CN111959769B - Unmanned aerial vehicle hovering through air bag and control method - Google Patents
Unmanned aerial vehicle hovering through air bag and control method Download PDFInfo
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- CN111959769B CN111959769B CN202010656401.8A CN202010656401A CN111959769B CN 111959769 B CN111959769 B CN 111959769B CN 202010656401 A CN202010656401 A CN 202010656401A CN 111959769 B CN111959769 B CN 111959769B
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Classifications
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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; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an unmanned aerial vehicle and a control method for hovering through an air bag, when the unmanned aerial vehicle works, air with the density lower than that of air is filled into a balloon positioned right above an unmanned aerial vehicle body, and a first motor is controlled to enable a first rotating shaft to rotate, so that the air bag sinks and penetrates through a vegetation opening, and air is filled into the air bag, so that the air bag is inflated to hook vegetation below the unmanned aerial vehicle body, so that the unmanned aerial vehicle cannot be blown away by wind, namely, the hovering of the unmanned aerial vehicle is realized through lifting force provided by the air bag 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 to save electric quantity, and the unmanned aerial vehicle can hover for a long time, therefore, the unmanned aerial vehicle has enough hovering time to complete the work, the air bag is deflated to be separated from the hooking of the vegetation, the rotor wing is started, and the air bag is deflated, and the flying is realized.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle hovering through an air bag and a control method.
Background
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle can play the effect of getting more and more important in each trade each field at home and abroad, has wide application prospect, at present, because unmanned aerial vehicle's electric capacity is limited, leads to unmanned aerial vehicle's duration, when unmanned aerial vehicle carries out the operation like shooting in a certain region, must make unmanned aerial vehicle's rotor rotate continually, just can guarantee unmanned aerial vehicle hover in this region, and carry out the operation, but because the rotor rotates continually, can make the electric quantity in the battery reduce continually, thereby lead to unmanned aerial vehicle to carry out long-time stay, can not guarantee to accomplish the operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle hovering through an air bag and a control method thereof.
The technical scheme of the unmanned aerial vehicle hovering in the air through the air bag 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 further arranged right above the unmanned aerial vehicle body, and an air bag for hooking vegetation is further arranged right below the unmanned aerial vehicle body, wherein the inflated air bag is cake-shaped;
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 also sequentially connected with a second two-position two-way electromagnetic valve and a gas cylinder, 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 openings matched with the air bags exist in the vegetation right below the vegetation detected by the identification device, controlling the first motor to enable the first rotating shaft to rotate, enabling the air bags to sink and penetrate through the vegetation openings, controlling a whipping device connected with the air bags to inflate the air bags through first linear connecting parts, or controlling the whipping device to deflate the air bags through the first linear connecting parts after work is completed;
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 unmanned aerial vehicle carries out the operation, the balloon that is located directly over the unmanned aerial vehicle body fills the gas that is less than air density, and control first motor is in order to make first pivot rotate, make the gasbag subside and pass the vegetation opening, and fill air to the gasbag, make the gasbag expand, with the vegetation of hook unmanned aerial vehicle body below, in order to guarantee that unmanned aerial vehicle can not be blown away by the wind, that is to say, through the lift that the balloon provided and the hook between gasbag and the vegetation of unmanned aerial vehicle body below, realized unmanned aerial vehicle's hover, at this moment, can reduce or stop the rotational speed of the rotor of unmanned aerial vehicle body is in order to save the electric quantity, realized unmanned aerial vehicle's long-time hover, consequently, have sufficient hover time to make unmanned aerial vehicle accomplish the operation, when accomplishing the operation, with the gasbag gassing in order to break away from with the hook of vegetation, and start the rotor and with the balloon gassing, realize the fly.
Based on the scheme, the unmanned aerial vehicle hovering through the air bag can be improved as follows.
Further, the first linear connection part is a silica gel air pipe or a polyurethane air pipe.
Further, the chip is also for: after the inflated air bag and the vegetation opening are hooked, the rotor wing of the unmanned aerial vehicle body is controlled to provide lift force with a preset threshold value, and if the inflated air bag and the vegetation opening are hooked, the rotating speed of the rotor wing of the unmanned aerial vehicle body is adjusted and rotated.
The beneficial effects of adopting the further scheme are as follows: with the enough power of guaranteeing between gasbag and the vegetation opening after the gassing, further guarantee unmanned aerial vehicle can not be blown away by the wind, when can not keep the hook, indicate to have enough power between gasbag and the vegetation opening after the gassing, can change other vegetation openings and realize unmanned aerial vehicle's hovering.
The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a first linear connecting part and a balloon, wherein the unmanned aerial vehicle body is provided with a first linear connecting part, the first linear connecting part is fixedly connected with the balloon, the balloon is fixedly connected with the first linear connecting part, and the balloon is fixedly connected with the first linear connecting part;
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 out of the accommodating chamber or/and receives the balloon into the accommodating chamber.
The beneficial effects of adopting the further scheme are as follows: the rotation of the second rotating shaft is controlled, so that the supporting rod pushes the balloon out of the accommodating chamber or/and receives the balloon into the accommodating chamber, and the unmanned aerial vehicle is more compact in structure.
Further, the identification device is specifically configured to obtain at least one opening formed by vegetation right below, compare the at least one opening with a first outline of each opening by using a first preset outline and a second preset outline, and obtain the vegetation opening according to the comparison result, where the projection of the inflated air bag on the horizontal plane is the first preset outline, the projection of the deflated air bag on the horizontal plane is the second preset outline, and the projection of the opening on the horizontal plane is the first outline.
Further, the whipping air 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 used for: and controlling the air pump to inflate the air bag, or controlling the third two-position two-way electromagnetic valve to open so as to deflate the air bag.
Further, the whipping device is a whipping dual-purpose air pump, the whipping dual-purpose air pump is fixed on the unmanned aerial vehicle body, and two ends of the whipping dual-purpose air pump are respectively communicated with the air bag and the external environment;
The chip is specifically used for: and controlling the dual-purpose air pump for whipping to inflate or deflate the air bag.
The beneficial effects of adopting the further scheme are as follows: simple structure and low cost.
Further, the identification device is specifically configured to: and acquiring three-dimensional coordinate data of vegetation right below through a laser radar sensor arranged on the unmanned aerial vehicle body, and obtaining at least one opening formed by the vegetation right below according to the three-dimensional coordinate data.
Further, the identification device is specifically configured to: and acquiring three-dimensional coordinate data of vegetation right below through a camera arranged on the unmanned aerial vehicle body, and obtaining at least one opening formed by the vegetation right below according to the three-dimensional coordinate data.
The technical scheme of the control method for realizing unmanned aerial vehicle hovering is as follows:
an unmanned aerial vehicle hovering over the air with an airbag applied to any of the above, the control method comprising:
The chip controls the identification device to collect and detect whether vegetation openings matched with the air bags exist in vegetation right below the identification device;
when the identification device detects that vegetation openings matched with the air bags exist in vegetation right below, the chip controls the first motor to enable the first rotating shaft to rotate, the air bags sink and penetrate through the vegetation openings, the air pumping device is controlled to inflate the air bags through the first linear connecting portions, and the second two-position two-way electromagnetic valve is controlled to be opened, so that the air cylinders inflate the air bags.
The control method for realizing unmanned aerial vehicle hovering has the following beneficial effects:
When unmanned aerial vehicle carries out the operation, the balloon that is located directly over the unmanned aerial vehicle body fills the gas that is less than air density, and control first motor is in order to make first pivot rotate, make the gasbag subside and pass the vegetation opening, and fill air to the gasbag, make the gasbag expand, with the vegetation of hook unmanned aerial vehicle body below, in order to guarantee that unmanned aerial vehicle can not be blown away by the wind, that is to say, through the lift that the balloon provided and the hook between gasbag and the vegetation of unmanned aerial vehicle body below, realized unmanned aerial vehicle's hover, at this moment, can reduce or stop the rotational speed of the rotor of unmanned aerial vehicle body is in order to save the electric quantity, realized unmanned aerial vehicle's long-time hover, consequently, have sufficient hover time to make unmanned aerial vehicle accomplish the operation, when accomplishing the operation, with the gasbag gassing in order to break away from with the hook of vegetation, and start the rotor and with the balloon gassing, realize the fly.
Drawings
FIG. 1 is a schematic structural view of a unmanned aerial vehicle hovering over the air via an airbag in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first two-position 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 flow chart of a control method for implementing unmanned aerial vehicle hover according to an embodiment of the present invention;
Detailed Description
As shown in fig. 1, an unmanned aerial vehicle hovering through an air bag 3 in an embodiment of the invention comprises an unmanned aerial vehicle body 1, an identification device and a chip, wherein a balloon 2 for hovering is further arranged right above the unmanned aerial vehicle body 1, the air bag 3 for hooking with vegetation is further arranged right 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 also sequentially connected with a second two-position two-way electromagnetic valve and a gas cylinder, 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 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 openings matched with the air bags 3 exist in the vegetation right below the vegetation detected by the identification device, controlling the first motor to enable the first rotating shaft to rotate, enabling the air bags 3 to sink and penetrate through the vegetation openings, controlling a whipping device connected with the air bags 3 to inflate the air bags 3 through a first linear connecting part 5, or controlling the whipping device to deflate the air bags 3 through the first linear connecting part 5 after work is completed;
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 inflated with gas lower than air density, and the first motor is controlled to enable the first rotating shaft to rotate, so that the air bag 3 sinks and penetrates through a vegetation opening, and air is inflated into the air bag 3, so that the air bag 3 is inflated, and the unmanned aerial vehicle is guaranteed not to be blown away by wind, that is, through lift force provided by the balloon 2 and hooking between the air bag 3 and vegetation such as branches 4 and the like below the unmanned aerial vehicle body 1, the hovering of the unmanned aerial vehicle is realized, at the moment, the rotating speed of the rotor of the unmanned aerial vehicle body 1 can be reduced or stopped to save electric quantity, the long-time hovering of the unmanned aerial vehicle is realized, therefore, enough hovering time is available to enable the unmanned aerial vehicle to finish the work, when the work is finished, the air bag 3 is deflated to be separated from the hooking of the vegetation, the rotor is started, and the balloon 2 is deflated, and the unmanned aerial vehicle body 1 refers to the unmanned aerial vehicle of various types.
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, thereby guarantees that gasbag 3 after the inflation is the pie to increase the area of gasbag 3 after the inflation to be convenient for carry out the hook with the vegetation opening, in fig. 1, represent gasbag 3 when not inflating with the solid line, represent gasbag 3 after the inflation with the dotted line.
The structure of the first two-position two-way electromagnetic valve is illustrated by taking a two-position two-way normally closed electromagnetic valve or a two-position two-way normally open electromagnetic valve as an example, and as shown in fig. 2, the first two-position two-way electromagnetic valve is provided with a first opening 7 and a second opening 8, a sliding block 6 is arranged in the first two-position two-way electromagnetic valve, when the sliding block 6 of the two-position two-way normally closed electromagnetic valve is not forced, the first opening 7 and the second opening 8 are not a passage, namely the state of the two-position two-way normally closed electromagnetic valve is closed because of the blocking of the sliding block 6, and when the sliding block 6 of the two-position two-way normally closed electromagnetic valve is forced, the sliding block 6 moves to enable the first opening 7 and the second opening 8 to be a passage, namely the two-position two-way normally closed electromagnetic valve is opened;
It will be appreciated that: when the first two-position two-way electromagnetic valve is a two-position two-way normally open electromagnetic valve, when the sliding block 6 of the two-position two-way normally open electromagnetic valve is not applied with force, 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 electromagnetic valve is opened, when the sliding block 6 of the two-position two-way normally closed electromagnetic valve is applied with force, the sliding block 6 moves, and the passage is not formed between the first opening 7 and the second opening 8, namely the two-position two-way normally closed electromagnetic valve is closed due to the blocking of the sliding block 6, wherein the second two-position two-way electromagnetic valve can also be a two-position two-way normally closed electromagnetic valve or a two-position two-way normally open electromagnetic valve.
The first two-position two-way electromagnetic valve is taken as a two-position two-way normally closed electromagnetic valve, and the second two-position two-way electromagnetic valve is also taken as a two-position two-way normally closed electromagnetic valve for explanation:
1) Controlling the second two-position two-way electromagnetic valve to be opened and controlling the first two-position two-way electromagnetic valve to be closed so as to prevent air leakage, because the air pressure in the air bottle is larger than the atmospheric pressure in the external environment, the air in the air bottle can be inflated into the balloon 2 to realize inflation of the balloon 2, and after the air pressure in the balloon 2 reaches a first preset pressure threshold value, controlling the second two-position two-way electromagnetic valve to be closed to stop inflation, wherein a pressure sensor can be arranged in the balloon 2 to monitor the air pressure in real time or preset the first inflation time, such as 1 minute, 3 minutes and the like, starting timing when the second two-position two-way electromagnetic valve is controlled to be opened, and stopping 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 as the other end of the first two-position two-way electromagnetic valve is communicated with the external environment, gas in the balloon 2 can automatically leak into the external environment so as to realize deflation of the balloon 2;
It will be appreciated that: helium, hydrogen, argon and the like can be selected as gases in the gas cylinder, and the gases can be mixed gases of gases with various densities smaller than air, and the first two-position two-way electromagnetic valve, the second two-position two-way electromagnetic valve and the gas cylinder can be fixed on the unmanned aerial vehicle body 1 in a threaded fixing mode, wherein two ends of the first two-position two-way electromagnetic valve and two ends of the second two-position two-way electromagnetic valve can be respectively connected with a silica gel air pipe firstly, and then the balloon 2 and the gas cylinder are connected through the silica gel air pipe.
The first linear connection portion 5 is a silica gel air tube or a polyurethane air tube, the length of the silica gel air tube or the polyurethane air tube can be adjusted according to practical situations, the first linear connection portion 5 is illustrated by taking the silica gel air tube as an example, one end of the silica gel air tube is connected with the first rotating shaft in a gluing or hot-connecting mode, the first rotating shaft is connected with the first motor in a threaded fixing mode or a welding mode, the first motor is a stepping motor or a servo motor, the rotation of the first rotating shaft is achieved by controlling the rotation of the first motor, and then:
1) The specific implementation mode of hooking the air bag 3 with the vegetation opening is as follows: the first motor is controlled to rotate, so that the first rotating shaft synchronously rotates, the silica gel air pipe wound on the first rotating shaft loosens, and under the action of 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 a vegetation opening to be hooked;
2) The specific implementation mode of the hook between the air bag 3 and the vegetation opening is as follows: the first motor is controlled to rotate, so that the first rotating shaft rotates synchronously, the silica gel air pipe is wound on the first rotating shaft, and meanwhile, the deflated air bag 3 is driven to ascend, so that the air bag 3 is separated from a hook between a vegetation opening. It will be appreciated that the whipping device may be in communication with the first linear connection 5 via a further length of silicone tubing or polyurethane tubing to facilitate inflation of the balloon 3.
Preferably, in the above technical solution, the chip is further configured to: after the inflated air bag 3 and the vegetation opening are hooked, the rotor wing of the unmanned aerial vehicle body 1 is controlled to provide lift force with a preset threshold value, and if the inflated air bag 3 and the vegetation opening are hooked, the rotating speed of the rotor wing of the unmanned aerial vehicle body 1 is adjusted and rotated.
With the enough power of guaranteeing between gasbag 3 and the vegetation opening after the gassing, further guarantee unmanned aerial vehicle can not be blown away by the wind, when can not keep the hook, indicate that there is enough power between gasbag 3 and the vegetation opening after the gassing, can change other vegetation openings and realize unmanned aerial vehicle's hovering.
It will be appreciated that, since the balloon 2 provides lift, the rotational speed of the rotor of the unmanned body may be reduced or stopped at this time to conserve power.
Wherein, because factors that influence the lift force of unmanned aerial vehicle body 1 such as the rotational speed of rotor, flight angle etc. are known for the person skilled in the art, can calculate the lift force of unmanned aerial vehicle body 1 accurately, and the accessible sets up the sensor at each rotor above to acquire the lift force of each rotor, thereby obtain the lift force of unmanned aerial vehicle body 1, specifically:
1) The piezoelectric sensor is arranged below each rotor wing and on the unmanned aerial vehicle body 1, when the rotor wings rotate, downward acting force is generated, at the moment, the acting force can enable the piezoelectric sensor to generate an electric signal, the lift force of each rotor wing is obtained through analysis of the electric signal, and before the piezoelectric sensor is applied, the functional relation between the electric signal returned by the pressure sensor and the lift force can be accurately obtained through multiple comparison experiments, when the piezoelectric sensor is used, the lift force of each rotor wing can be accurately obtained through the functional relation, and then the lift force of the unmanned aerial vehicle body 1 is obtained;
2) A high-precision pressure sensor with the precision of + -0.05 percent FS, + -0.025 percent FS and the like can be arranged below the rotor wing and on the unmanned aerial vehicle body 1, when the rotor wing rotates, downward acting force can be generated, and the lifting force of each rotor wing can be accurately obtained through the high-precision pressure sensor, so that the lifting force of the unmanned aerial vehicle body 1 is obtained;
3) The light pressure sensor developed by AERS-Midwest can be used for monitoring the airflow flowing through the rotor wings of the unmanned aerial vehicle, calculating the lift force of each rotor wing, and further obtaining the lift force of the unmanned aerial vehicle body 1.
Preferably, in the above technical solution, the unmanned aerial vehicle further comprises a supporting rod and a storage chamber fixed on the unmanned aerial vehicle body 1, wherein a second rotating shaft used for winding a semi-rigid second linear connecting part is arranged in the storage 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 part 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 accommodating chamber or/and the balloon 2 is accommodated in the accommodating chamber.
By controlling the rotation of the second rotating shaft, the supporting rod pushes the balloon 2 out of the accommodating chamber or/and receives the balloon 2 into the accommodating chamber, so that the unmanned aerial vehicle has a more compact structure.
The second semi-rigid linear connection part can be a steel wire or a plane spiral spring, wherein the second linear connection part and the supporting rods can be fixed in an adhesive or thermal connection mode, the second linear connection part is taken as the steel wire for illustration, one end of the steel wire can be connected with the second rotating shaft in a welding mode, the second rotating shaft is connected with the second motor in a threaded fixing mode or a welding mode, the second motor is a stepping motor or a servo motor, and the rotation of the second rotating shaft is realized by controlling the rotation of the second motor, so that:
1) The specific way of pushing the balloon 2 out of the receiving chamber is: the second motor is controlled to rotate, so that the second rotating shaft synchronously rotates, a steel wire wound on the second rotating shaft is loosened, and the steel wire has semi-rigidity and can push the supporting rod so as to push the balloon 2 out of the accommodating chamber;
2) The specific way of retracting the balloon 2 into the receiving chamber is: the second motor is controlled to rotate, so that the second rotating shaft rotates synchronously, the steel wire is wound on the second rotating shaft, and meanwhile, the supporting rod is driven to retract the balloon 2 into the storage chamber.
The accommodating chamber can be formed by encircling 4 nonmetallic plates or metal plates, and is fixed right above the unmanned aerial vehicle body 1 in a hot-joint mode and a thread fixing mode, and then a second rotating shaft is arranged between the two nonmetallic plates or the metal plates which are oppositely arranged. It will be appreciated that: the second motor can be arranged in the accommodating chamber or outside the accommodating chamber, and can be fixed on a nonmetal plate or a metal plate in a threaded fixing manner or fixed on the unmanned aerial vehicle body 1.
Preferably, in the above technical solution, the identifying device is specifically configured to obtain at least one opening formed by the vegetation right below, and compare the opening with a first profile 9 of each opening by using a first preset profile 10 and a second preset profile 11, and obtain the vegetation opening according to the comparison result, where a projection of the inflated air bag 3 on a horizontal plane is the first preset profile 10, a projection of the deflated air bag 3 on the horizontal plane is the second preset profile 11, and a projection of the opening on the horizontal plane is the first profile 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 of vegetation as an example, a circle is formed according to the extreme points of the branches 4, that is, a first circle is formed by three points, 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 the same size circle, the first circle can be considered as a first contour 9, and since the inflated balloon 3 is cake-shaped, the first preset contour 10 formed by the inflated balloon 3 projected on the horizontal plane is a second circle, and the second preset contour 11 formed by the deflated balloon 2 projected on the horizontal plane can be a third circle or an irregular shape, then:
When the comparison result is that: the first circle can completely cover the third circle or the irregular shape, and the second circle can completely cover the first circle, the opening formed by the first circle, i.e. the three branches 4, is a vegetation opening, because: since the first circle can completely cover the third circle or the irregular shape, it is ensured that the uninflated airbag 3 can pass through the first circle, and since the second circle can completely cover the first circle, it is ensured that the inflated airbag 3 can be hooked with the vegetation opening.
When a plurality of branches 4 exist, the first profile 9 may be obtained in the above manner, and compared with the first preset profile 10 and the second preset profile 11, respectively, so as to obtain a comparison result, and then the vegetation opening is confirmed according to the comparison result.
It can be understood that, after the air bag 3 is hooked with the vegetation opening, the rotor wing of the unmanned aerial vehicle body 1 is controlled to provide the lift force of the preset threshold value, if the inflated air bag 3 and the vegetation opening keep the hook, the rotor wing of the unmanned aerial vehicle body 1 stops rotating, so that enough force is ensured between the inflated air bag 3 and the vegetation opening, the unmanned aerial vehicle is further ensured not to be blown away by wind, and when the hook cannot be kept, whether enough force exists between the inflated air bag 3 and the vegetation opening is described, and other vegetation openings can be replaced to realize hovering of the unmanned aerial vehicle.
Preferably, in the above technical solution, the whipping 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 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 used for: the air pump is controlled to inflate the air bag 3, or a third two-position two-way electromagnetic valve is controlled to open so as to deflate the air bag 3.
Wherein, the third two-position two-way electromagnetic valve refers to the first two-position two-way electromagnetic valve or the first two-position two-way electromagnetic valve, and details are not repeated here, then:
1) The third two-position two-way electromagnetic valve is controlled to be closed so as to prevent the air bag 3 from leaking, 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 the air pump is controlled to inflate the air bag 3, when the air pressure in the air bag 3 reaches a second preset pressure threshold value, the air pump is controlled to stop inflating the air bag 3, 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 the second inflation time is preset, such as the second inflation time is 1 minute, 3 minutes and the like, timing is started while the air pump is controlled to stop inflating the air bag 3, and when the timing time reaches 1 minute, 3 minutes and the like, the air inflation is stopped;
2) The third two-position two-way electromagnetic valve is controlled to be opened, and the other end of the third two-position two-way electromagnetic valve is communicated with the external environment, so that gas in the air bag 3 can automatically leak into the external environment to realize the deflation of the air bag 3; wherein, the air pump is connected with the silica gel air pipe at first, and then is connected with the air bag 3 through the silica gel air pipe.
Preferably, in the above technical solution, the whipping device is a whipping dual-purpose air pump, the whipping dual-purpose air pump is fixed on the unmanned aerial vehicle body 1, and two ends of the whipping dual-purpose air pump are respectively communicated with the air bag 3 and the external environment;
The chip is specifically used for: controlling the dual-purpose air pump for whipping to inflate or deflate the air bag 3, in particular:
The dual-purpose whipping air pump can be communicated with the first linear connecting part 5 through another section of silica gel air pipe or polyurethane air pipe, when the air is pumped, the dual-purpose whipping air pump is controlled to pump the air in the air bag 3 to the external environment, and when the air is inflated, the air in the external environment is inflated to the air bag 3.
Preferably, in the above technical solution, the identifying device is specifically configured to: three-dimensional coordinate data of vegetation right below is obtained through a laser radar sensor arranged on the unmanned aerial vehicle body 1, and at least one opening formed by the vegetation right below is obtained according to the three-dimensional coordinate data.
Through installing laser radar sensor on unmanned aerial vehicle body 1, recognition device can acquire the laser radar point cloud of vegetation directly under the acquisition of laser radar sensor in real time, and it is well known that laser radar point cloud is a set of three-dimensional coordinate data, specifically:
according to the three-dimensional coordinate data, three-dimensional coordinates corresponding to the points at the tail ends of the three branches 4 are obtained, and if the three-dimensional coordinates are (X1,Y1,Z1)、(X2,Y2,Z2)、(X3,Y3,Z3),, coordinate values of the z axes of the three points are ignored, so that the coordinates of the three points are respectively: (X 1,Y1)、(X2,Y2)、(X3,Y3) obtaining a first circle according to (X 1,Y1)、(X2,Y2)、(X3,Y3);
It is understood that the range threshold may be set for Z 1、Z2 and Z 3 to improve the efficiency of obtaining the vegetation opening, for example, the range threshold may be set to 0.05m, if Z 1＝2m、Z2＝2.01m、Z3 =2.02 m, Z 3-Z2 =0.02 m, that is, the maximum deviation between Z 1、Z2 and Z 3 is 0.02m, which is less than 0.05m, and then the comparison result is obtained by performing the processing; if the maximum deviation between Z 1、Z2 and Z 3 is greater than the range threshold, the unmanned aerial vehicle is inclined after hovering, which is unfavorable for operation, that is, if the maximum deviation between Z 1、Z2 and Z 3 is greater than the range threshold, the opening is reselected and compared with the range threshold.
Preferably, in the above technical solution, the identifying device is specifically configured to: three-dimensional coordinate data of vegetation right below are 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 formed right below.
Taking photos containing vegetation right below from different angles through a camera, then calculating three-dimensional coordinate data of the vegetation right below according to a plurality of photos, wherein the specific calculation process is a conventional technical means, details are omitted, and then at least one opening formed by the vegetation right below is obtained by referring to the above mode.
As shown in fig. 4, a control method for implementing hovering of an unmanned aerial vehicle according to an embodiment of the present invention is applied to an unmanned aerial vehicle hovering by an airbag 3 in any of the above embodiments, where the control method includes:
S1, the chip controls the identification device to collect and detect whether vegetation openings matched with the air bags 3 exist in vegetation right below;
S2, when the identification device detects that vegetation openings matched with the air bags 3 exist in vegetation right below, the chip controls the first motor to enable the first rotating shaft to rotate, the air bags 3 sink and penetrate through the vegetation openings, the air pumping device is controlled to inflate the air bags 3 through the first linear connecting portions 5, and the second two-position two-way electromagnetic valves are controlled to be opened, so that the air cylinders inflate the air bags 2.
When the unmanned aerial vehicle works, the balloon 2 positioned right above the unmanned aerial vehicle body 1 is inflated with gas lower than air density, and the first motor is controlled to enable the first rotating shaft to rotate, so that the air bag 3 sinks and penetrates through a vegetation opening, and air is inflated into the air bag 3, so that the air bag 3 is inflated, and the unmanned aerial vehicle is guaranteed not to be blown away by wind, that is, through lift force provided by the balloon 2 and hooks between the air bag 3 and vegetation such as branches 4 and the like below the unmanned aerial vehicle body 1, the hovering of the unmanned aerial vehicle is realized, at the moment, the rotating speed of the rotor of the unmanned aerial vehicle body can be reduced or stopped to save electric quantity, and long-time hovering of the unmanned aerial vehicle is realized, so that enough hovering time is available to enable the unmanned aerial vehicle to finish the work, and when the work is finished, the air bag 3 is deflated to be separated from the hooks of the vegetation, the rotor is started, and the balloon 2 is deflated, and the multiple flying is realized.
In the present disclosure, the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the 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), and an air bag (3) used for hooking vegetation is further arranged right below the unmanned aerial vehicle body (1), wherein 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 also sequentially connected with a second two-position two-way electromagnetic valve and a gas cylinder, 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 (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 openings matched with the air bags (3) exist in the vegetation right below the vegetation detected by the identification device, controlling the first motor to enable the first rotating shaft to rotate, enabling the air bags (3) to sink and penetrate through the vegetation openings, controlling a whipping device connected with the air bags (3) to inflate the air bags (3) through first linear connecting parts (5), or controlling the whipping device to deflate the air bags (3) through the first linear connecting parts (5) after work is completed;
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. An unmanned aerial vehicle hovering over the air with an air bag according to claim 1, wherein the first linear connection (5) is a silicone or polyurethane air tube.
3. The unmanned aerial vehicle hovering over an air bag of claim 2, wherein the chip is further configured to: after the inflated air bag (3) is hooked with the vegetation opening, the rotor wing of the unmanned aerial vehicle body (1) is controlled to provide lift force with a preset threshold value, and if the inflated air bag (3) is hooked with the vegetation opening, the rotating speed of the rotor wing of the unmanned aerial vehicle body (1) is adjusted.
4. A unmanned aerial vehicle hovering over the air by means of an air bag according to any of claims 1 to 3, further comprising a support rod and a housing chamber fixed to the unmanned aerial vehicle body (1), the housing chamber being provided with a second spindle for winding a second semi-rigid linear connection, the second spindle being connected to a second motor, the support rod being connected at both ends to the second linear connection and to the balloon (2), respectively;
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 accommodating chamber or/and the balloon (2) is accommodated in the accommodating chamber.
5. A unmanned aerial vehicle hovering over the air by means of an air bag according to any of the claims 1 to 3, characterized in that the identification means are specifically adapted to obtain at least one opening formed by the vegetation directly below and to compare with the first profile (9) of each of the openings with a first preset profile (10) and a second preset profile (11), respectively, and to obtain the vegetation opening according to the comparison, wherein the projection of the inflated air bag (3) on the horizontal plane is a first preset profile (10), the projection of the deflated air bag (3) on the horizontal plane is a second preset profile (11), and the projection of the opening on the horizontal plane is a first profile (9).
6. The unmanned aerial vehicle hovering over the air through the air bag according to claim 4, wherein the whipping 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 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 used for: and controlling the air pump to inflate the air bag (3), or controlling the third two-position two-way electromagnetic valve to open so as to deflate the air bag (3).
7. The unmanned aerial vehicle hovering over the air through the air bag according to claim 4, wherein the whipping device is a whipping dual-purpose air pump, the whipping dual-purpose air pump is fixed on the unmanned aerial vehicle body (1), and two ends of the whipping dual-purpose air pump are respectively communicated with the air bag (3) and the external environment;
the chip is specifically used for: and controlling the dual-purpose air pump for whipping to inflate or deflate the air bag (3).
8. The unmanned aerial vehicle hovering over the air via an air bag of claim 5, wherein the identification means is specifically configured to: three-dimensional coordinate data of vegetation under the unmanned aerial vehicle body (1) are acquired through a laser radar sensor arranged on the unmanned aerial vehicle body, and at least one opening formed by the vegetation under the unmanned aerial vehicle body is obtained according to the three-dimensional coordinate data.
9. The unmanned aerial vehicle hovering over the air via an air bag of claim 5, wherein the identification means is specifically configured to: three-dimensional coordinate data of vegetation under the unmanned aerial vehicle body (1) are obtained through the camera that sets up on the unmanned aerial vehicle body (1), and according to three-dimensional coordinate data obtain at least one opening that vegetation formed under the dead side.
10. A control method for realizing hovering of an unmanned aerial vehicle, applied to an unmanned aerial vehicle hovering through an airbag according to any 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 openings matched with the air bags (3) exist in vegetation right below, the chip controls the first motor to enable the first rotating shaft to rotate, the air bags (3) sink and penetrate through the vegetation openings, the air pumping device is controlled to inflate the air bags (3) through the first linear connecting portion (5), and the second two-position two-way electromagnetic valve is controlled to be opened, so that the air cylinders inflate the air bags (2).
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