CN112027067A - Unmanned aerial vehicle's protection machanism - Google Patents
Unmanned aerial vehicle's protection machanism Download PDFInfo
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- CN112027067A CN112027067A CN202010935483.XA CN202010935483A CN112027067A CN 112027067 A CN112027067 A CN 112027067A CN 202010935483 A CN202010935483 A CN 202010935483A CN 112027067 A CN112027067 A CN 112027067A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/04—Arrangement or disposition on aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
- B64C25/64—Spring shock-absorbers; Springs using rubber or like elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- Aviation & Aerospace Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a protection mechanism of an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wherein connecting rods are fixedly connected to two sides of the unmanned aerial vehicle body, supporting legs are fixedly connected to the outer sides of the connecting rods, cross plates are fixedly connected to the inner sides of the supporting legs, a fixing plate is fixedly connected to the bottom of each cross plate, a buffer cylinder is fixedly connected to the bottom of each fixing plate, a buffer spring is fixedly connected to the top of an inner cavity of the buffer cylinder, and a buffer support rod is fixedly connected to the bottom of each buffer spring. The invention can achieve the effect of damping and buffering the bottom of the unmanned aerial vehicle to achieve protection, prolongs the service life of the unmanned aerial vehicle, and enhances the practicability of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a protection mechanism of an unmanned aerial vehicle.
Background
An unmanned aircraft, referred to as "drone", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer.
Unmanned aerial vehicle is electrical equipment's one kind, but current unmanned aerial vehicle produces certain striking with ground very easily when the whereabouts, and this kind of striking can cause certain damage to unmanned aerial vehicle, leads to unmanned aerial vehicle's bottom shell the phenomenon of ftractureing to appear, has reduced unmanned aerial vehicle's life, has reduced unmanned aerial vehicle's practicality.
Disclosure of Invention
In order to solve the problems in the background art, the invention aims to provide the protection mechanism of the unmanned aerial vehicle, which has the advantage of damping and buffering the bottom of the unmanned aerial vehicle to achieve protection, and solves the problem that the existing unmanned aerial vehicle is easy to generate certain impact with the ground when falling, and the impact can cause certain damage to the unmanned aerial vehicle to cause cracking of the bottom shell of the unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned aerial vehicle's protection machanism, includes the unmanned aerial vehicle body, the equal fixedly connected with connecting rod in both sides of unmanned aerial vehicle body, the outside fixedly connected with supporting leg of connecting rod, the inboard fixedly connected with cross slab of supporting leg, the bottom fixedly connected with fixed plate of cross slab, the bottom fixedly connected with buffer tube of fixed plate, the top fixedly connected with buffer spring of buffer tube inner chamber, buffer spring's bottom fixedly connected with buffering branch, the bottom of buffering branch runs through to buffer tube's bottom and fixedly connected with blotter, the equal sliding connection in both sides of buffering branch has slide mechanism, the inboard bottom fixedly connected with stop gear of supporting leg, the outside fixedly connected with damper at blotter top.
Preferably, the sliding mechanism comprises sliding blocks fixedly connected to two sides of the buffer support rod, sliding grooves are formed in two sides of an inner cavity of the buffer cylinder, and the outer sides of the sliding blocks are connected to the inner parts of the sliding grooves in a sliding mode.
Preferably, the limiting mechanism comprises a long plate fixedly connected to the bottom of the inner side of the supporting leg, a moving block is fixedly connected to the inner side of the back of the long plate, moving grooves are formed in the front of the buffer cylinder and located at the bottom of the buffer cylinder, the back of the moving block is connected to the inner side of the moving grooves in a sliding mode, an inclined plate is fixedly connected to the outer side of the front of the long plate through a fixing pin, and one side, far away from the long plate, of the inclined plate is fixedly connected with the supporting leg through the fixing pin.
Preferably, the damping mechanism comprises a first buffering soft ball fixedly connected to the outer side of the top of the buffering cushion, a buffering hose is fixedly connected to the top of the first buffering soft ball and one side, far away from the supporting leg, of the first buffering soft ball, a second buffering soft ball is fixedly connected to the top of the buffering hose, the top of the second buffering soft ball is fixedly connected to the bottom of the long plate, the first buffering soft ball and the second buffering soft ball are both semicircular, and four pipe joints of the buffering hose are distributed equally.
Preferably, the two sides of the bottom of the transverse connecting plate are fixedly connected with angle plates, and the outer sides of the angle plates are fixedly connected with the supporting legs.
Preferably, the two sides of the buffer cylinder are fixedly connected with positioning plates, and the top of each positioning plate is fixedly connected with the fixing plate.
As a preferred aspect of the present invention, in the protection mechanism for an unmanned aerial vehicle, the unmanned aerial vehicle body further includes a positioning device, a camera, a laser radar device, a first controller, and a wireless communication module; wherein the content of the first and second substances,
the positioning device is arranged in the unmanned aerial vehicle body and used for acquiring position information of the unmanned aerial vehicle in a working state;
the camera is arranged outside the unmanned aerial vehicle body and used for shooting a picture image right ahead of the unmanned aerial vehicle when the unmanned aerial vehicle is in a working state and acquiring picture image information;
the laser radar device is arranged in the unmanned aerial vehicle body and used for emitting laser beams to the front when the unmanned aerial vehicle is in a working state, the laser beams are reflected by the obstacle to form echo signals, and distance information between the unmanned aerial vehicle and the obstacle is obtained through calculation according to the echo signals;
first controller sets up inside the unmanned aerial vehicle body, respectively with positioner, camera, laser radar device, wireless communication module connect for:
receiving position information sent by the positioning device, judging whether the position information is consistent with a preset flight path or not according to the position information, and generating a first alarm signal and sending the first alarm signal to a server through a wireless communication module when the position information is determined to be inconsistent with the preset flight path;
receiving picture image information shot by the camera and sending the picture image information to a server through a wireless communication module;
receiving distance information calculated by the laser radar device, judging whether the distance information is smaller than a preset distance threshold value or not, re-planning the flight path of the unmanned aerial vehicle when the distance information is determined to be smaller than the preset distance threshold value, and sending the re-planned flight path to a server through a wireless communication module;
receiving and executing a confirmation instruction sent by the wireless communication module;
the server is respectively connected with the wireless communication module and the mobile terminal and is used for:
receiving a first alarm signal, picture image information and a re-planned flight path sent by the wireless communication module and sending the first alarm signal, the picture image information and the re-planned flight path to the mobile terminal;
and receiving a confirmation instruction of the mobile terminal to the re-planned flight path, judging whether the confirmation instruction is legal or not, and sending the confirmation instruction to the wireless communication module when the confirmation instruction is legal.
Preferably, the calculating of the distance information between the unmanned aerial vehicle and the obstacle includes:
calculating the transmitting power P when the laser radar device transmits the laser beam, as shown in formula (1):
wherein λ is a wavelength of a laser beam emitted by the laser radar device; w is the transmittance of the laser beam emitted by the laser radar device in the atmosphere; h is the laser reflectivity of the laser beam emitted by the laser radar device when the laser beam meets the obstacle; beta is an included angle between the incident direction of the laser beam and the surface normal of the barrier; alpha is the quality factor of the laser beam; d is the diameter of the laser beam;
calculating the distance L between the unmanned aerial vehicle and the obstacle according to the transmitting power P when the laser radar device transmits the laser beam, as shown in a formula (2):
wherein T is the delay time of the echo signal; f0A gain factor for emitting the laser beam; f1A gain factor for receiving the echo signal; s is the reflecting sectional area of the barrier; q is the noise coefficient of the echo signal.
Preferably, the solar energy water heater further comprises a solar panel, a photoelectric converter, a second controller, a storage battery and an alarm lamp;
the solar panel is arranged outside the unmanned aerial vehicle body;
the photoelectric converter is arranged outside the unmanned aerial vehicle body, is connected with the solar panel and is used for converting solar energy absorbed by the solar panel into electric energy;
the storage battery is arranged in the unmanned aerial vehicle body, is connected with the photoelectric converter and is used for storing electric energy converted by the photoelectric converter;
the second controller is connected with the photoelectric converter and the alarm lamp and is used for calculating the conversion efficiency of the photoelectric converter, judging whether the conversion efficiency is smaller than a preset conversion efficiency or not and controlling the alarm lamp to flash when the conversion efficiency is determined to be smaller than the preset conversion efficiency;
the calculating the conversion efficiency of the photoelectric converter comprises:
calculating the power P of the photoelectric converter0As shown in equation (3):
wherein, V is the voltage of the photoelectric converter during working; d is the temperature of the surrounding environment; q is the electron electric quantity, equal to 1.6 x 10-19C; i is the input current in the storage battery when the photoelectric converter transmits electric energy to the storage battery;
according to the power P of the photoelectric converter0Calculating the conversion efficiency η of the photoelectric converter as shown in formula (4):
wherein, P1Is the power of the battery.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the matched use of the unmanned aerial vehicle body, the connecting rod, the supporting leg, the transverse connecting plate, the fixed plate, the buffer cylinder, the buffer spring, the buffer supporting rod, the buffer cushion, the sliding mechanism, the limiting mechanism and the damping mechanism, the buffer supporting rod is upwards buffered, then the buffer spring is upwards contracted, the effect of damping and buffering the bottom of the unmanned aerial vehicle to achieve protection is achieved, the service life of the unmanned aerial vehicle is prolonged, the practicability of the unmanned aerial vehicle is enhanced, the protection mechanism of the unmanned aerial vehicle solves the problem that the existing unmanned aerial vehicle is easy to generate certain impact with the ground when falling, and the impact can cause certain damage to the unmanned aerial vehicle, so that the bottom shell of the unmanned aerial vehicle can crack.
2. According to the invention, through the arrangement of the sliding mechanism, the buffering support rod can slide in the buffering cylinder more smoothly, the friction between the buffering support rod and the buffering cylinder is reduced, and the service life of the buffering support rod is prolonged.
3. According to the invention, through the arrangement of the limiting mechanism, the buffer support rod can be more stable during movement, the phenomenon of deviation is prevented, and the limiting effect on the buffer support rod is achieved.
4. According to the invention, through the arrangement of the damping mechanism, the long plate can move more stably, and the phenomenon of offset and inclination of the long plate in the moving process is avoided.
5. According to the invention, through the arrangement of the angle plate, the transverse connection plate can be more tightly connected with the supporting legs, so that the phenomenon of shaking is prevented.
6. According to the invention, through the arrangement of the positioning plate, the buffer cylinder can be more stably connected with the fixed plate, so that the connection stability between the buffer cylinder and the fixed plate is increased, and the phenomenon of fracture is prevented.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged structural view of the point A in FIG. 1;
FIG. 3 is an enlarged view of the structure at B in FIG. 1;
FIG. 4 is a perspective view of a portion of the present invention;
fig. 5 is a side view of a portion of the structure of the present invention.
Fig. 6 is a block diagram of a protection mechanism of the drone of an embodiment of the present invention;
fig. 7 is a block diagram of a guard mechanism of a drone according to a further embodiment of the invention.
In the figure: 1. an unmanned aerial vehicle body; 101. a positioning device; 102. a camera; 103. a laser radar device; 104. a first controller; 105. a wireless communication module; 2. a connecting rod; 3. supporting legs; 4. a transverse connection plate; 5. a fixing plate; 6. a buffer cylinder; 7. a buffer spring; 8. a buffer strut; 9. a cushion pad; 10. a sliding mechanism; 1001. a slider; 1002. a sliding groove; 11. a limiting mechanism; 1101. a long plate; 1102. a moving block; 1103. a moving groove; 1104. a sloping plate; 12. a damping mechanism; 1201. buffering the soft ball I; 1202. a buffer hose; 1203. a second buffer soft ball; 13. a gusset; 14. positioning a plate; 15. a server; 16. a mobile terminal; 17. a solar panel; 18. a photoelectric converter; 19. a storage battery; 20. a second controller; 21. an alarm lamp.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the protection mechanism of the unmanned aerial vehicle provided by the invention comprises an unmanned aerial vehicle body 1, connecting rods 2 are fixedly connected to both sides of the unmanned aerial vehicle body 1, supporting legs 3 are fixedly connected to the outer sides of the connecting rods 2, cross plates 4 are fixedly connected to the inner sides of the supporting legs 3, fixing plates 5 are fixedly connected to the bottoms of the cross plates 4, buffer cylinders 6 are fixedly connected to the bottoms of the fixing plates 5, buffer springs 7 are fixedly connected to the tops of inner cavities of the buffer cylinders 6, buffer support rods 8 are fixedly connected to the bottoms of the buffer springs 7, the bottoms of the buffer support rods 8 penetrate through the bottoms of the buffer cylinders 6 and are fixedly connected with buffer cushions 9, sliding mechanisms 10 are slidably connected to both sides of the buffer support rods 8, limiting mechanisms 11 are fixedly connected to the bottoms of the inner sides of the supporting.
Referring to fig. 2, the sliding mechanism 10 includes sliding blocks 1001 fixedly connected to both sides of the buffer strut 8, sliding grooves 1002 are respectively opened on both sides of the inner cavity of the buffer cylinder 6, and the outer sides of the sliding blocks 1001 are slidably connected inside the sliding grooves 1002.
As a technical optimization scheme of the invention, through the arrangement of the sliding mechanism 10, the buffering support rod 8 can slide in the buffering cylinder 6 more smoothly, the friction between the buffering support rod 8 and the buffering cylinder 6 is reduced, and the service life of the buffering support rod 8 is prolonged.
Referring to fig. 2, the limiting mechanism 11 includes a long plate 1101 fixedly connected to the bottom of the inner side of the support leg 3, a moving block 1102 is fixedly connected to the inner side of the back of the long plate 1101, moving grooves 1103 are formed in the front of the buffer cylinder 6 and located at the bottom of the buffer cylinder 6, the back of the moving block 1102 is slidably connected to the inside of the moving grooves 1103, an inclined plate 1104 is fixedly connected to the outer side of the front of the long plate 1101 through a fixing pin, and one side, away from the long plate 1101, of the inclined plate 1104 is fixedly connected to the support leg 3 through.
As a technical optimization scheme of the invention, the arrangement of the limiting mechanism 11 can make the buffer strut 8 more stable during movement, prevent the phenomenon of deviation and achieve the limiting effect on the buffer strut 8.
Referring to fig. 3, the damping mechanism 12 includes a first cushion soft ball 1201 fixedly connected to the outer side of the top of the cushion pad 9, a cushion hose 1202 fixedly connected to one side of the top of the first cushion soft ball 1201 and far away from the support leg 3, a second cushion soft ball 1203 fixedly connected to the top of the cushion hose 1202, the top of the second cushion soft ball 1203 is fixedly connected to the bottom of the long plate 1101, the first cushion soft ball 1201 and the second cushion soft ball 1203 are both semicircular, the number of pipe joints of the cushion hose 1202 is four, and the cloth is equally distributed.
As a technical optimization scheme of the present invention, the long plate 1101 can be moved more stably by the arrangement of the damping mechanism 12, and the phenomenon that the long plate 1101 is deviated and inclined in the moving process is avoided.
Referring to fig. 1, the two sides of the bottom of the cross plate 4 are fixedly connected with angle plates 13, and the outer sides of the angle plates 13 are fixedly connected with the supporting legs 3.
As a technical optimization scheme of the invention, the cross plate 4 can be more tightly connected with the supporting legs 3 through the arrangement of the angle plate 13, so that the phenomenon of shaking is prevented.
Referring to fig. 2, both sides of the buffer cylinder 6 are fixedly connected with positioning plates 14, and the top of the positioning plates 14 is fixedly connected with the fixing plate 5.
As a technical optimization scheme of the invention, the buffer cylinder 6 can be more stably connected with the fixed plate 5 through the arrangement of the positioning plate 14, so that the connection stability between the buffer cylinder and the fixed plate is improved, and the phenomenon of fracture is prevented.
The working principle and the using process of the invention are as follows: during the use, at first the user is in the control unmanned aerial vehicle body 1 when moving down blotter 9 upwards buffering remove, then blotter 9 drives buffering branch 8 and upwards cushions the removal, buffering branch 8 cooperation sliding block 1001 and sliding tray 1002 cooperation drive buffer spring 7 upwards shrink, then cushion soft ball 1201 also can be along with blotter 9 rebound, then drive buffering hose 1202 and upwards remove, buffering hose 1202 drives two 1203 upwards shrinkages of buffering soft ball, cause to reach and to carry out the shock attenuation buffering in order to reach the effect of protection to its bottom.
In summary, the following steps: this unmanned aerial vehicle's protection machanism, through unmanned aerial vehicle body 1, connecting rod 2, supporting leg 3, cross slab 4, fixed plate 5, buffer cylinder 6, buffer spring 7, buffering branch 8, blotter 9, slide mechanism 10, stop gear 11, damper 12's cooperation is used, buffer through buffering branch 8 upwards, then with buffer spring 7 upwards shrink, reach and to carry out the shock attenuation buffering in order to reach the effect of protection to its bottom, unmanned aerial vehicle's life has been strengthened, unmanned aerial vehicle's practicality has been strengthened, this unmanned aerial vehicle's protection machanism, it produces certain striking very easily with ground when the whereabouts to have solved current unmanned aerial vehicle, this kind of striking can cause certain damage to unmanned aerial vehicle, the problem of the phenomenon of ftractureing can appear in the bottom shell that leads to unmanned aerial vehicle.
As shown in fig. 6, the invention provides a technical solution, in the protection mechanism for the unmanned aerial vehicle, the unmanned aerial vehicle body 1 further includes a positioning device 101, a camera 102, a laser radar device 103, a first controller 104, and a wireless communication module 105; wherein the content of the first and second substances,
the positioning device 101 is arranged inside the unmanned aerial vehicle body 1 and used for acquiring position information of the unmanned aerial vehicle in a working state;
the camera 102 is arranged outside the unmanned aerial vehicle body 1 and used for shooting a picture image right ahead of the unmanned aerial vehicle in a working state and acquiring picture image information;
the laser radar device 103 is arranged inside the unmanned aerial vehicle body 1 and used for emitting laser beams to the front when the unmanned aerial vehicle is in a working state, the laser beams are reflected by the obstacle to form echo signals, and distance information between the unmanned aerial vehicle and the obstacle is obtained through calculation according to the echo signals;
first controller 104 sets up inside the unmanned aerial vehicle body 1, respectively with positioner 101, camera 102, laser radar device 103, wireless communication module 105 are connected for:
receiving the position information sent by the positioning device 101, judging whether the position information is consistent with a preset flight path or not according to the position information, and generating a first alarm signal and sending the first alarm signal to the server 15 through the wireless communication module 105 when the position information is determined to be inconsistent with the preset flight path;
receiving picture image information shot by the camera 102 and sending the picture image information to the server 15 through the wireless communication module 105;
receiving the distance information calculated by the laser radar device 103, judging whether the distance information is smaller than a preset distance threshold, replanning the flight path of the unmanned aerial vehicle when the distance information is determined to be smaller than the preset distance threshold, and sending the replanned flight path to the server 15 through the wireless communication module 105;
receiving and executing the confirmation instruction sent by the wireless communication module 105;
the server 15 is connected to the wireless communication module 105 and the mobile terminal 16, and is configured to:
receiving a first alarm signal, picture image information and a re-planned flight path sent by the wireless communication module and sending the first alarm signal, the picture image information and the re-planned flight path to the mobile terminal 16;
receiving a confirmation instruction of the mobile terminal 16 to the re-planned flight path, judging whether the confirmation instruction is legal, and sending the confirmation instruction to the wireless communication module 105 when the confirmation instruction is legal.
The working principle of the scheme is as follows: the positioning device 101 is used for acquiring position information of the unmanned aerial vehicle in a working state; the camera 102 is used for shooting a picture image right in front of the unmanned aerial vehicle when the unmanned aerial vehicle is in a working state, and obtaining picture image information; the laser radar device 103 is used for emitting laser beams to the front when the unmanned aerial vehicle is in a working state, the laser beams are reflected by the obstacle to form echo signals, and distance information between the unmanned aerial vehicle and the obstacle is obtained through calculation according to the echo signals; the first controller 104 is configured to receive the position information sent by the positioning device 101, determine whether the position information is consistent with a preset flight path according to the position information, and generate a first alarm signal and send the first alarm signal to the server 15 through the wireless communication module 105 when the position information is determined to be inconsistent with the preset flight path; the first controller 104 is further configured to receive picture image information captured by the camera 102 and send the picture image information to the server 15 through the wireless communication module 105; the first controller 104 is further configured to receive distance information calculated by the laser radar device 103, determine whether the distance information is smaller than a preset distance threshold, re-plan a flight path of the unmanned aerial vehicle when it is determined that the distance information is smaller than the preset distance threshold, and send the re-planned flight path to the server 15 through the wireless communication module 105; receiving and executing the confirmation instruction sent by the wireless communication module 105; the server 15 is configured to receive the first alarm signal, the picture image information, and the re-planned flight path sent by the wireless communication module, and send the first alarm signal, the picture image information, and the re-planned flight path to the mobile terminal 16; the server 15 is further configured to receive a confirmation instruction of the mobile terminal 16 for the re-planned flight path, determine whether the confirmation instruction is legal, and send the confirmation instruction to the wireless communication module 105 when it is determined that the confirmation instruction is legal.
The beneficial effect of above-mentioned scheme: the positioning device and the camera can acquire position information and shot pictures of the unmanned aerial vehicle body in real time, the user terminal can remotely monitor the flight condition of the unmanned aerial vehicle body in real time, when the unmanned aerial vehicle body breaks away from a preset path in the flight process, the first controller sends a first alarm signal to the user terminal to timely remind a user that the unmanned aerial vehicle is likely to have an accident, so that the user can make a response in the first time, the flight direction of the unmanned aerial vehicle is remotely controlled, the accident probability of the unmanned aerial vehicle body is reduced, and the experience of the user is improved; simultaneously, the laser radar device can monitor whether the place ahead has the barrier, when confirming that there is the barrier, can obtain the distance of unmanned aerial vehicle body and barrier when the distance of unmanned aerial vehicle body and barrier is less than preset distance, replanning unmanned aerial vehicle's flight path to send replanning unmanned aerial vehicle's flight path to mobile terminal for the user is in the clear situation of very first time, has increased the intelligence of unmanned aerial vehicle body, has reduced the loss.
The invention provides a technical scheme, the calculating of the distance information between the unmanned aerial vehicle and the obstacle comprises the following steps:
calculating the transmitting power P when the laser radar device 103 transmits the laser beam, as shown in formula (1):
wherein λ is a wavelength of a laser beam emitted by the laser radar device 103; w is the transmittance of the laser beam emitted by the laser radar device 103 in the atmosphere; h is a laser reflectivity of the laser radar device 103 when the laser beam meets the obstacle; beta is an included angle between the incident direction of the laser beam and the surface normal of the barrier; alpha is the quality factor of the laser beam; d is the diameter of the laser beam;
calculating the distance L between the unmanned aerial vehicle and the obstacle according to the transmitting power P when the laser radar device 103 transmits the laser beam, as shown in formula (2):
wherein T is the delay time of the echo signal; f0A gain factor for emitting the laser beam; f1A gain factor for receiving the echo signal; s is the reflecting sectional area of the barrier; q is the noise coefficient of the echo signal.
The working principle of the scheme is as follows: in order to ensure the safety of the unmanned aerial vehicle in the flying state, the first controller is used for calculating the distance information between the obstacle and the unmanned aerial vehicle, judging whether the distance information is smaller than preset distance information, and re-planning the flying path when the distance information is determined to be smaller than the preset distance information, wherein the gain coefficient of the emitted laser beam is the unit length increasing rate of the light intensity of the laser beam in the flow transmission direction, and the gain coefficient of the echo signal is the unit length increasing rate of the signal intensity of the echo signal in the return direction.
The beneficial effect of above-mentioned scheme: when calculating the distance information between the unmanned aerial vehicle and the obstacle, the wavelength of the laser beam emitted by the laser radar device 103, the transmittance of the laser beam emitted by the laser radar device 103 in the atmosphere, the laser reflectivity of the barrier when the laser beam emitted by the laser radar device 103 meets the obstacle, the quality factor of the laser beam, the diameter of the laser beam and other factors are considered, so that the calculated distance information is more accurate, the accuracy of judging the distance information and the size of the preset distance information is improved, the flight path is conveniently re-planned and sent to the mobile terminal when the distance information is smaller than the preset distance information, a user can know the state of the unmanned aerial vehicle at the first time and analyze whether the re-planned path of the unmanned aerial vehicle is reasonable, a determination instruction is sent out when the distance information is reasonable, the working efficiency of the unmanned aerial vehicle is increased, and the unmanned aerial vehicle is prevented, the obstacle avoidance capability of the unmanned aerial vehicle is improved, and the loss is reduced.
As shown in fig. 7, the invention provides a technical solution, wherein the protection mechanism of the unmanned aerial vehicle further comprises a solar panel 17, a photoelectric converter 18, a second controller 20, a storage battery 19 and an alarm lamp 21;
the solar panel 17 is arranged outside the unmanned aerial vehicle body 1;
the photoelectric converter 18 is arranged outside the unmanned aerial vehicle body 1, connected with the solar panel 17, and used for converting solar energy absorbed by the solar panel 17 into electric energy;
the storage battery 19 is arranged inside the unmanned aerial vehicle body 1, connected with the photoelectric converter 18 and used for storing electric energy converted by the photoelectric converter 18;
the second controller 20 is connected to the photoelectric converter 18 and the alarm lamp 21, and is configured to calculate a conversion efficiency of the photoelectric converter 18, determine whether the conversion efficiency is smaller than a preset conversion efficiency, and control the alarm lamp 21 to flash when it is determined that the conversion efficiency is smaller than the preset conversion efficiency;
the calculating the conversion efficiency of the photoelectric converter 18 includes:
calculating the power P of the photoelectric converter 180As shown in equation (3):
wherein V is a voltage when the photoelectric converter 18 operates; d is the temperature of the surrounding environment; q is the electron electric quantity, equal to 1.6 x 10-19C; i is the input current in the battery 19 when the photoelectric converter 18 transmits electric energy to the battery 19;
according to the power P of the photoelectric converter 180Calculating the conversion efficiency η of the photoelectric converter 18 as shown in equation (4):
wherein, P1Is the power of the battery 19.
The working principle of the scheme is as follows: the photoelectric converter 18 is used for converting the solar energy absorbed by the solar panel 17 into electric energy; in order to ensure the conversion efficiency of the photoelectric converter, the second controller is used for calculating the conversion efficiency of the photoelectric converter and judging whether the conversion efficiency is smaller than the preset conversion efficiency, and when the conversion efficiency is determined to be smaller than the preset conversion efficiency, the alarm lamp is controlled to flash.
The beneficial effect of above-mentioned scheme: the photoelectric converter converts solar energy into electric energy, so that resources are saved, and the environmental protection performance of the unmanned aerial vehicle body is improved; consider voltage, the ambient temperature of photoelectric converter during operation, state the power scheduling factor of battery when calculating photoelectric converter's conversion efficiency for the conversion efficiency who calculates is more accurate, improves and judges photoelectric converter's conversion efficiency and the accuracy of predetermineeing conversion efficiency size when conversion efficiency is less than predetermineeing conversion efficiency, the alarm lamp scintillation reminds the user to look over in time whether photoelectric converter breaks down the problem, and in time the maintenance reduces the loss, guarantees conversion efficiency, has avoided unmanned aerial vehicle because of the not enough unexpected condition that leads to of electric quantity.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an unmanned aerial vehicle's safeguard mechanism, includes unmanned aerial vehicle body (1), its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), wherein connecting rods (2) are fixedly connected to the two sides of the unmanned aerial vehicle body, supporting legs (3) are fixedly connected to the outer sides of the connecting rods (2), transverse plates (4) are fixedly connected to the inner sides of the supporting legs (3), fixing plates (5) are fixedly connected to the bottoms of the transverse plates (4), buffer cylinders (6) are fixedly connected to the bottoms of the fixing plates (5), buffer springs (7) are fixedly connected to the tops of the inner cavities of the buffer cylinders (6), buffer support rods (8) are fixedly connected to the bottoms of the buffer springs (7), buffer pads (9) are fixedly connected to the bottoms of the buffer cylinders (6) through the bottoms of the buffer rods (8), sliding mechanisms (10) are slidably connected to the two sides of the buffer support rods (8), and limiting mechanisms (11) are fixedly connected to the, the outer side of the top of the cushion pad (9) is fixedly connected with a damping mechanism (12).
2. The protection mechanism of unmanned aerial vehicle of claim 1, wherein: slide mechanism (10) are including sliding block (1001) of fixed connection in buffering branch (8) both sides, sliding tray (1002) have all been seted up to the both sides of buffer cylinder (6) inner chamber, the outside sliding connection of sliding block (1001) is in the inside of sliding tray (1002).
3. The protection mechanism of unmanned aerial vehicle of claim 1, wherein: the limiting mechanism (11) comprises a long plate (1101) fixedly connected to the inner bottom of the supporting leg (3), a moving block (1102) is fixedly connected to the inner side of the back of the long plate (1101), a moving groove (1103) is formed in the front of the buffer cylinder (6) and located at the bottom of the buffer cylinder (6), the back of the moving block (1102) is slidably connected to the inside of the moving groove (1103), an inclined plate (1104) is fixedly connected to the outer side of the front of the long plate (1101) through a fixing pin, and one side, away from the long plate (1101), of the inclined plate (1104) is fixedly connected with the supporting leg (3) through the fixing pin.
4. The protection mechanism of unmanned aerial vehicle of claim 3, wherein: damping mechanism (12) are including the buffering soft ball one (1201) of fixed connection in blotter (9) top outside, the top of buffering soft ball one (1201) and keep away from one side fixedly connected with buffering hose (1202) of supporting leg (3), the top fixedly connected with buffering soft ball two (1203) of buffering hose (1202), the top of buffering soft ball two (1203) and the bottom fixed connection of rectangular board (1101), buffering soft ball one (1201) and buffering soft ball two (1203) are half circular, the tube coupling of buffering hose (1202) is four, and is the equipartition cloth.
5. The protection mechanism of unmanned aerial vehicle of claim 1, wherein: both sides of the bottom of the transverse connection plate (4) are fixedly connected with angle plates (13), and the outer sides of the angle plates (13) are fixedly connected with the supporting legs (3).
6. The protection mechanism of unmanned aerial vehicle of claim 1, wherein: the buffer cylinder is characterized in that positioning plates (14) are fixedly connected to two sides of the buffer cylinder (6), and the tops of the positioning plates (14) are fixedly connected with the fixing plate (5).
7. The protection mechanism of unmanned aerial vehicle of claim 1, wherein: the unmanned aerial vehicle body (1) further comprises a positioning device (101), a camera (102), a laser radar device (103), a first controller (104) and a wireless communication module (105); wherein the content of the first and second substances,
the positioning device (101) is arranged inside the unmanned aerial vehicle body (1) and used for acquiring position information of the unmanned aerial vehicle in a working state;
the camera (102) is arranged outside the unmanned aerial vehicle body (1) and is used for shooting a picture image right ahead when the unmanned aerial vehicle is in a working state and acquiring picture image information;
the laser radar device (103) is arranged inside the unmanned aerial vehicle body (1) and used for emitting laser beams to the front when the unmanned aerial vehicle is in a working state, the laser beams are reflected by a barrier to form echo signals, and distance information between the unmanned aerial vehicle and the barrier is obtained through calculation according to the echo signals;
first controller (104), set up inside unmanned aerial vehicle body (1), respectively with positioner (101), camera (102), laser radar device (103), wireless communication module (105) are connected for:
receiving the position information sent by the positioning device (101), judging whether the position information is consistent with a preset flight path or not according to the position information, and generating a first alarm signal and sending the first alarm signal to a server (15) through a wireless communication module (105) when the position information is determined to be inconsistent with the preset flight path;
receiving picture image information shot by the camera (102) and sending the picture image information to a server (15) through a wireless communication module (105);
receiving distance information calculated by the laser radar device (103), judging whether the distance information is smaller than a preset distance threshold value or not, re-planning the flight path of the unmanned aerial vehicle when the distance information is determined to be smaller than the preset distance threshold value, and sending the re-planned flight path to a server (15) through a wireless communication module (105);
receiving and executing a confirmation instruction sent by the wireless communication module (105);
the server (15) is respectively connected with the wireless communication module (105) and the mobile terminal (16) and is used for:
receiving a first alarm signal, picture image information and a re-planned flight path sent by the wireless communication module and sending the first alarm signal, the picture image information and the re-planned flight path to the mobile terminal (16);
and receiving a confirmation instruction of the mobile terminal (16) to the re-planned flight path, judging whether the confirmation instruction is legal or not, and sending the confirmation instruction to the wireless communication module (105) when the confirmation instruction is legal.
8. The protection mechanism of unmanned aerial vehicle of claim 7, wherein: the distance information of unmanned aerial vehicle and barrier is calculated, including:
calculating the transmitting power P when the laser radar device (103) transmits the laser beam, as shown in formula (1):
wherein λ is a wavelength at which the laser radar device (103) emits a laser beam; w is the transmittance of the laser beam emitted by the laser radar device (103) in the atmosphere; h is the laser reflectivity of the laser beam emitted by the laser radar device (103) and meeting the obstacle; beta is an included angle between the incident direction of the laser beam and the surface normal of the barrier; alpha is the quality factor of the laser beam; d is the diameter of the laser beam;
calculating the distance L between the unmanned aerial vehicle and the obstacle according to the transmitting power P when the laser radar device (103) transmits the laser beam, as shown in a formula (2):
wherein T is the delay time of the echo signal; f0For emitting laser beamsA benefit factor; f1A gain factor for receiving the echo signal; s is the reflecting sectional area of the barrier; q is the noise coefficient of the echo signal.
9. The protection mechanism of unmanned aerial vehicle of claim 1, wherein: the solar energy meter also comprises a solar panel (17), a photoelectric converter (18), a second controller (20), a storage battery (19) and an alarm lamp (21);
the solar panel (17) is arranged outside the unmanned aerial vehicle body (1);
the photoelectric converter (18) is arranged outside the unmanned aerial vehicle body (1), is connected with the solar panel (17) and is used for converting solar energy absorbed by the solar panel (17) into electric energy;
the storage battery (19) is arranged inside the unmanned aerial vehicle body (1), is connected with the photoelectric converter (18) and is used for storing electric energy converted by the photoelectric converter (18);
the second controller (20) is connected with the photoelectric converter (18) and the alarm lamp (21) and is used for calculating the conversion efficiency of the photoelectric converter (18), judging whether the conversion efficiency is smaller than a preset conversion efficiency or not, and controlling the alarm lamp (21) to flash when the conversion efficiency is determined to be smaller than the preset conversion efficiency;
the calculating the conversion efficiency of the photoelectric converter (18) comprises:
calculating the power P of the photoelectric converter (18)0As shown in equation (3):
wherein V is the voltage when the photoelectric converter (18) works; d is the temperature of the surrounding environment; q is the electron electric quantity, equal to 1.6 x 10-19C; i is the input current in the storage battery (19) when the photoelectric converter (18) transmits electric energy to the storage battery (19);
according to the power P of the photoelectric converter (18)0Calculating a conversion efficiency η of the photoelectric converter (18)As shown in equation (4):
wherein, P1Is the power of the accumulator (19).
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Effective date of registration: 20230718 Address after: Hengtemei 812, No. 3, Lilang Ganli Road, Buji Subdistrict, Longgang District, Shenzhen, Guangdong 518000 Patentee after: SHENZHEN EAGLE BROTHER AVIATION TECHNOLOGY Co.,Ltd. Address before: Room 317, No.7, Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province 510000 Patentee before: Guangzhou Zhongyue Technology Co.,Ltd. |