CN111959768B - Unmanned aerial vehicle hovering in air through telescopic frame and control method - Google Patents
Unmanned aerial vehicle hovering in air through telescopic frame and control method Download PDFInfo
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- CN111959768B CN111959768B CN202010656383.3A CN202010656383A CN111959768B CN 111959768 B CN111959768 B CN 111959768B CN 202010656383 A CN202010656383 A CN 202010656383A CN 111959768 B CN111959768 B CN 111959768B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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Abstract
The invention relates to an unmanned aerial vehicle hovering in the air through a telescopic frame and a control method, when the unmanned aerial vehicle operates, gas with the density lower than that of air is filled into a balloon positioned right above an unmanned aerial vehicle body, a first motor is controlled to rotate a first rotating shaft, the telescopic frame is made to sink, penetrate through a vegetation opening and expand, vegetation below the unmanned aerial vehicle body is hooked, so that the unmanned aerial vehicle is prevented from being blown away by wind, namely, the unmanned aerial vehicle hovers through the lift force provided by the balloon and the hooking between the expanded telescopic frame and the vegetation below the unmanned aerial vehicle body, at the moment, the rotating speed of a rotor wing of the unmanned aerial vehicle body can be reduced or stopped to save electricity, the unmanned aerial vehicle can hover for a long time, therefore, the unmanned aerial vehicle can complete the operation within enough hover time, and when the operation is completed, the telescopic frame is controlled to close so as to be separated from the hooking with the vegetation, and start the rotor and carry out the gassing with the balloon, realize the fly-back.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle hovering in the air through a telescopic frame and a control method.
Background
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle can play more and more important effect in the middle of each field of each trade at home and abroad, wide application prospect has, at present, because the electric capacity of unmanned aerial vehicle's battery is limited, lead to unmanned aerial vehicle's time period of endurance, when unmanned aerial vehicle carries out the operation in a certain region if the shooting is used, must make unmanned aerial vehicle's rotor continuously rotate, just can guarantee that unmanned aerial vehicle hovers in this region, and carry out the operation, but because the rotor continuously rotates, can make the electric quantity in the battery continuously reduce, thereby lead to unmanned aerial vehicle can not carry out long-time stop, can not guarantee to accomplish the operation.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides an unmanned aerial vehicle hovering in the air through a telescopic frame and a control method.
The technical scheme of the unmanned aerial vehicle hovering in the air through the telescopic frame is as follows:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, an identification device and a chip, wherein a balloon for hovering is arranged right above the unmanned aerial vehicle body, and a telescopic frame for hooking vegetation is arranged right below the unmanned aerial vehicle body;
the balloon is connected with one end of a first two-position two-way electromagnetic valve, the other end of the first two-position two-way electromagnetic valve is communicated with the external environment, and the balloon is further connected with a second two-position two-way electromagnetic valve and a gas cylinder in sequence, wherein the first two-position two-way electromagnetic valve, the second two-position two-way electromagnetic valve and the gas cylinder are all fixed on the unmanned aerial vehicle body, and the density of gas stored in the gas cylinder is lower than that of air;
the telescopic frame is connected with one end of a first flexible linear connecting part, the other end of the first linear connecting part is connected with a first rotating shaft used for winding in the unmanned aerial vehicle body, and the first rotating shaft is connected with a first motor;
the identification device is used for collecting and detecting whether vegetation openings matched with the telescopic frame exist in vegetation right below, and the vegetation openings are openings formed by the vegetation right below;
the chip is used for: when vegetation under the vegetation detected by the identification device has a vegetation opening matched with the telescopic frame, controlling the first motor to rotate the first rotating shaft, so that the telescopic frame sinks and penetrates through the vegetation opening, and controlling the telescopic frame to be spread, or controlling the telescopic frame to be closed after the operation is finished;
the chip is also used for controlling the opening or closing of the first two-position two-way electromagnetic valve and controlling the opening or closing of the second two-position two-way electromagnetic valve.
The unmanned aerial vehicle hovering in the air through the telescopic frame has the following beneficial effects:
when the unmanned aerial vehicle works, the balloon positioned right above the unmanned aerial vehicle body is filled with gas with density lower than that of air, and controls the first motor to rotate the first rotating shaft, so that the expansion bracket sinks and penetrates through the vegetation opening to be expanded, so as to hook vegetation below the unmanned aerial vehicle body to ensure that the unmanned aerial vehicle cannot be blown away by wind, namely, the hovering of the unmanned aerial vehicle is realized through the lifting force provided by the balloon and the hooking between the stretched expansion bracket and the vegetation below the unmanned aerial vehicle body, at the moment, can reduce or stop the rotating speed of the rotor of the unmanned aerial vehicle body to save electric quantity and realize the long-time hovering of the unmanned aerial vehicle, therefore, the unmanned aerial vehicle can finish the operation with enough hovering time, when the operation is completed, the telescopic frame is controlled to be closed so as to be separated from the hook of the vegetation, the rotor wing is started, the balloon is deflated, and the re-flying is realized.
On the basis of the scheme, the unmanned aerial vehicle hovering in the air through the telescopic frame can be further improved as follows.
Further, the chip is also configured to: when strutting the expansion bracket with the vegetation opening carries out the hook after, control the rotor of unmanned aerial vehicle body is in order to provide the lift of predetermineeing the threshold value, if strutting the expansion bracket with the vegetation opening keeps the hook, then the adjustment rotates the rotational speed of the rotor of unmanned aerial vehicle body.
The beneficial effect of adopting the further scheme is that: have sufficient power between expansion bracket and the vegetation opening of strutting in order to guarantee, further guarantee that unmanned aerial vehicle can not blown away by wind, when can not keeping the hook, explain to strut have between expansion bracket and the vegetation opening and have not enough power, removable other vegetation opening realizes hovering of unmanned aerial vehicle.
The unmanned aerial vehicle further comprises a support rod and an accommodating chamber fixed on the unmanned aerial vehicle body, wherein a second rotating shaft used for winding a semi-rigid second linear connecting part is arranged in the accommodating chamber, the second rotating shaft is connected with a second motor, and two ends of the support rod are respectively connected with the second linear connecting part and the balloon;
the chip is also used for controlling the second motor to enable the second rotating shaft to rotate, so that the support rod pushes the balloon out of the containing chamber or/and takes the balloon into the containing chamber.
The beneficial effect of adopting the further scheme is that: through the rotation of control second pivot, make the die-pin will the storage chamber is released to the balloon or will the balloon income storage chamber makes the unmanned aerial vehicle's of this application structure more compact.
Further, recognition device specifically is used for acquireing at least one opening that vegetation directly under formed to with first preset profile and second preset profile respectively with every open-ended first profile compares, obtains according to the comparison result the vegetation opening, wherein, strut the expansion bracket projection on the horizontal plane is first preset profile, and is closed the expansion bracket projection on the horizontal plane is the second and presets the profile, the projection of opening on the horizontal plane is first profile.
Further, the first linear connecting portion is a steel wire rope, the telescopic frame comprises sliders, straight rods, supporting rods and guide rails, one end of each straight rod is hinged to the corresponding slider, the supporting rods correspond to the straight rods one to one, one end of each supporting rod is hinged to the corresponding straight rod, the other end of each supporting rod is hinged to one end, far away from the unmanned aerial vehicle body, of the guide rail, and the other end of the guide rail is connected with the steel wire rope; the sliding block is connected to the guide rail in a sliding mode, and a telescopic device is arranged between one end, far away from the unmanned aerial vehicle body, of the guide rail and the sliding block;
the chip is also used for controlling the telescopic device to extend or retract so as to enable the sliding block to slide along the guide rail.
Furthermore, flexible folding layers are further covered on the upper surfaces of all the straight rods.
The beneficial effect of adopting the further scheme is that: the contact area when can increase and vegetation opening hook through flexible folded layer increases the power of hook and the stability of reinforcing hook.
Further, the identification apparatus is specifically configured to: the three-dimensional coordinate data of vegetation right below is obtained through the lidar sensor that sets up on the unmanned aerial vehicle body, and according to three-dimensional coordinate data obtains at least one opening that vegetation right below formed.
Further, the identification apparatus is specifically configured to: the three-dimensional coordinate data of vegetation under is obtained through the camera that sets up on the unmanned aerial vehicle body, and according to the three-dimensional coordinate data obtains at least one opening that vegetation under formed.
The technical scheme of the control method for realizing hovering of the unmanned aerial vehicle is as follows:
the unmanned aerial vehicle hovering over the air through a telescopic frame is applied to any one of the above methods, and the control method includes:
the identification device is used for collecting and detecting whether vegetation openings matched with the telescopic frames exist in vegetation right below;
when the identification device detects that vegetation under exists with the expansion bracket matched vegetation opening, the chip controls first motor so that first pivot rotates, makes the expansion bracket sink and pass the vegetation opening, and controls the expansion bracket struts, and controls the second two-position two-way solenoid valve opens, so that the gas cylinder aerifys to the balloon.
The control method for realizing hovering of the unmanned aerial vehicle has the following beneficial effects:
when the unmanned aerial vehicle works, the balloon positioned right above the unmanned aerial vehicle body is filled with gas with density lower than that of air, and controls the first motor to rotate the first rotating shaft, so that the expansion bracket sinks and penetrates through the vegetation opening to be expanded, so as to hook vegetation below the unmanned aerial vehicle body to ensure that the unmanned aerial vehicle cannot be blown away by wind, namely, the hovering of the unmanned aerial vehicle is realized through the lifting force provided by the balloon and the hooking between the stretched expansion bracket and the vegetation below the unmanned aerial vehicle body, at the moment, can reduce or stop the rotating speed of the rotor of the unmanned aerial vehicle body to save electric quantity and realize the long-time hovering of the unmanned aerial vehicle, therefore, the unmanned aerial vehicle can finish the operation with enough hovering time, when the operation is completed, the telescopic frame is controlled to be closed so as to be separated from the hook of the vegetation, the rotor wing is started, the balloon is deflated, and the re-flying is realized.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle hovering in the air through a telescopic frame according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first two-position two-way solenoid valve;
FIG. 3 is a schematic view of a first profile, a first preset profile and a second preset profile;
fig. 4 is a flowchart illustrating a control method for realizing hovering of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the unmanned aerial vehicle hovering in the air through a telescopic frame 3 according to the embodiment of the present invention.
The unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, an identification device and a chip, wherein a balloon 2 for hovering is arranged right above the unmanned aerial vehicle body 1, and a telescopic frame 3 for hooking vegetation is arranged right below the unmanned aerial vehicle body 1;
the balloon 2 is connected with one end of a first two-position two-way electromagnetic valve, the other end of the first two-position two-way electromagnetic valve is communicated with the external environment, the balloon 2 is further sequentially connected with a second two-position two-way electromagnetic valve and a gas cylinder, the first two-position two-way electromagnetic valve, the second two-position two-way electromagnetic valve and the gas cylinder are all fixed on the unmanned aerial vehicle body 1, and the density of gas stored in the gas cylinder is lower than that of air;
the telescopic frame 3 is connected with one end of a flexible first linear connecting part 5, the other end of the first linear connecting part 5 is connected with a first rotating shaft used for winding in the unmanned aerial vehicle body 1, and the first rotating shaft is connected with a first motor;
the identification device is used for collecting and detecting whether vegetation openings matched with the telescopic frame 3 exist in vegetation right below, and the vegetation openings are openings formed by the vegetation right below;
the chip is used for: when vegetation under the vegetation detected by the identification device has a vegetation opening matched with the telescopic frame 3, controlling the first motor to rotate the first rotating shaft, so that the telescopic frame 3 sinks and penetrates through the vegetation opening, and controlling the telescopic frame 3 to be spread, or controlling the telescopic frame 3 to be closed after the operation is finished;
the chip is also used for controlling the opening or closing of the first two-position two-way electromagnetic valve and controlling the opening or closing of the second two-position two-way electromagnetic valve.
When the unmanned aerial vehicle works, the balloon 2 positioned right above the unmanned aerial vehicle body 1 is filled with gas lower than air density, the first motor is controlled to rotate the first rotating shaft, the expansion bracket 3 is made to sink and penetrate through the vegetation opening and expand, vegetation below the unmanned aerial vehicle body 1 is hooked and hung, so that the unmanned aerial vehicle is ensured not to be blown away by wind, namely, the unmanned aerial vehicle is suspended through the lift force provided by the balloon 2 and the hooked and hung between the expanded expansion bracket 3 and the vegetation below the unmanned aerial vehicle body 1, at the moment, the rotating speed of a rotor of the unmanned aerial vehicle body can be reduced or stopped to save electricity, the unmanned aerial vehicle is suspended for a long time, therefore, enough suspension time is provided to enable the unmanned aerial vehicle to complete the work, when the work is completed, the expansion bracket 3 is controlled to be closed so as to be separated from being hooked with the vegetation, and the rotor is started and the balloon 2 is deflated, realize the flyover again, wherein, unmanned aerial vehicle body 1 indicates the unmanned aerial vehicle of current various models.
The first two-position two-way electromagnetic valve can be a two-position two-way normally closed electromagnetic valve or a two-position two-way normally open electromagnetic valve, and is explained by taking the first two-position two-way electromagnetic valve as the two-position two-way normally closed electromagnetic valve, the structure of the electromagnetic valve is shown in fig. 2, the electromagnetic valve slide block 6 is arranged in the electromagnetic valve slide block, when the force is not applied to the electromagnetic valve slide block 6 of the two-position two-way normally closed electromagnetic valve, the first opening 7 and the second opening 8 are not communicated due to the blocking of the electromagnetic valve slide block 6, namely, the two-position two-way normally closed electromagnetic valve is closed, and when the force is applied to the electromagnetic valve slide block 6 of the two-position two-way normally closed electromagnetic valve, the electromagnetic valve slide block 6 moves, so that the first opening 7 and the second opening 8 are communicated, namely, the two-position two-way normally closed electromagnetic valve is opened;
it can be understood that: when the first two-position two-way solenoid valve is a two-position two-way normally open solenoid valve, when the force is not applied to the solenoid valve slider 6 of the two-position two-way normally open solenoid valve, a passage is formed between the first opening 7 and the second opening 8, namely the two-position two-way normally closed solenoid valve is opened, and after the force is applied to the solenoid valve slider 6 of the two-position two-way normally closed solenoid valve, the solenoid valve slider 6 moves, and due to the blocking of the solenoid valve slider 6, the passage is not formed between the first opening 7 and the second opening 8, namely the two-position two-way normally closed solenoid valve is closed, wherein the two-position two-way normally closed solenoid valve or the two-position two-way normally open solenoid valve can also be used as the second two-position two-way normally closed solenoid valve or the two-position two-way normally open solenoid valve.
The first two-position two-way solenoid valve is taken as a two-position two-way normally closed solenoid valve, and the second two-position two-way solenoid valve is also taken as a two-position two-way normally closed solenoid valve for explanation:
1) controlling the second two-position two-way solenoid valve to be opened, and controlling the first two-position two-way solenoid valve to be closed to prevent air leakage, wherein the air pressure in the air bottle is greater than the atmospheric pressure in the external environment, the air in the air bottle can be filled into the balloon 2 to realize the inflation of the balloon 2, and the second two-position two-way solenoid valve is controlled to be closed to stop the inflation after the air pressure in the balloon 2 reaches a first preset pressure threshold value, wherein a pressure sensor can be arranged in the balloon 2 to monitor the air pressure in the balloon 2 in real time, or preset first inflation time, such as the preset first inflation time being 1 minute, 3 minutes and the like, starting timing while controlling the second two-position two-way solenoid valve to be opened, and stopping the inflation when the timing time reaches 1 minute, 3 minutes and the like;
2) the first two-position two-way electromagnetic valve is controlled to be opened, and because the other end of the first two-position two-way electromagnetic valve is communicated with the external environment, the gas in the balloon 2 can be automatically leaked to the external environment, so that the balloon 2 can be deflated;
it can be understood that: helium, hydrogen, argon gas etc. can be chooseed for use to the gas in the gas cylinder, also can be the gaseous mist that multiple density is less than the air, just, first two-position two-way solenoid valve, second two-position two-way solenoid valve and the gas cylinder all can be fixed through the thread tightening mode on the unmanned aerial vehicle body 11, wherein, silica gel trachea can be connected respectively earlier at the both ends of first two-position two-way solenoid valve, the both ends of second two-position two-way solenoid valve, then connects balloon 2 and gas cylinder through the silica gel trachea.
Wherein, flexible first linear connecting portion 5 can be wire rope, nylon rope etc, wherein, wire rope, the length of nylon rope etc. can be adjusted according to actual conditions, explain for the example that first linear connecting portion 5 is wire rope, accessible welding mode, the knot method, rope card fixed method, press the cover method with wire rope's one end and first pivot connection, wherein, make first pivot connection first motor through thread tightening mode or welding mode, first motor is step motor or servo motor, rotation through controlling first motor realizes the rotation of first pivot, then:
1) the concrete implementation mode that expansion bracket 3 and vegetation opening carry out the hook does: the first rotating shaft is synchronously rotated by controlling the first motor to rotate, so that the steel wire rope wound on the first rotating shaft is loosened, and under the action of gravity of the telescopic frame 3, the steel wire rope is straightened in the vertical direction, so that the telescopic frame 3 sinks and penetrates through the vegetation opening, and then the telescopic frame 3 is controlled to be spread so as to be conveniently hooked with the vegetation opening;
2) the concrete implementation mode that the hook between expansion bracket 3 and the vegetation opening breaks away from does: rotate through controlling first motor, make first pivot rotate in step, make wire rope winding on first pivot, simultaneously, drive the expansion bracket 3 that has closed and rise, make expansion bracket 3 break away from and the vegetation opening between the hook.
Preferably, in the above technical solution, the chip is further configured to: when strutting expansion bracket 3 with the vegetation opening carries out the hook after, control unmanned aerial vehicle body 1's rotor is in order to provide the lift of predetermineeing the threshold value, if strutting expansion bracket 3 with the vegetation opening keeps the hook, then the adjustment rotates the rotational speed of unmanned aerial vehicle body 1's rotor.
Have sufficient power between the expansion bracket 3 and the vegetation opening to guarantee to strut, further guarantee that unmanned aerial vehicle can not blown away by wind, when can not keeping the hook, explain to strut have between expansion bracket 3 and the vegetation opening and have not enough power, removable other vegetation opening realizes hovering of unmanned aerial vehicle.
Wherein, can understand, because the balloon provides lift, can reduce or stop the rotational speed of the rotor of unmanned aerial vehicle body this moment in order to save the electric quantity.
Wherein, because the factor that influences the lift of unmanned aerial vehicle body 1 knows for technical personnel in the field like the rotational speed of rotor, flight angle etc. can the accurate lift that calculates unmanned aerial vehicle body 1, and the accessible sets up the sensor at every rotor above-mentioned to acquire the lift of every rotor, thereby obtain the lift of unmanned aerial vehicle body 1, specifically:
1) set up the piezoelectric sensor in the below of every rotor and on unmanned aerial vehicle body 1, when the rotor rotates, can produce decurrent effort, at this moment, this effort can make piezoelectric sensor produce an electric signal, through carrying out analysis to the electric signal, obtain the lift of every rotor, and can be before using piezoelectric sensor, accessible contrast experiment many times, the functional relation between the electric signal that the accurate pressure sensor returned and the lift, when using piezoelectric sensor, the lift of every rotor can be obtained through this functional relation accuracy, and then obtain the lift of unmanned aerial vehicle body 1;
2) the high-precision pressure sensor can be arranged below the rotor wing and on the unmanned aerial vehicle body 1, if the precision is +/-0.05% FS, +/-0.025% FS and the like, when the rotor wing rotates, a downward acting force can be generated, the lift force of each rotor wing can be accurately obtained through the high-precision pressure sensor, and then the lift force of the unmanned aerial vehicle body 1 is obtained;
3) can use the light-duty pressure sensor that AERS-Midwest company developed, the air current of the rotor that the control flowed through unmanned aerial vehicle calculates the lift of every rotor, and then obtains the lift of unmanned aerial vehicle body 1.
Preferably, in the above technical solution, the unmanned aerial vehicle further comprises a support rod and a storage chamber fixed on the unmanned aerial vehicle body 1, a second rotating shaft for winding a semi-rigid second linear connecting portion is arranged in the storage chamber, the second rotating shaft is connected with a second motor, and two ends of the support rod are respectively connected with the second linear connecting portion and the balloon 2;
the chip is also used for controlling the second motor to enable the second rotating shaft to rotate, so that the supporting rod pushes the balloon 2 out of the containing chamber or/and takes the balloon 2 into the containing chamber.
Through the rotation of control second pivot, make the die-pin will 2 release containing chambers of balloon or will 2 income containing chambers of balloon make the unmanned aerial vehicle's of this application structure more compact.
Wherein, semi-rigid second linear connecting portion can select for use steel wire or flat spiral spring etc. wherein, between the second linear connecting portion and the die-pin between the accessible glue or hot mode of connecing fix, explain as the steel wire for the example with second linear connecting portion:
accessible welding mode is connected the one end and the second pivot of steel wire, wherein, makes the second pivot connect the second motor through thread tightening mode or welding mode, and the second motor is step motor or servo motor, through the rotation of controlling the second motor, realizes the rotation of second pivot, so:
1) the specific manner of pushing the balloon 2 out of the housing chamber is: the second rotating shaft is synchronously rotated by controlling the second motor to rotate, so that the steel wire wound on the second rotating shaft is loosened, and the steel wire has semi-rigidity and can push the support rod to push the balloon 2 out of the containing chamber;
2) the specific way of retracting the balloon 2 into the housing chamber is as follows: rotate through controlling the second motor, make the second pivot rotate in step, make the steel wire winding on the second pivot, simultaneously, drive the die-pin to withdraw storage chamber with balloon 2.
Wherein, the collecting chamber can surround with 4 non-metal sheet or metal sheet and form to will fix directly over unmanned aerial vehicle body 1 through hot mode, thread tightening mode, then set up the second pivot between two non-metal sheet or the metal sheet that sets up relatively. It can be understood that: the second motor can set up in the collecting chamber or set up outside the collecting chamber, and accessible thread tightening mode fixes the second motor on nonmetal board or metal sheet, or fixes on unmanned aerial vehicle body 1.
Preferably, in the above technical scheme, the identification device is specifically configured to obtain at least one opening that vegetation directly below formed, and compare with first preset profile 10 and second preset profile 11 respectively with every open-ended first profile 9, obtain according to the comparison result the vegetation opening, wherein, strut the projection of expansion bracket 3 on the horizontal plane is first preset profile 10, and is closed the projection of expansion bracket 3 on the horizontal plane is second preset profile 11, the projection of opening on the horizontal plane is first profile 9.
The opening formed by the vegetation directly below can be understood as: as shown in fig. 3, taking three branches 4 in vegetation as an example for explanation, a circle is formed according to the most terminal point of each branch 4, that is, three points form a first circle, which is an opening formed by the three branches 4, and since the projection of the first circle on the horizontal plane is also a circle with the same size, the first circle can be regarded as a first contour 9, the first preset contour 10 formed by the opened telescopic frame 3 after being projected on the horizontal plane is a second circle or a first irregular shape, and the second preset contour 11 formed by the closed telescopic frame 3 after being projected on the horizontal plane can be a third circle or a second irregular shape, then:
when the comparison result is: the first circle can completely cover the third circle or the second irregular shape, and the first circle cannot completely cover the second circle or the first irregular shape, then the opening formed by the three branches 44, i.e., the first circle, is a vegetation opening because: because first circle can cover third circle or second irregular shape completely, then guarantee that closed expansion bracket 3 can pass first circle, and because first circle can not cover second circle or first irregular shape completely, then guarantee that the expansion bracket 3 that struts can carry out the hook with the vegetation opening.
When a plurality of branches 4 are present, the first contour 9 can also be obtained in the above manner and compared with the first preset contour 10 and the second preset contour 11, respectively, so as to obtain a comparison result, and then the vegetation opening is confirmed according to the comparison result.
Wherein, can understand, after the expansion bracket 3 that struts carries out the hook with this vegetation opening, control the rotor of unmanned aerial vehicle body 1 is in order to provide the lift of predetermineeing the threshold value, if the expansion bracket 3 that struts with the vegetation opening keeps the hook, then stall unmanned aerial vehicle body 1's rotor to there is sufficient power between the expansion bracket 3 that guarantees to strut and the vegetation opening, further guarantee that unmanned aerial vehicle can not blown away by wind, when can not keeping the hook, explain to have between the expansion bracket 3 that struts and the vegetation opening and have not sufficient power, removable other vegetation opening realizes unmanned aerial vehicle's hovering.
Preferably, in the above technical solution, the first linear connecting portion 5 is a steel wire rope, the telescopic frame 3 includes a slider 15, straight rods 16, struts 17 and a guide rail 18, wherein one end of each straight rod 16 is hinged to the slider 15, the struts 17 correspond to the straight rods 16 one to one, one end of each strut 17 is hinged to the corresponding straight rod 16, the other end of each strut 17 is hinged to one end of the guide rail 18 away from the unmanned aerial vehicle body 1, and the other end of the guide rail 18 is connected to the steel wire rope; the sliding block 15 is connected to the guide rail 18 in a sliding manner, and a telescopic device 14 is arranged between one end, far away from the unmanned aerial vehicle body 1, of the guide rail 18 and the sliding block 15;
the chip is also used for controlling the extension and retraction device 14 to extend or retract so as to enable the sliding block 15 to slide along the guide rail 18.
The number of the straight rods 16 is 3, 4, 5, and the like, and 3, 4, 5, and a plurality of straight rods 16 are uniformly distributed along the circumferential direction of the slider 15, for example, when the number of the straight rods 16 is 3, an included angle between any 2 adjacent straight rods 16 is 120 °, when the number of the straight rods 16 is 4, an included angle between any 2 adjacent straight rods 16 is 90 °, so as to ensure that all the straight rods 16 are uniformly stressed;
the number of straight rods 16 is still illustrated as 4, specifically:
1) 4 hinged parts, such as 90-degree or 180-degree hinged parts, are fixed at one end, far away from the unmanned aerial vehicle body 1, of the sliding block 15 in a threaded fixing mode or a welding mode, the 4 hinged parts are uniformly distributed along the circumferential direction of the sliding block 15, namely, an included angle between any 2 adjacent hinged parts is 90 degrees, and one end of each straight rod 16 is connected with the corresponding hinged part;
2) each straight rod 16 is provided with a second hinge 13, the second hinge 13 can be a 90-degree hinge or a 180-degree hinge, specifically, the second hinge 13 can be arranged in the middle of the straight rod 16 in a welding mode or a thread fixing mode, or arranged at one end close to the sliding block 15, or arranged at one end far away from the sliding block 15, and one end of each supporting rod 17 is connected with the corresponding straight rod 16 and the second hinge 13;
3) keep away from on guide rail 18 unmanned aerial vehicle body 1's one end, through the fixed 4 first articulated elements 12 of thread tightening mode or welding mode, 90 or 180 articulated elements can be selected for use to first articulated element 12, and 4 first articulated elements 12 along guide rail 18's circumference evenly distributed, and the contained angle between arbitrary 2 adjacent first articulated elements 12 is 90 promptly, and the other end of every branch 17 is connected with corresponding first articulated element 12 respectively, then:
1) the specific way of expansion of the expansion bracket 3 is as follows: controlling the telescopic device 14 to retract, wherein the telescopic device 14 drives the sliding block 15 to vertically slide downwards along the guide rail 18, namely, the distance between the sliding block 15 and one end, far away from the unmanned aerial vehicle body 1, of the guide rail 18 is reduced, and each supporting rod 17 provides supporting force for the corresponding straight rod 16, so that the straight rod 16 moves in the direction far away from the guide rail 18, and the straight rod 16 is spread;
2) the closing mode of the expansion bracket 3 is as follows: controlling the telescopic device 14 to extend out, wherein the telescopic device 14 drives the sliding block 15 to vertically slide upwards along the guide rail 18, namely, the distance between the sliding block 15 and one end, far away from the unmanned aerial vehicle body 1, of the guide rail 18 is increased, and at the moment, each supporting rod 17 provides pulling force for the corresponding straight rod 16, so that the straight rod 16 moves towards the direction close to the guide rail 18, and the straight rod 16 is closed;
the telescopic device 14 may be a hydraulic telescopic rod or other automatic telescopic rod, the sliding block 15 may be cylindrical or three-dimensional, and the cooperation between the sliding block 15 and the guide rail 18 is known to those skilled in the art and will not be described herein.
Preferably, in the above technical solution, all the straight bars 16 are further covered with a flexible folding layer on the upper surface. Area of contact when can increase and vegetation opening hook through flexible folded sheet, the stability of the power of increase hook and reinforcing hook specifically:
the available flexible material of folded layer makes, and flexible material can be denim, cotton, silk, leather dacron, PG cloth, nylon etc. and flexible material fixes through modes such as gluing on the upper surface of straight-bar 16, the structure of similar umbrella, then:
when the straight rod 16 is unfolded, the flexible folding layer is unfolded, so that the contact area of the vegetation opening hook is increased, the hook force is increased, and the stability of the hook is enhanced;
when the straight rod 16 is closed, the flexible folding layer is also folded, and is separated from hooking with the vegetation opening;
preferably, in the above technical solution, the identification apparatus is specifically configured to: the three-dimensional coordinate data of vegetation directly under is obtained through the lidar sensor who sets up on unmanned aerial vehicle body 1 to according to three-dimensional coordinate data obtains at least one opening that vegetation directly under formed.
Through installing the lidar sensor on unmanned aerial vehicle body 1, recognition device can acquire in real time the lidar point cloud of the vegetation under through the lidar sensor is gathered, and as is well known, the lidar point cloud is a set of three-dimensional coordinate data, specifically:
obtaining three-dimensional coordinates corresponding to the extreme points of the three branches 44 according to the three-dimensional coordinate data, wherein the three-dimensional coordinates are respectively (X)1,Y1,Z1)、(X2,Y2,Z2)、(X3,Y3,Z3) Then, neglecting the coordinate value of the z axis, and obtaining the coordinates of the three points as: (X)1,Y1)、(X2,Y2)、(X3,Y3) According to (X)1,Y1)、(X2,Y2)、 (X3,Y3) A first circle can be obtained;
wherein it is understood that Z can be1、Z2And Z3The range threshold is set to improve the efficiency of acquiring vegetation openings, for example, the range threshold may be setSet to 0.05m if Z1＝2m、Z2＝2.01m、 Z32.02m, then Z3-Z20.02m, i.e. Z1、Z2And Z3The maximum deviation between the two is 0.02m and less than 0.05m, and then processing is carried out to obtain a comparison result; if Z is1、Z2And Z3When the maximum deviation between is greater than the scope threshold value, can lead to unmanned aerial vehicle to hover back for the tilt state this moment, be unfavorable for carrying on the operation, be exactly first, if Z1、Z2And Z3If the maximum deviation is greater than the range threshold, the opening is reselected and compared with the range threshold.
Preferably, in the above technical solution, the identification apparatus is specifically configured to: the three-dimensional coordinate data of vegetation directly under is obtained through the camera that sets up on unmanned aerial vehicle body 1 to according to three-dimensional coordinate data obtains at least one opening that vegetation directly under formed.
The method comprises the steps of shooting photos containing vegetation right below through a camera from different angles, then calculating three-dimensional coordinate data of the vegetation right below according to the multiple photos, wherein the specific calculation process is a conventional technical means and is not repeated herein, and then obtaining at least one opening formed by the vegetation right below by referring to the mode.
As shown in fig. 4, a control method for realizing hovering of an unmanned aerial vehicle according to an embodiment of the present invention is applied to an unmanned aerial vehicle hovering in the air through a telescopic frame 3 according to any of the above embodiments, and the control method includes:
s1, the identification device is used for collecting and detecting whether vegetation openings matched with the telescopic frames 3 exist in vegetation right below;
s2, when the identification device detects that vegetation right below exists and the vegetation opening matched with the expansion bracket 3, the chip controls the first motor to enable the first rotating shaft to rotate, so that the expansion bracket 3 sinks and penetrates through the vegetation opening, the expansion bracket 3 is controlled to be unfolded, and the second two-position two-way electromagnetic valve is controlled to be opened, so that the gas cylinder inflates the balloon 2.
When the unmanned aerial vehicle works, the balloon 2 positioned right above the unmanned aerial vehicle body 1 is filled with gas lower than air density, the first motor is controlled to rotate the first rotating shaft, the expansion bracket 3 is made to sink and penetrate through the vegetation opening and expand, vegetation below the unmanned aerial vehicle body 1 is hooked and hung, so that the unmanned aerial vehicle is ensured not to be blown away by wind, namely, the unmanned aerial vehicle is suspended through the lift force provided by the balloon 2 and the hooked and hung between the expanded expansion bracket 3 and the vegetation below the unmanned aerial vehicle body 1, at the moment, the rotating speed of a rotor of the unmanned aerial vehicle body can be reduced or stopped to save electricity, the unmanned aerial vehicle is suspended for a long time, therefore, enough suspension time is provided to enable the unmanned aerial vehicle to complete the work, when the work is completed, the expansion bracket 3 is controlled to be closed so as to be separated from being hooked with the vegetation, and the rotor is started and the balloon 2 is deflated, realizing the fly-back.
In the present invention, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle hovering in the air through a telescopic frame is characterized by comprising an unmanned aerial vehicle body (1), an identification device and a chip, wherein a balloon (2) for hovering is arranged right above the unmanned aerial vehicle body (1), and a telescopic frame (3) for hooking vegetation is arranged right below the unmanned aerial vehicle body (1);
the unmanned aerial vehicle is characterized in that the balloon (2) is connected with one end of a first two-position two-way electromagnetic valve, the other end of the first two-position two-way electromagnetic valve is communicated with the external environment, the balloon (2) is further sequentially connected with a second two-position two-way electromagnetic valve and a gas cylinder, the first two-position two-way electromagnetic valve, the second two-position two-way electromagnetic valve and the gas cylinder are all fixed on the unmanned aerial vehicle body (1), and the density of gas stored in the gas cylinder is lower than that of air;
the telescopic frame (3) is connected with one end of a first flexible linear connecting part (5), the other end of the first linear connecting part (5) is connected with a first rotating shaft used for winding in the unmanned aerial vehicle body (1), and the first rotating shaft is connected with a first motor;
the identification device is used for collecting and detecting whether vegetation openings matched with the expansion bracket (3) exist in vegetation right below, and the vegetation openings are openings formed by the vegetation right below;
the chip is used for: when vegetation under the vegetation detected by the identification device has a vegetation opening matched with the telescopic frame (3), controlling the first motor to rotate the first rotating shaft, so that the telescopic frame (3) sinks and penetrates through the vegetation opening, and controlling the telescopic frame (3) to be spread, or controlling the telescopic frame (3) to be closed after the operation is finished;
the chip is also used for controlling the opening or closing of the first two-position two-way electromagnetic valve and controlling the opening or closing of the second two-position two-way electromagnetic valve.
2. The drone of claim 1, wherein the chip is further configured to: when strutting expansion bracket (3) with the vegetation opening carries out the hook after, control the rotor of unmanned aerial vehicle body (1) is in order to provide the lift of predetermineeing the threshold value, if strutting expansion bracket (3) with the vegetation opening keeps the hook, then the adjustment rotates the rotational speed of the rotor of unmanned aerial vehicle body (1).
3. The unmanned aerial vehicle hovering in the air through an expansion bracket according to claim 1 or 2, further comprising a supporting rod and a containing chamber fixed on the unmanned aerial vehicle body (1), wherein a second rotating shaft for winding a semi-rigid second linear connecting portion is arranged in the containing chamber, the second rotating shaft is connected with a second motor, and two ends of the supporting rod are respectively connected with the second linear connecting portion and the balloon (2);
the chip is also used for controlling the second motor to enable the second rotating shaft to rotate, so that the supporting rod pushes the balloon (2) out of the containing chamber or/and the balloon (2) is contained in the containing chamber.
4. The unmanned aerial vehicle hovering in the air through a telescopic frame according to claim 1 or 2, wherein the recognition device is specifically configured to obtain at least one opening formed by the vegetation directly below, compare the opening with a first preset contour (10) and a second preset contour (11) respectively, and obtain the vegetation opening according to a comparison result, wherein a projection of the stretched telescopic frame (3) on a horizontal plane is the first preset contour (10), a projection of the closed telescopic frame (3) on the horizontal plane is the second preset contour (11), and a projection of the opening on the horizontal plane is the first contour (9).
5. The unmanned aerial vehicle hovering in the air through an expansion bracket according to claim 1 or 2, wherein the first linear connecting portion (5) is a steel wire rope, the expansion bracket (3) comprises a slider (15), straight rods (16), struts (17) and guide rails (18), wherein one end of each straight rod (16) is hinged to the slider (15), the struts (17) correspond to the straight rods (16) one to one, one end of each strut (17) is hinged to the corresponding straight rod (16), the other end of each strut (17) is hinged to one end of each guide rail (18) far away from the unmanned aerial vehicle body (1), and the other end of each guide rail (18) is connected to the steel wire rope; the sliding block (15) is connected to the guide rail (18) in a sliding mode, and a telescopic device (14) is arranged between one end, far away from the unmanned aerial vehicle body (1), of the guide rail (18) and the sliding block (15);
the chip is also used for controlling the extension and retraction device (14) to extend or retract so as to enable the sliding block (15) to slide along the guide rail (18).
6. The unmanned aerial vehicle for hovering over air via a telescoping mast as claimed in claim 5, wherein all of said straight poles (16) are further coated with a flexible folded layer on the upper surface.
7. The drone for hovering over air via a telescoping mast as claimed in claim 4, wherein said identification means is specifically configured to: the three-dimensional coordinate data of vegetation right below is obtained through the lidar sensor that sets up on unmanned aerial vehicle body (1), and according to the three-dimensional coordinate data obtains at least one opening that vegetation right below formed.
8. The drone for hovering over air via a telescoping mast as claimed in claim 4, wherein said identification means is specifically configured to: the three-dimensional coordinate data of vegetation right below is obtained through the camera that sets up on unmanned aerial vehicle body (1), and according to the three-dimensional coordinate data obtains at least one opening that vegetation right below formed.
9. A control method for realizing hovering of an unmanned aerial vehicle is applied to the unmanned aerial vehicle hovering over an expansion bracket according to any one of claims 1 to 8, and the control method comprises:
the identification device is used for collecting and detecting whether vegetation openings matched with the telescopic frame (3) exist in vegetation right below;
when the identification device detects that vegetation under exists with the vegetation opening that expansion bracket (3) matches, the chip control first motor is so that first pivot is rotatory, makes expansion bracket (3) sink and pass the vegetation opening, and control expansion bracket (3) strut, and control the second two-position two-way solenoid valve opens, so that the gas cylinder aerifys to balloon (2).
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