CN111959769A - Unmanned aerial vehicle hovering in air through air bag and control method - Google Patents
Unmanned aerial vehicle hovering in air through air bag and control method Download PDFInfo
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- CN111959769A CN111959769A CN202010656401.8A CN202010656401A CN111959769A CN 111959769 A CN111959769 A CN 111959769A CN 202010656401 A CN202010656401 A CN 202010656401A CN 111959769 A CN111959769 A CN 111959769A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention relates to an unmanned aerial vehicle hovering in the air through an air bag 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 air bag sinks and penetrates through a vegetation opening, the air bag is filled with air, the air bag is expanded to hook vegetation below the unmanned aerial vehicle body so as 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 air bag 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 so as to save the electric quantity, the long-time hovering of the unmanned aerial vehicle is realized, therefore, the unmanned aerial vehicle completes the operation with enough hovering time, when the operation is completed, the air bag is deflated so as, 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 an air bag 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 an air bag and a control method.
The invention discloses a technical scheme of an unmanned aerial vehicle hovering in the air through an air bag, which comprises the following steps:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, an identification device and a chip, wherein a balloon used for hovering is arranged right above the unmanned aerial vehicle body, an air bag used for hooking vegetation is arranged right below the unmanned aerial vehicle body, and the inflated air bag is in a cake shape;
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 air bag is connected with one end of a first linear connecting part of the soft body, 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 air bags exist in vegetation right below, and the vegetation openings are openings formed by the vegetation right below;
the chip is used for: when vegetation opening matched with the air bag exists in the vegetation right below the vegetation detected by the identification device, controlling the first motor to rotate the first rotating shaft, making the air bag sink and penetrate through the vegetation opening, and controlling a pumping and inflating device connected with the air bag to inflate the air bag through a first linear connecting part, or controlling the pumping and inflating device to deflate the air bag through the first linear connecting part after work 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 air bag has the following beneficial effects:
when the unmanned aerial vehicle works, gas with the density lower than that of air is filled into the balloon positioned right above the unmanned aerial vehicle body, the first motor is controlled to rotate the first rotating shaft, the air bag sinks and penetrates through the vegetation opening, the air bag is filled with air to expand, so that vegetation below the unmanned aerial vehicle body is hooked, the unmanned aerial vehicle is ensured not to be blown away by wind, namely, the unmanned aerial vehicle can hover through the lifting force provided by the balloon and the hooking between the air bag and the vegetation below the unmanned aerial vehicle body, at the moment, the rotating speed of the rotor of the unmanned aerial vehicle body can be reduced or stopped to save electric quantity, the unmanned aerial vehicle can hover for a long time, therefore, the unmanned aerial vehicle can finish the work with enough hovering time, when the work is finished, the air bag is deflated to be separated from the hooking with the vegetation, and the rotor is started and the balloon is deflated, realizing the fly-back.
On the basis of the scheme, the unmanned aerial vehicle hovering in the air through the air bag can be further improved as follows.
Further, the first linear connecting part is a silica gel air pipe or a polyurethane air pipe.
Further, the chip is also configured to: after inflating the gasbag with the vegetation opening carries out the hook after, control the lift of the rotor of unmanned aerial vehicle body in order to provide the predetermined threshold value, if after inflating the gasbag 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 gasbag and the vegetation opening after aerifing with the assurance, further guarantee that unmanned aerial vehicle can not blown away by wind, when can not keeping the hook, explain to aerify have between gasbag and the vegetation opening after having sufficient power, removable other vegetation opening realizes unmanned aerial vehicle's hovering.
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, the recognition device is specifically used for obtaining at least one opening that vegetation directly under formed to compare with every with first profile of opening with first profile of presetting and second profile of presetting respectively, obtain according to the comparison result the vegetation opening, wherein, after aerifing the projection of gasbag on the horizontal plane is first profile of presetting, after the gassing the projection of gasbag on the horizontal plane is the profile of presetting of second, the projection of opening on the horizontal plane is first profile.
Further, the pumping and inflating device is a third two-position two-way electromagnetic valve and an air pump, the air bag is connected with one end of the third two-position two-way electromagnetic valve, the other end of the third two-position two-way electromagnetic valve is communicated with the external environment, the air bag is also connected with an air outlet of the air pump, and an air inlet of the air pump is communicated with the external environment;
the chip is specifically configured to: and controlling the air pump to inflate the air bag, or controlling a third two-position two-way electromagnetic valve to be opened to deflate the air bag.
Further, the pumping and inflating device is a pumping and inflating dual-purpose air pump, the pumping and inflating dual-purpose air pump is fixed on the unmanned aerial vehicle body, and two ends of the pumping and inflating dual-purpose air pump are respectively communicated with the air bag and the external environment;
the chip is specifically configured to: and controlling the pumping and inflating dual-purpose air pump to inflate or deflate the air bag.
The beneficial effect of adopting the further scheme is that: simple structure and low cost.
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 capable of hovering in the air through the air bag is applied to any one of the unmanned aerial vehicles, and the control method comprises the following steps:
the chip controls the identification device to collect and detect whether vegetation openings matched with the air bags exist in vegetation right below;
when the identification device detects that vegetation right below has a vegetation opening matched with the gasbag, the chip controls the first motor to rotate the first rotating shaft, so that the gasbag sinks and passes through the vegetation opening, and controls the pumping and inflating device to inflate the gasbag through a first linear connecting part, and controls the second two-position two-way electromagnetic valve to be opened, so that the gas cylinder inflates the balloon.
The control method for realizing hovering of the unmanned aerial vehicle has the following beneficial effects:
when the unmanned aerial vehicle works, gas with the density lower than that of air is filled into the balloon positioned right above the unmanned aerial vehicle body, the first motor is controlled to rotate the first rotating shaft, the air bag sinks and penetrates through the vegetation opening, the air bag is filled with air to expand, so that vegetation below the unmanned aerial vehicle body is hooked, the unmanned aerial vehicle is ensured not to be blown away by wind, namely, the unmanned aerial vehicle can hover through the lifting force provided by the balloon and the hooking between the air bag and the vegetation below the unmanned aerial vehicle body, at the moment, the rotating speed of the rotor of the unmanned aerial vehicle body can be reduced or stopped to save electric quantity, the unmanned aerial vehicle can hover for a long time, therefore, the unmanned aerial vehicle can finish the work with enough hovering time, when the work is finished, the air bag is deflated to be separated from the hooking with the vegetation, and the rotor is started and the balloon is deflated, realizing the fly-back.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle hovering over the air via an airbag 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 implementing hovering of an unmanned aerial vehicle according to an embodiment of the present invention;
Detailed Description
As shown in fig. 1, an unmanned aerial vehicle hovering in the air through an air bag 3 according to an embodiment of the present invention includes an unmanned aerial vehicle body 1, an identification device, and a chip, wherein a balloon 2 for hovering is further disposed directly above the unmanned aerial vehicle body 1, an air bag 3 for hooking with vegetation is further disposed directly below the unmanned aerial vehicle body 1, and the inflated air bag 3 is in a cake shape;
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 airbag 3 is connected with one end of a first linear connecting part 5 of the soft body, 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 air bags 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 opening matched with the air bag 3 exists in the vegetation under the vegetation detected by the identification device, controlling the first motor to rotate the first rotating shaft, so that the air bag 3 sinks and penetrates through the vegetation opening, and controlling a pumping and inflating device connected with the air bag 3 to inflate the air bag 3 through a first linear connecting part 5, or controlling the pumping and inflating device to deflate the air bag 3 through the first linear connecting part 5 after the work 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 with density lower than air density, the first motor is controlled to rotate the first rotating shaft, the air bag 3 sinks and penetrates through the vegetation opening, the air bag 3 is filled with air, the air bag 3 is expanded to ensure that the unmanned aerial vehicle cannot be blown away by wind, namely, the unmanned aerial vehicle can hover through the lifting force provided by the balloon 2 and the hooking between the air bag 3 and vegetation such as branches 4 and the like below the unmanned aerial vehicle body 1, at the moment, the rotating speed of a rotor wing of the unmanned aerial vehicle body 1 can be reduced or stopped to save electric quantity, the unmanned aerial vehicle can hover for a long time, therefore, the unmanned aerial vehicle can finish the work by enough hovering time, when the work is finished, the air bag 3 is deflated to be separated from the hooking with the vegetation, and the rotor wing 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.
Wherein, the inside of gasbag 3 is equipped with the bracing piece that metal material or engineering plastics made along the direction of first linear connecting portion vertical direction promptly, thereby guarantees that gasbag 3 after aerifing is the pie and increases the area of gasbag 3 after aerifing to hook with the vegetation opening, show gasbag 3 when not aerifing with the solid line in fig. 1, show gasbag 3 after aerifing with the dotted line.
The structure of the two-position two-way solenoid valve is shown in fig. 2, and the two-position two-way solenoid valve is provided with a first opening 7 and a second opening 8, a sliding block 6 is arranged in the two-position two-way solenoid valve, when the sliding block 6 of the two-position two-way solenoid valve is not applied with force, the first opening 7 and the second opening 8 are not communicated due to the blocking of the sliding block 6, namely the two-position two-way normally closed solenoid valve is closed, and after the sliding block 6 of the two-position two-way normally closed solenoid valve is applied with force, the sliding block 6 moves to ensure that the first opening 7 and the second opening 8 are communicated, namely the two-position two-way normally closed solenoid 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 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 state of the two-position two-way normally closed solenoid valve is opened, and after the force is applied to the slider 6 of the two-position two-way normally closed solenoid valve, the slider 6 moves, and due to the blocking of the 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 second two-position two-way solenoid valve can also.
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 mixed gas that multiple density is less than the air, just, first two-position two-way solenoid valve the second two-position two-way solenoid valve with the gas cylinder all can be fixed through the thread tightening mode on the unmanned aerial vehicle body 1, 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, first linear connecting portion 5 is silica gel trachea or polyurethane trachea, the tracheal length of silica gel trachea or polyurethane can be adjusted according to actual conditions, explain for the example that first linear connecting portion 5 is the silica gel trachea, sticky or hot mode of connecing of accessible is connected the tracheal one end of silica gel with first pivot, 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 realization mode that gasbag 3 and vegetation opening carry out the hook does: the first rotating shaft is synchronously rotated by controlling the rotation of the first motor, so that the silica gel air pipe wound on the first rotating shaft is loosened, and under the action of the gravity of the air bag 3, the silica gel air pipe is straightened in the vertical direction, so that the air bag 3 sinks and passes through the vegetation opening to be hooked;
2) the concrete realization mode that the hook between gasbag 3 and the vegetation opening breaks away from does: rotate through controlling first motor, make first pivot rotate in step, make the winding of silica gel trachea on first pivot, simultaneously, drive 3 rises of gasbag that have deflated, make gasbag 3 break away from and the vegetation opening between the hook. It will be appreciated that the pumping and inflating device may be connected to the first linear connecting portion 5 via another section of silicone or polyurethane tubing to facilitate inflation of the bladder 3.
Preferably, in the above technical solution, the chip is further configured to: after aerifing gasbag 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 aerify after gasbag 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 3 and the vegetation opening after aerifing with the assurance, further guarantee that unmanned aerial vehicle can not blown away by wind, when can not keeping the hook, explain to have between 3 and the vegetation opening of gasbag after aerifing and have not sufficient power, removable other vegetation opening realizes unmanned aerial vehicle's hovering.
Wherein, can understand, because balloon 2 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 plane 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 for the example for the steel wire second linear connecting portion, accessible welding mode is connected the one end and the second pivot of steel wire, wherein, make the second pivot connect the second motor through thread tightening mode or welding mode, the second motor is step motor or servo motor, rotation through controlling the second motor realizes the rotation of second pivot, then:
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 solution, the identification device is specifically configured to obtain at least one opening formed by the vegetation right below, compare a first preset contour 10 and a second preset contour 11 with a first contour 9 of each opening respectively, and obtain the vegetation opening according to a comparison result, where a projection of the inflated airbag 3 on the horizontal plane is the first preset contour 10, a projection of the deflated airbag 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, specifically:
as shown in fig. 3, the opening formed by the vegetation directly below can be understood as: as shown in fig. 3, taking three branches 4 in the vegetation as an example for explanation, then according to the following, respectively, a circle is formed according to the extreme points of the branches 4, that is, three points form a first circle, the first circle is the 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, and since the inflated airbag 3 is in a pie shape, the first preset contour 10 formed by the inflated airbag 3 after projection on the horizontal plane is a second circle, and the second preset contour 11 formed by the deflated balloon 2 after projection on the horizontal plane can be a third circle or an irregular shape, then:
when the comparison result is: the first circle can completely cover the third circle or the irregular shape and the second circle can completely cover the first circle, then the first circle, i.e. the opening formed by the three branches 4, is a vegetation opening because: because first circle can cover third circle or irregular shape completely, then guarantee that uninflated gasbag 3 can pass first circle, and because the second circle can cover first circle completely, then guarantee that inflatable gasbag 3 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 gasbag 3 carries out the hook with this vegetation opening, control the lift of unmanned aerial vehicle body 1's rotor in order to provide the predetermined threshold value, if aerify after gasbag 3 with the vegetation opening keeps the hook, then stall unmanned aerial vehicle body 1's rotor to guarantee to have sufficient power between gasbag 3 after aerifing 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 gasbag 3 after aerifing 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 pumping and inflating device is a third two-position two-way electromagnetic valve and an air pump, the air bag 3 is connected with one end of the third two-position two-way electromagnetic valve, the other end of the third two-position two-way electromagnetic valve is communicated with the external environment, the air bag 3 is further connected with an air outlet of the air pump, and an air inlet of the air pump is communicated with the external environment;
the chip is specifically configured to: and controlling the air pump to inflate the air bag 3, or controlling a third two-position two-way electromagnetic valve to be opened to deflate the air bag 3.
Wherein, the third two-position two-way solenoid valve refers to the first two-position two-way solenoid valve or the first two-position two-way solenoid valve, which is not described herein again, then:
1) controlling the third two-position two-way electromagnetic valve to be closed to prevent the air leakage of the air bag 3, wherein the air pump can be communicated with the first linear connecting part 5 through another section of silica gel air pipe or polyurethane air pipe, then controlling the air pump to inflate the air bag 3, and controlling the air pump to stop inflating the air bag 3 when the air pressure in the air bag 3 reaches a second preset pressure threshold, wherein a pressure sensor can be arranged in the air bag 3 to monitor the air pressure in the air bag 3 in real time, or preset second inflation time, such as the second inflation time is 1 minute, 3 minutes and the like, starting timing while controlling the air pump to stop inflating the air bag 3, and stopping inflation when the timing time reaches 1 minute, 3 minutes and the like;
2) the third two-position two-way electromagnetic valve is controlled to be opened, and because the other end of the third two-position two-way electromagnetic valve is communicated with the external environment, the gas in the air bag 3 can be automatically leaked to the external environment, so that the air bag 3 can be deflated; wherein, the air pump is connected with the silica gel trachea at first, then connects gasbag 3 through the silica gel trachea.
Preferably, in the above technical scheme, the pumping and inflating device is a pumping and inflating dual-purpose air pump, the pumping and inflating dual-purpose air pump is fixed on the unmanned aerial vehicle body 1, and two ends of the pumping and inflating dual-purpose air pump are respectively communicated with the air bag 3 and the external environment;
the chip is specifically configured to: controlling the pumping and inflating dual-purpose air pump to inflate or deflate the air bag 3, specifically:
the dual-purpose air pump of pumping and inflating accessible other section silica gel trachea or polyurethane trachea and first linear connecting portion 5 communicate, when bleeding, control the dual-purpose air pump of pumping and inflating takes out the air in 3 gasbags to the external environment, when aerifing, fills the air in the external environment to 3 gasbags.
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 4 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 set 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 the two is greater than the range threshold, this will result inAfter hovering, the unmanned aerial vehicle is in an inclined state, and is not beneficial to operation, namely firstly, 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 an airbag 3 in any of the above embodiments, and the control method includes:
s1, the chip controls the recognition device to collect and detect whether vegetation opening matched with the air bag 3 exists in vegetation right below;
s2, when the identification device detects that vegetation right below the vegetation opening matched with the air bag 3 exists, the chip controls the first motor to rotate the first rotating shaft, so that the air bag 3 sinks and penetrates through the vegetation opening, controls the pumping and inflating device to inflate the air bag 3 through the first linear connecting part 5, and controls the second two-position two-way electromagnetic valve to be opened so that the air bottle 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 with density lower than air density, the first motor is controlled to rotate the first rotating shaft, the air bag 3 sinks and penetrates through the vegetation opening, the air bag 3 is filled with air, the air bag 3 is expanded to ensure that the unmanned aerial vehicle cannot be blown away by wind, namely, the unmanned aerial vehicle can hover through the lifting force provided by the balloon 2 and the hooking between the air bag 3 and vegetation such as branches 4 and the like below the unmanned aerial vehicle body 1, at the moment, the rotating speed of a rotor wing of the unmanned aerial vehicle body can be reduced or stopped to save electric quantity, the unmanned aerial vehicle can hover for a long time, therefore, the unmanned aerial vehicle can finish the work by enough hovering time, when the work is finished, the air bag 3 is deflated to be separated from the hooking with the vegetation, and the rotor wing 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 (10)
1. The unmanned aerial vehicle hovering in the air through the air bag is characterized by comprising an unmanned aerial vehicle body (1), an identification device and a chip, wherein a balloon (2) used for hovering is further arranged right above the unmanned aerial vehicle body (1), an air bag (3) used for hooking vegetation is further arranged right below the unmanned aerial vehicle body (1), and the inflated air bag (3) is in a cake shape;
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 air bag (3) is connected with one end of a first linear connecting part (5) of the soft body, 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 air bags (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 just below detected by the identification device has a vegetation opening matched with the air bag (3), controlling the first motor to rotate the first rotating shaft, so that the air bag (3) sinks and penetrates through the vegetation opening, and controlling a pumping and inflating device connected with the air bag (3) to inflate the air bag (3) through a first linear connecting part (5), or controlling the pumping and inflating device to deflate the air bag (3) through the first linear connecting part (5) 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 unmanned aerial vehicle for hovering in the air through an airbag according to claim 1, wherein the first linear connecting portion (5) is a silicone air tube or a polyurethane air tube.
3. The drone of claim 2, wherein the chip is further configured to: after aerifing gasbag (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 aerify after gasbag (3) with the vegetation opening keeps the hook, then adjusts the rotational speed of the rotor of unmanned aerial vehicle body (1).
4. The unmanned aerial vehicle for hovering in the air through the airbag according to any one of claims 1 to 3, further comprising a supporting rod and a receiving chamber fixed to the unmanned aerial vehicle body (1), wherein a second rotating shaft for winding a second semi-rigid linear connecting portion is disposed in the receiving chamber, the second rotating shaft is connected to a second motor, and two ends of the supporting rod are respectively connected to 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.
5. The unmanned aerial vehicle hovering over an air bag according to any one of claims 1 to 3, wherein the identification device is specifically configured to obtain at least one opening formed by the vegetation directly below, compare a first preset contour (10) and a second preset contour (11) with a first contour (9) of each opening, and obtain the vegetation opening according to the comparison result, wherein a projection of the inflated air bag (3) on a horizontal plane is the first preset contour (10), a projection of the deflated air bag (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).
6. The unmanned aerial vehicle for hovering in the air through the airbag according to claim 4, wherein the pumping and inflating device is a third two-position two-way solenoid valve and an air pump, the airbag (3) is connected to one end of the third two-position two-way solenoid valve, the other end of the third two-position two-way solenoid valve is communicated with the external environment, the airbag (3) is further connected to an air outlet of the air pump, and an air inlet of the air pump is communicated with the external environment;
the chip is specifically configured to: and controlling the air pump to inflate the air bag (3), or controlling a third two-position two-way electromagnetic valve to be opened to deflate the air bag (3).
7. The unmanned aerial vehicle for hovering in the air through an airbag according to claim 4, wherein the pumping and inflating device is a pumping and inflating dual-purpose air pump, the pumping and inflating dual-purpose air pump is fixed to the unmanned aerial vehicle body (1), and two ends of the pumping and inflating dual-purpose air pump are respectively communicated with the airbag (3) and an external environment;
the chip is specifically configured to: and controlling the pumping and inflating dual-purpose air pump to inflate or deflate the air bag (3).
8. A drone for hovering over an air bag according to claim 5, wherein the 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.
9. The drone for hovering over air by means of an airbag according to claim 5, wherein said identification means are particularly adapted 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.
10. A control method for realizing hovering of an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle hovering over an air bag according to any one of claims 1 to 9, the control method comprising:
the chip controls the identification device to collect and detect whether vegetation openings matched with the air bags (3) exist in vegetation right below;
when the identification device detects that vegetation under exists and vegetation opening that gasbag (3) match, the chip control first motor so that first pivot rotates, makes gasbag (3) sink and pass the vegetation opening, and control the pump and inflate the device through first threadiness connecting portion (5) and to aerify gasbag (3), and control the second two-position two-way solenoid valve opens, so that the gas cylinder aerifys to balloon (2).
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