific embodiments and attached drawing to the present invention make into
The explanation of one step.
Embodiment 1:
A method of improving unmanned plane stability, comprising:
Step 1: electricity of the measurement unmanned plane when executing various flare maneuvers and keeping flight stability state adjusts input voltage
Value and corresponding throttle value.(battery non-present unmanned plane field by taking the dedicated lithium battery of a kind of aircraft on the market as an example
Mainstream battery is only used as test in the present invention), fully charged rear virtual voltage is probably in 12.7V or so, with lithium battery
Using electric discharge, cell voltage can be gradually reduced, and dropped to 11.3V or so to stop supply terminals, used at this time for protection lithium battery
Service life and terminate its power supply, through use the multiple flight test of above-mentioned lithium battery, determined its stabilization take off after voltage and throttle value
(voltage value about 12V).
Step 2: connecting the voltage regulation unit of adjustable voltage between the battery and electricity of unmanned plane are adjusted；
It should be noted that it will be appreciated by those skilled in the art that, voltage regulation unit can using it is in the prior art other
Structure comprising but be not limited to using following two structure: a kind of structure of voltage regulation unit is as shown in Figure 1 comprising single-chip microcontroller,
Sepic chopper circuit, optically coupled circuit and sample circuit；Sepic chopper circuit connect optically coupled circuit, sample circuit and
The battery and electricity of unmanned plane are adjusted, and optically coupled circuit connects single-chip microcontroller and Sepic chopper circuit, and sample circuit connects Sepic copped wave
Circuit and single-chip microcontroller, single-chip microcontroller are powered by the system power supply circuit of unmanned plane and are connected to the winged control of unmanned plane to obtain current fly
Row action message；Unmanned plane is executed into various flare maneuvers and electricity corresponding to flight stability state is kept to adjust input voltage value pre-
Be located in single-chip microcontroller, Sepic chopper circuit is exported the voltage value adjusted to electricity and feeds back to single-chip microcontroller by sample circuit, single-chip microcontroller by its
Corresponding pwm control signal is exported compared with the preset voltage value corresponding with current flight movement and according to comparison result control,
The pwm control signal controls being switched off and on for Sepic chopper circuit switching tube after optically coupled circuit improves amplitude
System exports the voltage adjusted to electricity according to the currently performed flare maneuver control Sepic chopper circuit of unmanned plane to realize
So that the electricity of input voltage value and preset unmanned plane that electricity is adjusted when executing the flare maneuver and keeping flight stability state is adjusted
Input voltage value is consistent.
Another structure of voltage regulation unit are as follows: including Sepic chopper circuit, optically coupled circuit and sample circuit；Sepic is cut
Wave circuit connects the battery of optically coupled circuit, sample circuit and unmanned plane and electricity is adjusted, and optically coupled circuit connects flying for unmanned plane
Control and Sepic chopper circuit, sample circuit connect the winged control of Sepic chopper circuit and unmanned plane；Unmanned plane is executed into various fly
Row acts and holds electricity corresponding to flight stability state and input voltage value is adjusted to be preset in the winged control of unmanned plane, and sample circuit will
Sepic chopper circuit, which is exported, feeds back to winged control to the voltage value of electricity tune, flies control for it and acts corresponding preset with current flight
Voltage value compares and exports corresponding pwm control signal according to comparison result control, and the pwm control signal is through optically coupled circuit
Being switched off and on for Sepic chopper circuit switching tube is controlled after improving amplitude, is currently held to realize according to unmanned plane
Capable flare maneuver control Sepic chopper circuit exports the input voltage value that may make electricity tune to the electric voltage adjusted and presets
Unmanned plane adjust input voltage value consistent in the electricity for executing the flare maneuver and when keeping flight stability state.
The main distinction of above two structure, which essentially consists in, has been separately provided a single-chip microcontroller to Sepic in the first structure
Chopper circuit exports the voltage value adjusted to electricity, and (sample circuit feeds back to single-chip microcontroller, and single-chip microcontroller exports pwm control signal regulation electricity
Pressure, the pwm signal for flying control output is throttle value) it is controlled, and second of structure directly utilizes the processor flown in control, output
(fly control two groups of pwm control signals of output, one group is opened for controlling Sepic chopper circuit by flying control control to the voltage value that electricity is adjusted
Being switched off and on for pipe is closed, one group is throttle value, is sent to electric tune).The benefit of the first structure can mainly mitigate winged control
Data processing pressure, the benefit of second of structure mainly can reduce electrical component, advantageously reduce cost.
Step 3: control voltage regulation unit exports the voltage adjusted to electricity according to unmanned plane currently performed flare maneuver, so that
The unmanned plane that measures is when executing the flare maneuver and keeping flight stability state in the input voltage value and step 1 that electricity is adjusted
Electricity adjusts input voltage value consistent, while the winged control of unmanned plane being allowed to execute the flare maneuver referring to what is measured in step 1 and protect
Throttle value when holding flight stability state transfers in row control to electricity.Specifically, in the present embodiment, after multiple flight, lithium electricity
The voltage drop in pond is down to 11.6V, if at this moment keeping throttle value (flying the PWM value that control output is adjusted to electricity) constant, unmanned plane can not be complete
At independently steadily taking off, after setting voltage regulation unit, throttle value keeps preset value constant, and voltage regulation unit will be exported to electricity tune
Voltage stabilization independently steadily takes off in 12V to realize unmanned plane.
In the present embodiment, after by the way that increase voltage regulation unit improves existing unmanned plane between battery and electricity are adjusted, i.e.,
Just when cell voltage declines with the increase of working time, voltage regulation unit can also be acted according to current flight correspondingly will be defeated
It is adjusted to optimum value to the voltage that electricity is adjusted out, it is consistent with preset value in the pwm signal pulsewidth (throttle value) that winged control is supplied to electricity tune
In the case where constant, the electric driving capability adjusted to motor of effective guarantee ensure that the stability of motor speed, to solve electricity
Cell voltage decline is influenced caused by unmanned plane smooth flight.Such as when the single-unit battery core of lithium battery in flight course is damaged suddenly
When, cell voltage will drastically reduce moment, and the acute variation of voltage will lead to the unexpected lift deficiency of unmanned plane, quickly drop, this
It is very likely generated in the case of kind and falls machine/aircraft bombing event, after being improved using the above method, even if occurring such feelings suddenly
Condition, if remaining battery total electricity remains to maintain unmanned plane normal flight at this time, voltage regulation unit quickly will be imparted to the electricity of electricity tune
After pressure value is raised to the preset voltage value being adapted with the flare maneuver, so that it may guarantee the steady of rotor revolving speed, avoid unexpected lift
Air crash situation caused by deficiency.
Embodiment 2:
As shown in Fig. 2, being based on taking photo by plane the present embodiment provides one kind based on the improved unmanned plane of method in embodiment 1
Regional dynamics patrol system comprising patrol monitoring station (patrol monitoring station by artificial on duty), by multi rack quadrotor drone
The unmanned plane cluster of composition, quantity identical as quadrotor drone landing platform, for give quadrotor drone provide navigation
Land marking and be arranged on landing platform and with the wireless receiver of patrol monitoring station communication connection (in Fig. 2 not
It shows)；Landing platform can stop quadrotor drone and give its provide charging, each landing platform stop a frame quadrotor without
It is man-machine；Land marking marks patrol route on the ground, and patrol route is in end to end closed figure, all landing platforms
It is arranged at intervals on patrol route；Quadrotor drone includes take photo by plane camera unit, mark recognition unit and radio communication mold
Block (specific structure of quadrotor drone is not shown in the accompanying drawings), mark recognition unit identification land marking guarantee quadrotor without
It is man-machine take off from current landing platform after along patrol route autonomous flight and next landing platform can be drop to；When patrol, patrol
Monitoring station issues instruction of taking off, all quadrotors by wireless communication module of the wireless receiver in quadrotor drone
Unmanned plane takes off from landing platform where it simultaneously, and in flight course, mark recognition unit identification land marking realizes patrol road
Line navigation, camera unit of taking photo by plane shoot the video image of corresponding beat, and wireless communication module is real by the video information of shooting
When be sent to wireless receiver, received video information is transmitted to patrol monitoring station, each four rotation by wireless receiver
Wing unmanned plane successively flies to next landing platform from a landing platform along patrol route in a manner described, is illustrating to realize
Patrol in beat.
In the above-described embodiments, unmanned plane patrol system is by identifying that land marking navigates, and patrol route is by ground
Mark is marked, and is navigated during unmanned plane patrol without GPS and storing map, therefore its control mode is relatively easy and will not
Occur blocking because of building the case where causing positioning accuracy reduction, flight to drift off the course on the way or knock building, it is more important
, due to precisely being navigated using land marking, as long as land marking to be arranged in relatively spacious place, unmanned plane is at all
It does not need to avoid collision by anti-collision system.What is particularly worth mentioning is that going on patrol system in unmanned plane provided by the above embodiment
In system, the unmanned plane cluster of multi rack quadrotor drone composition respectively takes off from different landing platforms simultaneously, can be extremely short
Time in complete patrol work to entire patrol route.Such as shown in Fig. 2,70 kilometers of entire patrol route overall length, every 5 is public
In a landing platform is set, 14 landing platforms are set altogether, stop a frame quadrotor drone, group on each landing platform
At the cluster of a 14 frame unmanned planes, it is assumed that the flying speed of quadrotor drone is 10m/s, then unmanned plane is flat from a landing
Platform flew to the time of next landing platform less than 9 minutes, starts to go on patrol since unmanned plane cluster takes off simultaneously, then theoretically may be used
Just to complete the patrol work of entire patrol route in 9 minutes.It charges on landing platform after unmanned plane landing landing platform,
By common consumer level unmanned plane battery durable 20-25 minutes, charging come for time-consuming 120 minutes from 0% to 100% on the market at present
It calculates, the electricity consumed in above-mentioned 9 minutes flight time is about 40% or so, therefore only need 60 minutes or so can be complete for landing platform
The charging of pairs of unmanned plane, that is to say, that the unmanned plane patrol system every 69 minutes just achievable to 70 kilometers of route patrols one
It is secondary, it goes on patrol efficiency and frequency and is substantially improved compared to existing artificial patrol is available, it is higher and higher in personnel's wage
Today, using above-mentioned unmanned plane patrol system obviously can be greatly reduced large-scale infrastructure management company, AnBao Co., Ltd manpower at
This.
It should be noted that in the above-described embodiments, the mode that landing platform provides charging to quadrotor drone can be with
There are many, such as can be charged using wireless charging (induction or magnetic resonance type wireless charging), magnetic contact etc.,
In subsequent description, specific embodiment of the emphasis to induction wireless charging is elaborated.
It additionally needs, it is emphasized that in the present embodiment, land marking can use sightless Infrared ID, if adopting
With Infrared ID, then it is corresponding using infrared sensor to identify recognition unit, naturally it is also possible to using in two neighboring landing
The flexible LED lamp bar powered independently of one another is arranged between platform, and (flexible LED lamp bar includes multiple spaced LED light, preferably with red
Colored lights identifies convenient for daytime) it is formed, single led lamp is successively lighted along patrol route, when next LED light is lighted, previous LED
Lamp extinguishes, to form light navigation track, mark recognition unit tracks the movement of luminous point using visual identity tracer technique, from
And guaranteeing quadrotor drone can fly to next landing platform (landing platform along above-mentioned smooth light track from a landing platform
On landing label symbol or stroboscopic/be always on LED light as landing mark can be set).
In the present embodiment, it is preferred that land marking mainly include be applied over road surface road surface identification lines and
The landing label symbol being applied on landing platform, accordingly, mark recognition unit include for obtain be located at quadrotor nobody
First camera of machine front lower place land marking image and for obtain be located at quadrotor drone immediately below land marking figure
The second camera of picture, the image that the first camera obtains isolate route ahead signal after processing, and second camera obtains
Figure isolate current position signal after processing, the winged control unit combination route ahead signal of quadrotor drone and current
The variation of position signal is corresponding to be controlled the quadrotor drone and flies or turn forward or drop to landing down along patrol route
Platform.It is above-mentioned to apply the land marking building mode phase that lines identified and landed label symbol using in beat road surface
There is construction is simple than other schemes (such as LED light bar, Infrared ID etc.), the advantages of cost is relatively low corresponds to above-mentionedly
Face identifies building mode, and the flight control of unmanned plane can use following scheme: when the first camera and second camera obtain
Land marking image be mark lines, then unmanned plane continuation fly forward；When the first camera gets landing marker character
Number, and the land marking image that second camera obtains still is mark lines, then unmanned plane reduces speed now but continues to fly forward
Row；With the continuation of flight, when the land marking image that the first camera obtains is to identify lines, and second camera is got
When label symbol of landing, unmanned plane stopping flies forward and starts to land；When the first camera monitor mark lines curve, and
Second camera obtain land marking image be straight mark lines when, then unmanned plane reduce speed now forward flight and accordingly with
With front mark lines turning.In short, as long as when the land marking that second camera obtains is landing label symbol, nothing
Man-machine just to stop flying forward and starting to land, unmanned plane all keeps flying forward and (be supervised according to the first camera in the case of other
The front mark variation measured correspondingly adjusts flying speed and direction).Front road is monitored by above-mentioned two camera
Line variation and current location variation, it is ensured that unmanned plane more accurately lands and turns in the faster situation of flying speed
(actually in the scheme using LED light bar as land marking, it can also be single as mark identification using above-mentioned dual camera
Member, for tracking mobile luminous point, second camera is used to obtain the land marking immediately below unmanned plane the first camera, when the
One camera gets landing mark and second camera when landing mark has not been obtained, and unmanned plane reduces speed now, and takes the photograph when second
When getting landing mark as head, unmanned plane stopping flies forward and starts to land).
In the above-described embodiment, road surface identification lines can be using the already existing yellow/white of road surface script
Traffic marking, and landing platform is connected on the light pole of road both sides by a fixed bracket.Utilize road surface original
Traffic marking existing for this can save tag line item as land marking and apply work, shorten the establishment of unmanned plane patrol system
Time, while advantageously reducing construction cost.It further, can also be in yellow/White traffic graticule and landing label symbol
Surface coat one layer of reflectorized material, install in multi-rotor unmanned aerial vehicle and penetrated for irradiating the LED of front lower place and underface road surface
Lamp, under the irradiation of LED spotlight, the reflective material layer reflection light on traffic marking surface can allow graticule and landing label clear
It is clear as it can be seen that this to improve unmanned plane mark recognition unit night identification accuracy be highly useful.
In addition, in above-mentioned unmanned plane patrol system, it is preferred that the wireless communication module of quadrotor drone and landing are flat
It is carried out wireless communication between wireless receiver on platform using OFDM transmission technology, wireless receiver and patrol monitor
Wire communication is used between standing, quadrotor drone is along patrol route flight course, and wireless communication module is automatically each wireless
Soft handover is carried out between data collector, so that the video information real-time Transmission for camera unit shooting of taking photo by plane described in guaranteeing extremely is gone on patrol
Monitoring station.
Further, in above-mentioned unmanned plane patrol system, it is preferred that as it can be seen in figures 5 and 6, landing platform further includes one
For carrying out the wireless charging base of induction charging to quadrotor drone, the bottom of quadrotor drone is equipped with by electric wire
Circle, wireless charging base includes controller, power transmission coil, coil mounting base, the electric resistance touch-control panel (knot of electric resistance touch-control panel
Structure with and the driving device (driving device is not shown in the accompanying drawings) that all around moves of driving coil mounting base, power transmission coil
It is fixed in coil mounting base, coil mounting base and power transmission coil are all provided in the lower section of electric resistance touch-control panel, landing mark
Note symbol is printed on electric resistance touch-control panel, and quadrotor drone is equipped with three or more supporting legs, the position of power receiving coil
It is fixed relative to supporting leg and its positional relationship between supporting leg is previously written in the control program of wireless charging base, when four
After rotor wing unmanned aerial vehicle drops on landing platform, the bottom end of supporting leg is pressed on electric resistance touch-control panel, and controller is first according to electricity
The variation of resistive touch panel pressure spot resistance value calculates accurate location of each supporting leg on electric resistance touch-control panel, then root
The accurate location of power receiving coil is calculated according to the positional relationship between power receiving coil and supporting leg, then controls driving device driving
Coil mounting base is mobile, so that power transmission coil is accurately moved to the underface of power receiving coil, before charging starts, controller sending refers to
Power supply of the cutting to electric resistance touch-control panel is enabled, after charging complete, controller issues power supply of the instruction cutting to power transmission coil.It is many
Well known, the charge efficiency of induction wireless charging is closely related with the contraposition accuracy of coil, although in the prior art
Have some technical solutions that accurate contraposition is realized by the movement of power transmission coil, but it is by constantly comparing and calculating mostly
It is faradic in power transmission coil moving process to change to find the position of power receiving coil, it is finally completed contraposition.Such as millet is public
Department's application is exactly that using the above scheme, such coil is automatic application No. is the Chinese invention patent of " 2016102524424 "
Alignment mode there are in fact certain blindness, and the process for completing contraposition takes a long time, and the present invention is touched by using resistance-type
Supporting plate of the panel as cradle is controlled, when the supporting leg of unmanned plane is pressed on electric resistance touch-control panel, controller can be accurate
It determines the position of supporting leg, then the position of power receiving coil can be accurately calculated by the positional relationship of power receiving coil and supporting leg, most
Corresponding be moved to immediately below power receiving coil of power transmission coil need to only be aligned by driving device afterwards, power transmission coil pair
Bit rate is fast and accurate.
Further, shown in seeing figures 3 and 4, above-mentioned landing platform further include a top be equipped with electrically operated gate closed cabin and
Motor for driving electrically operated gate to open and close, by the control of the controller of wireless charging base, (motor does not show the motor in the accompanying drawings
Out), wireless charging base is integrally set in closed cabin, and landing label symbol is also printed in electrically operated gate, a nothing is additionally provided in electrically operated gate
Line electricity receiver is equipped with remote control module in quadrotor drone, sends opening-closing door to radio receiver by remote control module
Signal, controller control the positive/negative rotation of motor, so that it may realize that electrically operated gate overturning opens/closes.When unmanned plane lands, first pass through
Remote control module sends opening signal and opens electrically operated gate, and then down into closed cabin, stable landing touches unmanned plane in resistance-type
It controls on panel, door signal is sent by remote control module at this time, close electrically operated gate；Before taking off, unmanned plane passes through remote control module again
Opening signal is sent, electrically operated gate is opened, just executes takeoff maneuver later, after completion is taken off, unmanned plane is sent out by remote control module again
Send door signal that can close electrically operated gate.Cradle, which is set in closed cabin, following benefit: 1, electrically operated gate usually can be closed,
Prevent electric resistance touch-control panel surface contaminated.2, the closed cabin can be used as the stop storehouse of unmanned plane, when not going on patrol, nobody
Machine is parked in closed cabin can be to avoid being exposed to the sun and rain.
Finally, above-mentioned wireless receiver be set to closed cabin outside, patrol monitoring station by wireless receiver to
Wireless communication module in quadrotor drone issues control mode switch instruction, quadrotor drone automatic control mode with
It is switched between manual control mode, under manual control mode, mark recognition unit stops working.Oneself that can be switched is set
Dynamic control model and manual control mode may be implemented in emergency circumstances to carry out manual intervention to unmanned plane certain, avoid accident
Occur, and when need replacement to all unmanned planes battery (or other daily maintenances) when, can also by manual control nobody
Machine drops on the ground of patrol route one by one by it or flies to patrol monitoring station, so as to mitigate nothing to a certain extent
Man-machine maintenance workload improves line service efficiency.
In order to allow those of ordinary skill in the art more easily to understand the improvements of the present invention compared with the existing technology, this
Some attached drawings of invention and description have been simplified, and for the sake of clarity, present specification is omitted some other members
Element, the element that those of ordinary skill in the art should be aware that these are omitted also may make up the contents of the present invention.
Claims (9)
1. the method for improving unmanned plane stability characterized by comprising
Step 1: measuring electricity of the unmanned plane when executing various flare maneuvers and keeping flight stability state adjusts input voltage
Value and corresponding throttle value；
Step 2: connecting the voltage regulation unit of adjustable voltage between the battery and electricity of the unmanned plane are adjusted；
Step 3: control the voltage regulation unit according to the currently performed flare maneuver of unmanned plane and export the voltage adjusted to electricity, so that
The unmanned plane measured in the input voltage value and step 1 that the electricity is adjusted is executing the flare maneuver and is keeping flight stability state
When electricity adjust input voltage value consistent, while allowing the winged control of the unmanned plane referring to being measured in step 1 in the execution flight
Throttle value when acting and holding flight stability state transfers in row control to electricity；
Wherein, the voltage regulation unit includes Sepic chopper circuit, optically coupled circuit and sample circuit；
The battery and electricity of the Sepic chopper circuit connection optically coupled circuit, sample circuit and unmanned plane are adjusted, the optical coupling
The winged control of circuit connection unmanned plane and Sepic chopper circuit, the sample circuit connection Sepic chopper circuit and unmanned plane fly
Control；
The unmanned plane is executed into various flare maneuvers and keeps electricity corresponding to flight stability state that input voltage value is adjusted to preset
In the winged control of unmanned plane, Sepic chopper circuit is exported the voltage value adjusted to electricity and feeds back to winged control by the sample circuit, described
Fly control it compared with corresponding preset voltage value of movement and is exported corresponding PWM according to comparison result control and controlled with current flight
Signal processed, the pwm control signal are switched off and on Sepic chopper circuit switching tube after optically coupled circuit improves amplitude
It is controlled, is exported to realize and control the Sepic chopper circuit according to the currently performed flare maneuver of unmanned plane to electricity tune
Voltage so that input voltage value and preset unmanned plane that the electricity is adjusted the flare maneuver and keep flight stability shape executing
Electricity when state adjusts input voltage value consistent.
2. the method according to claim 1 for improving unmanned plane stability, it is characterised in that: the voltage regulation unit further includes
Single-chip microcontroller, the optically coupled circuit and sample circuit are indirectly connected with the winged control of unmanned plane；
The optically coupled circuit connects single-chip microcontroller with sample circuit, and the winged control that the single-chip microcontroller is then connected to unmanned plane is worked as with obtaining
Preceding flare maneuver information, the single-chip microcontroller are powered by the system power supply circuit of unmanned plane；
Unmanned plane will be preset in originally in claim 1 to fly the various flare maneuvers of unmanned plane execution in control and keep flying
Electricity corresponding to stable state adjusts input voltage value to preset in single-chip microcontroller, and the sample circuit exports Sepic chopper circuit
Single-chip microcontroller is fed back to the voltage value that electricity is adjusted, the single-chip microcontroller will be compared with its preset voltage value corresponding with current flight movement
And corresponding pwm control signal is exported according to comparison result control, the pwm control signal is after optically coupled circuit improves amplitude
Being switched off and on for Sepic chopper circuit switching tube is controlled, to realize dynamic according to the currently performed flight of unmanned plane
Make to control the Sepic chopper circuit and export the voltage adjusted to electricity so that input voltage value that the electricity is adjusted and it is preset nobody
Electricity of the machine when executing the flare maneuver and keeping flight stability state adjusts input voltage value consistent.
3. a kind of based on the regional dynamics patrol system taken photo by plane, it is characterised in that:
Including patrol monitoring station, the unmanned plane cluster being made of multi rack multi-rotor unmanned aerial vehicle, identical as the multi-rotor unmanned aerial vehicle
The landing platform of quantity, the land marking for providing navigation to the multi-rotor unmanned aerial vehicle and setting are in the landing platform
Wireless receiver upper and with patrol monitoring station communication connection；
The multi-rotor unmanned aerial vehicle improves its stability, the landing using method described in any one of claim 1-2
Platform can stop multi-rotor unmanned aerial vehicle and provide charging to it, and each landing platform stops a frame multi-rotor unmanned aerial vehicle；
The land marking marks patrol route on the ground, and the patrol route is in end to end closed figure, described
Landing platform is arranged at intervals on patrol route；
The multi-rotor unmanned aerial vehicle includes take photo by plane camera unit, mark recognition unit and wireless communication module, the mark identification
Unit identification land marking guarantees along patrol route autonomous flight and to drop after multi-rotor unmanned aerial vehicle is taken off from current landing platform
Drop down onto next landing platform；
When patrol, the patrol monitoring station is issued by wireless communication module of the wireless receiver in multi-rotor unmanned aerial vehicle
It takes off instruction, all multi-rotor unmanned aerial vehicles are taken off from landing platform where it simultaneously, in flight course, the camera unit of taking photo by plane
The video image of corresponding beat is shot, the video information of shooting is sent to wireless data by the wireless communication module in real time
Received video information is transmitted to patrol monitoring station by transceiver, the wireless receiver, and the multi-rotor unmanned aerial vehicle is pressed
Aforesaid way successively flies to next landing platform from a landing platform along patrol route, patrols in fixed area to realize
It patrols.
4. according to claim 3 based on the regional dynamics patrol system taken photo by plane, it is characterised in that:
The land marking includes the landing mark for being applied over the road surface identification lines of road surface and being applied on landing platform
Remember symbol；
The mark recognition unit includes for obtaining the first camera shooting for being located at multi-rotor unmanned aerial vehicle front lower place land marking image
Head and for obtains be located at multi-rotor unmanned aerial vehicle underface land marking image second camera；
The image that first camera obtains isolates route ahead signal, the figure that the second camera obtains after processing
Shape isolates current position signal after processing, the winged control unit combination route ahead signal of the multi-rotor unmanned aerial vehicle and current
The variation of position signal is corresponding to be controlled the multi-rotor unmanned aerial vehicle and flies or turn forward or drop to landing down along patrol route
Platform.
5. according to claim 4 based on the regional dynamics patrol system taken photo by plane, it is characterised in that: the road surface identification line
Item is the yellow/White traffic graticule for being applied over road surface, the surface painting of the yellow/White traffic graticule and label symbol of landing
It is covered with one layer of reflectorized material, the LED spotlight for irradiating front lower place and underface road surface is installed in the multi-rotor unmanned aerial vehicle,
The landing platform is connected on the light pole of road both sides by a fixed bracket.
6. based on the regional dynamics patrol system taken photo by plane according to any one of claim 3-5, it is characterised in that: institute
It states between the wireless receiver on the wireless communication module and landing platform of multi-rotor unmanned aerial vehicle using OFDM transmission technology
It carries out wireless communication, uses wire communication, the multi-rotor unmanned aerial vehicle between the wireless receiver and patrol monitoring station
Along patrol route flight course, the wireless communication module carries out soft handover between each wireless receiver automatically, from
And the video information real-time Transmission for camera unit shooting of taking photo by plane described in guaranteeing is to going on patrol monitoring station.
7. according to claim 3 based on the regional dynamics patrol system taken photo by plane, it is characterised in that: the landing platform is also
Including one for carrying out the wireless charging base of induction charging, the bottom of the multi-rotor unmanned aerial vehicle to multi-rotor unmanned aerial vehicle
Equipped with power receiving coil, the wireless charging base include controller, power transmission coil, coil mounting base, electric resistance touch-control panel and
The driving device for driving the coil mounting base all around to move, the power transmission coil are fixed in coil mounting base,
The coil mounting base and power transmission coil are all provided in the lower section of electric resistance touch-control panel, and the landing label symbol is printed on resistance
On formula touch panel, the multi-rotor unmanned aerial vehicle is equipped with three or more supporting legs, the position of the power receiving coil relative to
Supporting leg is fixed and its positional relationship between supporting leg is previously written in the control program of wireless charging base, more rotors
After unmanned plane drops on landing platform, the bottom end of the supporting leg is pressed on electric resistance touch-control panel, controller elder generation root
Accurate location of each supporting leg on electric resistance touch-control panel is calculated according to the variation of electric resistance touch-control panel pressure spot resistance value,
The accurate location of power receiving coil is calculated further according to the positional relationship between the power receiving coil and supporting leg, then described in control
Driving device driving coil mounting base is mobile, so that the power transmission coil is accurately moved to the underface of power receiving coil, charging is opened
Before beginning, the controller issues power supply of the instruction cutting to electric resistance touch-control panel, and after charging complete, the controller sending refers to
Enable power supply of the cutting to power transmission coil.
8. according to claim 7 based on the regional dynamics patrol system taken photo by plane, it is characterised in that: the landing platform is also
The closed cabin of electrically operated gate is equipped with including a top and the motor for driving the electrically operated gate folding, the motor is by the nothing
The controller of line cradle is controlled, and the wireless charging base is integrally set in closed cabin, and drop is also printed in the electrically operated gate
Drop marker symbol, a radio receiver is additionally provided in the electrically operated gate, and the multi-rotor unmanned aerial vehicle is equipped with remote control module, institute
It states remote control module and sends opening-closing door signal to radio receiver, the controller controls the positive/negative rotation of motor, to drive
The electrically operated gate overturning opens/closes.
9. according to claim 8 based on the regional dynamics patrol system taken photo by plane, it is characterised in that: the wireless data is received
It sends out device to be set to outside closed cabin, the patrol monitoring station passes through wireless communication of the wireless receiver in multi-rotor unmanned aerial vehicle
Module issues control mode switch instruction, and the multi-rotor unmanned aerial vehicle carries out between automatic control mode and manual control mode
Switching, under the manual control mode, the mark recognition unit stops working.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016542.1A CN106598074B (en) | 2017-01-10 | 2017-01-10 | Improve the method for unmanned plane stability and based on the regional dynamics patrol system taken photo by plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710016542.1A CN106598074B (en) | 2017-01-10 | 2017-01-10 | Improve the method for unmanned plane stability and based on the regional dynamics patrol system taken photo by plane |
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| CN107140194A (en) * | 2017-05-16 | 2017-09-08 | 华东交通大学 | A kind of many rotor railway automatic tour inspection systems of tracking for supporting automatic charging |
| US10882410B2 (en) * | 2017-07-19 | 2021-01-05 | Wing Aviation Llc | Systems for charging aerial vehicles |
| CN108275281A (en) * | 2017-12-22 | 2018-07-13 | 北京利泽菲尔文化科技有限公司 | A kind of unmanned plane automated wireless charging unit |
| CN110077613A (en) * | 2018-01-25 | 2019-08-02 | 成都天府新区光启未来技术研究院 | Unmanned plane charging method, system, storage medium and processor |
| CN108871288B (en) * | 2018-06-01 | 2021-01-12 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle belt-shaped oblique image aerial surveying method and system |
| CN108871287B (en) * | 2018-06-01 | 2021-01-12 | 广州中科云图智能科技有限公司 | Unmanned aerial vehicle belt-shaped orthographic image aerial surveying method and system |
| CN108973746B (en) * | 2018-08-06 | 2021-05-11 | 中国民航大学 | Unmanned aerial vehicle wireless charging system and charging control method thereof |
| CN110963037A (en) * | 2019-12-27 | 2020-04-07 | 国网河北省电力有限公司衡水供电分公司 | Relay type unmanned aerial vehicle power transmission and distribution line inspection system and method |
| CN111152678B (en) * | 2020-03-07 | 2023-08-15 | 山东大地新能源科技有限公司 | Unmanned aerial vehicle charging device based on water surface photovoltaic and charging system thereof |
| CN111628677B (en) * | 2020-07-28 | 2021-01-08 | 浙江大学 | Wide-working-domain brushless motor efficient control system and control method |
| CN113156366B (en) * | 2021-03-03 | 2023-03-28 | 上海凌苇智能科技合伙企业(有限合伙) | Space positioning method for cluster unmanned aerial vehicle in noisy electromagnetic environment |
| CN112596453A (en) * | 2021-03-04 | 2021-04-02 | 南京纬多科技有限公司 | Standardized unmanned aerial vehicle electric power control system |
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| CN104700586B (en) * | 2015-02-10 | 2017-01-18 | 河南长润建设工程有限公司 | Intelligent area fire fighting monitoring and alarming platform |
| CN205543960U (en) * | 2016-02-15 | 2016-08-31 | 西南交通大学 | High efficiency unmanned aerial vehicle crowd power patrol inspection system |
| CN105514872A (en) * | 2016-02-15 | 2016-04-20 | 西南交通大学 | High-efficiency unmanned aerial vehicle group power inspection system |
| CN205375196U (en) * | 2016-03-01 | 2016-07-06 | 河北工业大学 | Group robot control device for wind power plant inspection |
| CN205644278U (en) * | 2016-05-20 | 2016-10-12 | 武汉科技大学 | High system is decided to four miniature rotors under no GPS |
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