CN113184208B

CN113184208B - Environment support system based on unmanned aerial vehicle and application method thereof

Info

Publication number: CN113184208B
Application number: CN202110467956.2A
Authority: CN
Inventors: 李承真
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2023-01-10
Anticipated expiration: 2041-04-28
Also published as: CN113184208A

Abstract

The invention discloses an environment support system based on an unmanned aerial vehicle and an application method thereof, belonging to the field of unmanned aerial vehicles, wherein the system comprises the unmanned aerial vehicle and a bracket, and the unmanned aerial vehicle is at least provided with detection equipment for acquiring sound, light and/or electromagnetic information; the bracket is provided with a mooring device, a scanning device, a computing device and a power supply device; the mooring equipment is used for mooring the unmanned aerial vehicle; the scanning device is used for scanning the surrounding environment to acquire scanning information; the computing equipment comprises a processor, a memory and a communication module, and is used for carrying out scene modeling and controlling the flight of the unmanned aerial vehicle according to the scanning information and receiving the detection information acquired by the detection equipment of the unmanned aerial vehicle; the power supply device is electrically connected with the scanning device and the computing device to supply power. The unmanned aerial vehicle control system is reasonable in design and easy to operate, achieves automatic control over the unmanned aerial vehicle by modeling scenes, can liberate manpower, achieves the purpose of multi-machine cooperative work, is easy to carry by one person, and is suitable for various scenes.

Description

Environment support system based on unmanned aerial vehicle and application method thereof

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an environment support system based on an unmanned aerial vehicle and an application method thereof.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", 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.

Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civilian applications. For military use, unmanned aerial vehicles are divided into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.

Adopt low-cost small-size unmanned aerial vehicle to track the monitoring to the target to and collect environmental information, have extensive application demand in military affairs and safety field.

In the prior art, because the standalone information collection capability of a small unmanned aerial vehicle is limited, multiple unmanned aerial vehicles are often required to cooperate. However, the operator is difficult to operate a plurality of unmanned aerial vehicles simultaneously, also is difficult to carry a large number of unmanned aerial vehicles to current workstation that supports unmanned aerial vehicle all is fixed or vehicular, is difficult to carry out unmanned aerial vehicle guarantee operation under complicated topography and environment.

Disclosure of Invention

The invention aims to provide an environment support system based on unmanned aerial vehicles and an application method thereof, aiming at the problems that a plurality of small unmanned aerial vehicles are difficult to operate when working cooperatively and cannot support and guarantee in complex terrains and environments in the prior art.

In order to achieve the purpose, the technical scheme of the invention is as follows:

on one hand, the invention provides an environment support system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle and a support, wherein the unmanned aerial vehicle is at least provided with detection equipment for acquiring sound, light and/or electromagnetic information; the bracket is provided with mooring equipment, scanning equipment, computing equipment and power supply equipment; the mooring equipment is used for mooring the unmanned aerial vehicle; the scanning device is used for scanning the surrounding environment to acquire scanning information; the computing device comprises a processor, a memory and a communication module, and is used for carrying out scene modeling according to the scanning information, controlling the flight of the unmanned aerial vehicle and receiving the detection information acquired by the detection device of the unmanned aerial vehicle; the power supply device is electrically connected with the scanning device and the computing device to supply power.

Preferably, mooring equipment is for setting up couple on the support, be provided with on the unmanned aerial vehicle with the hangers that the couple cooperation was used.

Preferably, the power supply device comprises a battery box and a battery installed in the battery box; the battery box comprises a box body and a battery frame connected in the box body in a sliding mode, an opening is formed in the box body and used for the battery frame to go in and out, a sealing cover is detachably connected to the opening, and a battery mounting groove is formed in the battery frame; a locking structure is connected between the box body and the battery frame so that the battery frame can be locked after sliding relative to the box body; the locking structure comprises a driving gear and a driven gear which are mutually meshed, a transmission nut and a transmission screw which are mutually meshed and a transmission shaft; the driving gear is rotatably connected to the box body through a driving shaft, and the driven gear is rotatably connected to the box body through a driven shaft; the transmission nut is fixed on one of the driven shaft and the battery rack, and the transmission screw rod is fixed on the other of the driven shaft and the battery rack; the transmission shaft is rotatably connected to the battery rack, a transmission part for transmitting torque is arranged on one of the transmission shaft and the driving shaft, and a bearing groove matched with the transmission part is arranged on the other of the transmission shaft and the driving shaft; the driving gear, the transmission screw and the transmission shaft are all parallel to the sliding direction of the battery rack.

Preferably, the support is a wearable support, the wearable support comprises a back support and a leg support, and the back support is connected with the leg support through a connecting structure; the connecting structure comprises a universal connecting piece, an inflating support, an inflating and deflating device and two supporting plates; the two supporting plates are respectively fixedly connected to the back support and the leg support; the universal connecting piece is connected between the two support plates; the inflatable supports are distributed around the universal connecting piece; the inflation and deflation device is installed on the supporting plate, the back support or the leg support, and each inflation support is connected with the inflation and deflation device.

On the other hand, the invention also provides an application method of the system, which comprises the following steps:

responding to a starting signal, executing operation by the computing equipment according to mode selection information carried in the starting signal, wherein the mode selection information comprises a scanning mode and an unmanned aerial vehicle mode;

in the scan mode: scanning surrounding environment by scanning equipment to obtain scanning information, receiving the scanning information by computing equipment, and modeling according to the scanning information to obtain a scene model;

in the drone mode: the computing device controls the unmanned aerial vehicle to take off, positions the unmanned aerial vehicle, and controls the unmanned aerial vehicle to form a formation flight within a first threshold range from the computing device according to a positioning result and a preset formation scheme; in the flight process of the unmanned aerial vehicle, the computing equipment controls the unmanned aerial vehicle according to the scene model obtained in the scanning mode so as to avoid the obstacle, and meanwhile, the computing equipment receives detection information obtained by the detection equipment of the unmanned aerial vehicle.

Preferably, the step of the computing device locating the drone includes: the computing equipment receives the positioning signal sent by the unmanned aerial vehicle, and is right the positioning signal carries out the calculation of signal direction and signal strength to obtain unmanned aerial vehicle's azimuth and distance information, realize the location to unmanned aerial vehicle.

Further, the system further comprises a display device, and the method further comprises:

in the scan mode: the computing device presenting the scene model on the display device and marking a location of the system in the scene model;

in the drone mode: the computing device presents the scene model on the display device and marks the locations of the system and the drone in the scene model while the computing device presents the probe information on the display device.

Preferably, in the drone mode, the preset formation scheme is stored in a memory of a computing device.

Further, the system includes a plurality of capture points, the memory of the computing device having stored therein associated capture point gestures and corresponding drone formation schemes;

in drone mode, the method further comprises: detecting the state of the capture point, processing the state of the capture point by the computing equipment, judging whether the capture point forms a capture point posture, if so, acquiring an unmanned aerial vehicle formation scheme stored in association with the capture point posture, and controlling the unmanned aerial vehicles to perform formation flying according to the unmanned aerial vehicle formation scheme by the computing equipment.

Preferably, the state of the capturing point is detected by a detection device carried on the unmanned aerial vehicle, or the state of the capturing point is detected by a detection device arranged on the bracket.

Adopt above-mentioned technical scheme, owing to braced system's setting for when using, through carrying the support and the equipment of installation on it, can tie, control and supply power to unmanned aerial vehicle, in addition, can also control unmanned aerial vehicle according to the environmental information that scans and carry out necessary avoidance, when guaranteeing flight safety, continue to receive the detection information that a plurality of unmanned aerial vehicles obtained.

Drawings

Fig. 1 is a schematic structural diagram of an environment support system based on an unmanned aerial vehicle according to the present invention;

FIG. 2 is a schematic structural diagram of a connection structure according to a first embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a universal joint according to an embodiment of the present invention;

FIG. 4 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 2;

FIG. 5 is another schematic view of an inflatable bladder according to one embodiment of the present invention;

FIG. 6 is a schematic view of the connection between the inflation/deflation device and the inflation support according to the first embodiment of the present invention;

fig. 7 is a schematic structural diagram of a power supply device according to a second embodiment of the present invention;

FIG. 8 is a cross-sectional view taken along line B-B of FIG. 7;

FIG. 9 is an enlarged view of a portion of FIG. 7 at C;

FIG. 10 is a cross-sectional view taken along line D-D of FIG. 7;

fig. 11 is a flowchart of an application method of the environment support system based on the unmanned aerial vehicle according to the present invention.

In the figure, 1-unmanned aerial vehicle, 2-bracket, 21-back bracket, 22-leg bracket, 23-connecting structure, 24-universal connecting piece, 241-connecting rod, 242-universal joint, 243-buckle component, 244-buckle body, 245-buckle component, 25-inflatable support, 251-supporting seat, 252-inflatable air bag, 26-inflating device, 261-air pump, 262-air channel distributor, 263-three-way valve, 264-stop valve, 27-supporting plate, 3-mooring equipment, 4-scanning equipment, 5-computing equipment, 6-power supply equipment, 61-box body, 611-opening, 612-sealing plate, 613-sliding rail, 614-sliding block, 62-battery frame, 621-central cylinder, 622-annular sealing plate, 623-axial partition plate, 624-handle, 625-radial partition plate, 63-locking structure, 630-rocking handle, 631-driving gear, 632-driven gear, 633-driving nut, 634-driving screw, 635-driving shaft, 636-driving shaft, 637-driving shaft, 9-driving part, 7-receiving equipment groove and display equipment groove.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that, in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships that are used for explaining structures of the present invention based on the drawings, and are only for convenience of describing the present invention, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

Example one

An environmental support system based on a drone, as shown in fig. 1, comprises a drone 1 and a support 2. The unmanned aerial vehicle 1 is at least provided with detection equipment for acquiring sound, light and/or electromagnetic information, and is also provided with a flight control assembly and a communication module. The bracket 2 is provided with a mooring device 3, a scanning device 4, a computing device 5 and a power supply device 6.

The unmanned aerial vehicle 1 is configured to receive control information sent by the computing device 5 through the communication module, and the flight control component executes a corresponding flight state, and the detection device mounted thereon is configured to collect environmental sound, light, and/or electromagnetic information and send the information to the computing device 5 through the communication module.

Mooring equipment 3 is used for mooring and accomodate unmanned aerial vehicle 1, for example, mooring equipment 3 is the couple that sets up on support 2, and is corresponding to be provided with the hangers that uses with this couple cooperation on unmanned aerial vehicle 1.

Scanning equipment 4 is used for scanning the surrounding environment in order to acquire scanning information for computing equipment 5 obtains the scene model after handling this scanning information, so that control unmanned aerial vehicle 1 carries out necessary operation of dodging, prevents that unmanned aerial vehicle 1 from the flight accident. The scanning device 4 may be any type of radar, sonar, or the like.

The computing device 5 includes a processor, a memory, and a communication module, and the computing device 5 is configured to perform scene modeling according to the scanning information acquired by the scanning device 4, control the flight of the unmanned aerial vehicle 1, and receive the detection information acquired by the detection device of the unmanned aerial vehicle 1. The power supply device 6 is electrically connected to the scanning device 4 and the computing device 5 for supplying power.

Typically, a display device 7 is further included, which is mounted on the stand 2, the display device 7 is electrically connected to the computing device 5 for receiving and displaying the scene model and the detection information, and the display device 7 is also electrically connected to the power supply device 6 for obtaining power.

In this embodiment, the support 2 is a wearable support so as to be carried by a single person. The wearable support comprises a back support 21 and a leg support 22, wherein the back support 21 and the leg support 22 are connected through a connecting structure 23. Wherein, the mooring device 3, the scanning device 4, the computing device 5 and the power supply device 6 are all fixedly mounted on the back support 21. And the connecting structure 23 is used to make the leg supporter 22 support the back supporter 21 and maintain the balance of the back supporter 21. Specifically, as shown in fig. 2, the connecting structure 23 includes a universal connecting member 24, an inflating support 25, an inflating and deflating device 26, and two support plates 27.

The two support plates 27 are each plate-shaped, are arranged opposite to each other with a certain distance therebetween, and the two support plates 27 are fixedly attached to the back support 21 and the leg support 22, respectively. The two support plates 27 are connected at opposite sides by the universal connections 24 described above. The universal connecting member 24 includes at least two connecting members 241, the at least two connecting members 241 are sequentially connected in series through a universal joint 242 to form a chain, and two ends of the chain are respectively connected to the two supporting plates 27 through the universal joint 242, so that the two supporting plates 27 can move relatively in multiple degrees of freedom. For example, the universal joint 24 includes four universal joints 242 and three connecting members 241, wherein each of the two connecting members 241 has one end connected to the two support plates 27 through one universal joint 242, and each of the two ends of the other connecting member 241 is connected to the other end of the two connecting members 241 through one universal joint 242, so that the universal joint 24 can enable the two support plates 27 to have multiple degrees of freedom with respect to each other. Or in another embodiment, as shown in fig. 3, the universal connecting part 24 may further include a plurality of serially connected fastening assemblies 243, each fastening assembly 243 includes a fastening body 244 and a fastening member 245, wherein a spherical fastening cavity is disposed inside the fastening body 244, a spherical chuck adapted to the spherical fastening cavity is disposed on the fastening member 245, an opening is disposed on a surface of the fastening body 244 and communicates with the spherical fastening cavity, so that the spherical chuck can be fastened therein, and in addition, the size of the opening is smaller than that of the spherical chuck, and when in use, the spherical chuck can be fastened therein through elastic deformation. It can be understood that, in two adjacent snap assemblies 243, the buckle body 244 in one of the snap assemblies 243 is fixedly connected with the snap member 245 in the other snap assembly 243 by means of screws or welding, so that the snap assemblies 243 are connected in series, the universal connecting piece 24 is formed in a certain length, and can move universally and freely. In addition, elastic components such as a spring or an elastic sheet are fixedly arranged in the spherical clamping cavity, so that the clamping head can be conveniently separated from the spherical clamping cavity.

The inflatable supports 25 are provided in plurality, the inflatable supports 25 are connected between the two support plates 27, and the inflatable supports 25 are distributed around the universal joint 24, for example, the inflatable supports 25 are distributed at even intervals around the universal joint 24 in the circumferential direction, as shown in fig. 4. In this embodiment, the inflatable support 25 includes two supporting seats 251 respectively and fixedly connected to the two supporting plates 27, and an inflatable air bag 252 connected between the two supporting seats 251, the supporting seats 251 are fixedly connected by screws, the inflatable air bag 252 is fixed relative to the supporting seats 251 by screws, glue or guiding grooves, and the inflatable air bag 252 is provided with an inflation/deflation port for facilitating inflation or deflation. Alternatively, in one embodiment, the cross-sectional shape of the inflatable bladder 252 may be configured in an arcuate shape, as shown in FIG. 5, to more conveniently circumferentially surround the plurality of inflatable struts 25 in a circle so as to surround the central gimbal 24. It will be appreciated that by maintaining different pressures in the respective inflatable bladders 252, the relative positions of the two support plates 27 can be varied and maintained, thereby replacing manual maintenance operations, reducing labor consumption, and facilitating adjustment.

The inflation and deflation device 26 is mounted on the support plate 27, the back support 21 or the leg support 22, and each inflation support 25 is connected with the inflation and deflation device 26. The respective inflatable air bags 252 are inflated or deflated by the inflation and deflation device 26 to have a suitable pressure, so that the two support plates 27 maintain the relative positions and can be flexibly adjusted. In this embodiment, the inflation/deflation device 26 comprises an air pump 261, an air path distributor 262, a three-way valve 263 and a stop valve 264. Wherein the air pump 261 is an electric air pump. The air path distributor 262 comprises an air inlet port and a plurality of air outlet ports, and the air inlet port is connected with the output end of the air pump 261 through an air inlet pipeline; the number of the air outlet ports is the same as that of the inflatable supports 25, and the air outlet ports are respectively connected with the inflatable supports 25 in a one-to-one correspondence manner through air outlet pipelines, that is, the inflatable air bag 252 in each inflatable support 25 is connected with one air outlet port. The three-way valve 263 is also provided in plural, and one three-way valve 263 is installed on each air outlet pipeline, in this embodiment, the three-way valve 263 includes an inlet and two outlets, the inlet is connected to the inflatable support 25 (the inflatable air bag 252 therein), one of the outlets is connected to the air outlet port of the air channel distributor 262, and the other outlet is directly connected to the atmosphere. The shut-off valve 264 is also provided in plurality, one shut-off valve 264 is installed on each gas outlet line, and the shut-off valve 264 is located between the three-way valve 263 and the gas path distributor 262, as shown in fig. 6. Meanwhile, the three-way valve 263 and the stop valve 264 are both electrically or pneumatically operated for easy manipulation.

In use, when the support plate 27 fixed to the back support 21 is too close to the support plate 27 fixed to the leg support 22 in a certain direction, the inflatable support 25 corresponding to the direction needs to be inflated; at this time, the air pump 261 works, and the air output by the air pump is transmitted to each air outlet pipeline after passing through the air path distributor 262, the stop valve 264 on the air outlet pipeline for supplying air to the inflatable support 25 is opened, the three-way valve 263 on the air outlet pipeline is adjusted, so that the air flow flows to the inflatable air bag 252 in the inflatable support 25, the pressure of the air flow can be increased, and the two support plates 27 are far away from each other; conversely, when the support plate 27 fixed to the back support 21 is too far away from the support plate 27 fixed to the leg support 22 in a certain direction, the air pump 261 does not work, and only the three-way valve 263 needs to be adjusted to communicate the inflatable bladder 252 of the inflatable support 25 in the certain direction with the atmosphere, so that the air can be discharged to reduce the pressure thereof, and the two support plates 27 can be brought closer.

It will be appreciated that an air pressure sensor and an attitude sensor are also included. Wherein, the air pressure sensor is installed on the supporting plate 27, the back support 21 or the leg support 22, the probe of the air pressure sensor is connected with the inflatable supports 25 (the inflatable air bags 252 therein), and each inflatable support 25 (the inflatable air bags 252 therein) is connected with one air pressure sensor. So configured, the pressure of each inflatable bladder 252 can be observed and thus easily adjusted. Attitude sensors are mounted on the two support plates 27, or the back support 21 and the leg supports 22, and are arranged so that the attitudes of the two support plates 27 can be grasped in time, and thus, the respective inflatable supports 25 are controlled to be inflated and deflated according to preset conditions (for example, the support plates 27 are fixed on the back support 21 and are always horizontal), so that the preset conditions are met.

Example two

The difference from the first embodiment is that: in this embodiment, set up power supply unit 6 and include the battery case and install the battery in the battery case to protect the battery through the battery case, and improve the efficiency and the convenience of reloading the battery through this battery case.

As shown in fig. 7, the battery box is provided to include a box body 61, a battery holder 62, and a locking structure 63. The case 61 is a closed casing structure for storing the battery rack 62, the battery rack 62 is used for carrying batteries, and the locking structure 63 is used for detachably fixing the battery rack 62 to the case 61. In this embodiment, the case 61 has a cylindrical structure as a whole, and an opening 611 is formed at one end (for example, the right end) of the case so as to facilitate the battery holder 62 to enter and exit the case 61, and a cover 612 is detachably connected to the opening 611. For example, the cap 612 is screwed on the opening 611.

The battery rack 62 is provided with a battery mounting groove for mounting a battery, the battery rack 62 is slidably connected to the box 61, in this embodiment, a slide rail 613 extending along the axial direction of the box 61 is disposed on the inner side wall of the box 61, and correspondingly, a slide block 614 or a slide groove used in cooperation with the slide rail 613 is disposed on the battery rack 62. It will be appreciated that the slide rails 613 are provided in a plurality and evenly circumferentially spaced apart to provide more stable movement and support of the battery rack 62.

The locking structure 63 is connected between the case 61 and the battery holder 62, so that the battery holder 62 can be locked after sliding relative to the case 61. In this embodiment, as shown in fig. 8, the locking structure 63 includes a driving gear 631 and a driven gear 632 engaged with each other, a driving nut 633 and a driving screw 634 engaged with each other, and a driving shaft 635.

Wherein, the driving gear 631 is fixed on a driving shaft 636 by a key, and the driving shaft 636 is rotatably connected to the end wall of the other end (left end) of the box body 61 by a bearing; the driven gear 632 is fixedly coupled to a driven shaft 637 by a key, and the driven shaft 637 is rotatably coupled to an end wall of the other end (left end) of the case 61 by a bearing. One of the above-mentioned drive nut 633 and drive screw 634 is fixed on the driven shaft 637, and the other of the drive nut 633 and drive screw 634 used in cooperation is fixed on the battery rack 62. For example, in this embodiment, drive nut 633 is coaxially secured to driven shaft 637 and drive screw 634 is secured to battery carrier 62. The transmission shaft 635 is rotatably connected to the battery holder 62 through a bearing, and the transmission shaft 635 is configured to transmit torque to the driving shaft 636, so as to drive the driving shaft 636 to rotate by operating the transmission shaft 635. In this embodiment, the transmission of torque between the transmission shaft 635 and the driving shaft 636 is realized by the transmission part 638 and the receiving groove 639 which are used in cooperation with each other, one of the transmission shaft 635 and the driving shaft 636 is provided with the transmission part 638, and the other of the transmission shaft 635 and the driving shaft 636 is provided with the receiving groove 639, as shown in fig. 9. For example, in this embodiment, the transmission portion 638 is coaxially disposed at the left end of the transmission shaft 635, and has a non-circular, e.g., square, cross section, and correspondingly, the receiving groove 639 is formed at the right end of the driving shaft 636. The axis of the driving gear 631 (the axis of the driving shaft 636), the axis of the driving screw 634, and the axis of the driving shaft 635 are parallel to the sliding direction of the battery holder 62 on the case 61. And in the size of each fitting in the locking structure 63, configured such that after the driving screw 634 abuts against the driving nut 633, the driving portion 638 is inserted into the receiving groove 639, and the end of the driving portion 638 is spaced from the bottom of the receiving groove 639, so as to allow the driving screw 634 and the driving nut 633 to have a space for screwing with each other.

When assembling, only the battery frame 62 with a new battery is required to be placed into the box body 61 from the opening 611, and the battery frame 62 is slid to the right position by the slide rail 613, so that the transmission screw 634 abuts against the transmission nut 633, and the transmission part 638 of the transmission shaft 635 is embedded into the receiving groove 639 of the driving shaft 636; then, the transmission shaft 635 is rotated to drive the driving shaft 636 and the driving gear 631 fixed thereon to rotate, and then the driven gear 632 and the driven shaft 637 connected therewith are driven to rotate, so as to drive the transmission nut 633 fixed on the driven shaft 637 to rotate, the transmission nut 633 carries out threaded connection on the transmission screw 634, and fixation of the battery rack 62 by the box body 61 is realized, at this time, the transmission part 638 is not obstructed to go deep into the receiving groove 639; finally, the opening 611 is closed by the cover 612. Conversely, when the battery is discharged, the cover 612 is opened, and the transmission shaft 635 is rotated in the opposite direction to release the screw connection between the transmission nut 633 and the transmission screw 634, so that the battery holder 62 can slide on the case 61 and further slide out of the opening 611.

It can be understood that, in order to facilitate the operation of the transmission shaft 635, in this embodiment, the locking structure 63 further includes a rocking handle 630, and the rocking handle 630 is fixedly connected to the right end of the transmission shaft 635, so as to facilitate the rotation of the transmission shaft 635.

It will be appreciated that a plurality of driven gears 632 may be provided, each driven gear 632 being rotatably connected to the case 61 via a driven shaft 637, and the plurality of driven gears 632 being circumferentially spaced around the driving gear 631, each driven gear 632 being engaged with the driving gear 631.

It is understood that each driven shaft 637 is provided with a driving nut 633 or driving screw 634, and the battery rack 62 is correspondingly fixedly provided with the driving screw 634 or driving nut 633. So set up for when battery frame 62 is fixed for box body 61 relatively, the atress is more balanced and stable, prevents skew or bite.

As shown in fig. 7 and 10, the battery holder 62 includes a center cylinder 621, an annular seal plate 622, and an axial partition 623. The central cylinder 621 is a hollow tubular structure, two annular seal plates 622 are respectively sleeved and fixed at the positions of two axial ends of the central cylinder, a plurality of axial partition plates 623 are arranged between the two annular seal plates 622, and the axial partition plates 623 are circumferentially distributed at even intervals, so that the two annular seal plates 622 and the two adjacent axial partition plates 623 surround a battery mounting groove for mounting a battery. The sliding blocks 614, which are used in cooperation with the sliding rails 613, are disposed on the annular sealing plate 622 or the axial partition 623. The transmission shaft 635 is disposed through the central cylinder 621, the transmission shaft 635 is rotatably connected to the inner wall of the central cylinder 621 through a bearing, and the transmission screw 634 or the transmission nut 633 is fixedly connected to one of the annular sealing plates 622. It will be appreciated that the battery holder 62 further includes a handle 624, and that the handle 624 is fixedly mounted to the other annular closure plate 622. In another embodiment, the battery holder 62 is further provided with radial spacers 625, and the radial spacers 625 are connected between two adjacent axial spacers 623, thereby dividing more battery mounting grooves in the battery holder 62. And in another embodiment, the circumferential side wall of the case 61 is provided with a socket for passing a power connector connected to the electric device, the battery holder 62 is provided with a socket adapted to the power connector, the socket is arranged on the axial partition 623, and the socket faces the socket when the battery holder 62 is locked.

EXAMPLE III

An application method of the environment support system based on the unmanned aerial vehicle is applied to the system disclosed in the above embodiment, and is specifically executed by the computing device 5 in the system, as shown in fig. 11, and the method specifically includes step S1, step S2, and step S3.

Step S1, in response to the start signal, the computing device 5 performs an operation according to mode selection information carried in the start signal, where the mode selection information includes a scanning mode and an unmanned aerial vehicle mode.

The start signal is usually input by a carrier supporting the system in a manual manner, for example, after the system is powered on, an operator sends the start signal to the computing device 5 in a manner of button, touch screen manipulation, and the like, and after the computing device 5 identifies the mode selection information carried in the start signal, the following step S2 or step S3 may be executed according to the identification result.

Step S2, in the scanning mode: the scanning device 4 scans the surrounding environment to obtain scanning information, and the computing device 5 receives the scanning information and performs modeling according to the scanning information to obtain a scene model.

In this mode, the system is only used to model the environment around the user (system) and present it on the display device 7, and usually marks the position of the user (system) in the scene model to provide the user with decision basis.

Step S3, in the unmanned plane mode: the computing device 5 firstly controls the unmanned aerial vehicle 1 to take off, positions the unmanned aerial vehicle 1, and controls the unmanned aerial vehicle to form a formation flight within a first threshold range from the computing device 5 according to a positioning result and a preset formation scheme; secondly, in the flight process of the unmanned aerial vehicle, the computing device 5 controls the unmanned aerial vehicle 1 according to the scene model obtained in the scanning mode so as to avoid the obstacle, and meanwhile receives detection information obtained by the detection device of the unmanned aerial vehicle 1. At the same time, the computing device 5 presents the scene model on the display device 7 and marks the position of the system (user) and the drone 1 in the scene model, while the computing device 5 also presents the probe information on the display device 7.

The preset formation scheme is stored in a memory of the computing device 5, and the computing device 5 calls the preset formation scheme and controls the unmanned aerial vehicle 1 to execute the preset formation scheme according to relevant information carried in the mode selection information.

Further in step S3, the step of the computing device 5 locating the drone 1 includes: the computing equipment 5 receives the positioning signal sent by the unmanned aerial vehicle 1, and calculates the signal direction and the signal intensity of the positioning signal, so that the direction and the distance information of the unmanned aerial vehicle 1 are obtained, and the positioning of the unmanned aerial vehicle 1 is realized.

In step S3, the computing device 5 controls the unmanned aerial vehicle 1 to avoid an obstacle according to the AI intelligent algorithm.

In one embodiment, the system further comprises a plurality of capture points, which may be trackers, such as sensors, attached to the body of the user. In accordance with the change in human body pose, the plurality of capture points may form respective capture point poses, with the capture point poses and corresponding drone formation scenarios stored in association in the memory of computing device 5.

And in the unmanned aerial vehicle mode, step S3 further includes: and detecting the state of the capture point, processing the state of the capture point by the computing equipment 5, judging whether the capture point forms a capture point posture, if so, acquiring an unmanned aerial vehicle formation scheme stored in association with the capture point posture, and controlling the unmanned aerial vehicle 1 to perform formation flying according to the unmanned aerial vehicle formation scheme by the computing equipment 5.

Wherein, the state of catching the point is detected by the detection equipment of carrying on 1 unmanned aerial vehicle, perhaps, the state of catching the point is detected by the detection device who sets up on support 2 all can, specifically is fixed a position the catching point through the signal that the receiving sensor sent.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.

Claims

1. An environment support system based on unmanned aerial vehicle, its characterized in that: the system comprises an unmanned aerial vehicle and a support, wherein the unmanned aerial vehicle is at least provided with detection equipment for acquiring sound, light and/or electromagnetic information; the bracket is provided with mooring equipment, scanning equipment, computing equipment and power supply equipment; the mooring equipment is used for mooring the unmanned aerial vehicle; the scanning device is used for scanning the surrounding environment to acquire scanning information; the computing device comprises a processor, a memory and a communication module, and is used for carrying out scene modeling according to the scanning information, controlling the flight of the unmanned aerial vehicle and receiving the detection information acquired by the detection device of the unmanned aerial vehicle; the power supply equipment is electrically connected with the scanning equipment and the computing equipment to supply power;

the wearable support comprises a back support and a leg support, and the back support is connected with the leg support through a connecting structure; the connecting structure comprises a universal connecting piece, an inflation support, an inflation and deflation device and two supporting plates; the two supporting plates are respectively and fixedly connected to the back support and the leg support; the universal connecting piece is connected between the two support plates; the inflatable supports are distributed around the universal connecting piece; the inflation and deflation device is installed on the supporting plate, the back support or the leg support, and each inflation support is connected with the inflation and deflation device.

2. The drone-based environmental support system of claim 1, wherein: mooring equipment is for setting up couple on the support, be provided with on the unmanned aerial vehicle with the hangers that the couple cooperation was used.

3. The drone-based environmental support system of claim 1, wherein: the power supply equipment comprises a battery box and a battery arranged in the battery box; the battery box comprises a box body and a battery frame connected in the box body in a sliding mode, an opening is formed in the box body and used for the battery frame to go in and out, a sealing cover is detachably connected to the opening, and a battery mounting groove is formed in the battery frame; a locking structure is connected between the box body and the battery rack so that the battery rack can be locked after sliding relative to the box body; the locking structure comprises a driving gear and a driven gear which are mutually meshed, a transmission nut and a transmission screw which are mutually meshed and a transmission shaft; the driving gear is rotatably connected to the box body through a driving shaft, and the driven gear is rotatably connected to the box body through a driven shaft; the transmission nut is fixed on one of the driven shaft and the battery rack, and the transmission screw rod is fixed on the other of the driven shaft and the battery rack; the transmission shaft is rotatably connected to the battery frame, one of the transmission shaft and the driving shaft is provided with a transmission part for transmitting torque, and the other of the transmission shaft and the driving shaft is provided with a bearing groove matched with the transmission part; the driving gear, the transmission screw and the transmission shaft are all parallel to the sliding direction of the battery rack.

4. A method of using the system of any of claims 1-3, wherein: the method comprises the following steps:

in the drone mode: the computing device controls the unmanned aerial vehicle to take off, positions the unmanned aerial vehicle, and controls the unmanned aerial vehicle to form a formation flight within a first threshold range from the computing device according to a positioning result and a preset formation scheme; in the flight process of the unmanned aerial vehicle, the computing equipment controls the unmanned aerial vehicle according to the scene model obtained in the scanning mode so as to avoid obstacles, and meanwhile, the computing equipment receives detection information obtained by the detection equipment of the unmanned aerial vehicle.

5. The method of claim 4, wherein: the step of the computing device locating the drone includes: the computing equipment receives the positioning signal sent by the unmanned aerial vehicle, and is right the positioning signal carries out the calculation of signal direction and signal strength to obtain unmanned aerial vehicle's azimuth and distance information, realize the location to unmanned aerial vehicle.

6. The method of claim 4, wherein: the system further comprises a display device, the method further comprising:

in the drone mode: a computing device presents the scene model on the display device and marks the locations of the system and the drone in the scene model, while a computing device presents the detection information on the display device.

7. The method of claim 4, wherein: in the drone mode, the preset formation scheme is stored in a memory of a computing device.

8. The method of claim 4, wherein: the system further includes a plurality of capture points, the computing device having stored in association in memory capture point gestures and corresponding drone formation schemes;

9. The method of claim 8, wherein: the state of catching the point is detected by the detection equipment of carrying on the unmanned aerial vehicle, perhaps, the state of catching the point is detected by setting up detection device on the support.