CN113716043B - Detect unmanned aerial vehicle - Google Patents
Detect unmanned aerial vehicle Download PDFInfo
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- CN113716043B CN113716043B CN202111158744.2A CN202111158744A CN113716043B CN 113716043 B CN113716043 B CN 113716043B CN 202111158744 A CN202111158744 A CN 202111158744A CN 113716043 B CN113716043 B CN 113716043B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an unmanned aerial vehicle for detection, which comprises a main body and a protective structure, wherein the main body is arranged in the protective structure, a telescopic component and an opening are arranged on the protective structure, and the opening is arranged below the main body. Compared with the prior art, the unmanned aerial vehicle for detection has the advantages that the opening in the protective structure is arranged below the main body of the vehicle body, so that the main body of the vehicle body is conveniently mounted or dismounted in the protective structure through the opening; on the other hand, when detecting unmanned aerial vehicle not using, be convenient for detect that unmanned aerial vehicle is steady puts subaerial, does not make a round trip to roll.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle detection device.
Background
The mode that patrols the inside scene and detect at power plant boiler up to now mainly has the personnel to build testing platform, and the personnel are in and patrol the detection etc. on testing platform, and this kind of traditional testing mode needs a large amount of personnel to consume the plenty of time and builds, demolish testing platform on, can not realize patrolling the detection fast to the inside scene of boiler.
The patent of application number CN201910465814.5 in the prior art discloses a novel-structure omnidirectional coaxial unmanned aerial vehicle which comprises three parts, namely a spherical reticular shell, a triaxial internal rotating mechanism and a coaxial unmanned helicopter. The spherical reticular shell is positioned at the outermost side of the unmanned aerial vehicle and wraps the internal rotating mechanism and the coaxial unmanned helicopter; the inner rotating mechanism consists of an inner ring and an outer ring, and the outer ring is connected with the spherical meshed shell through a rotating bearing; the coaxial unmanned helicopter is connected to the inner rotating mechanism inner ring through a support rod and a rotating bearing, and is positioned in the center of the spherical meshed shell. Although this patent sets up spherical netted shell in unmanned aerial vehicle's the outside and plays the effect of protection unmanned aerial vehicle, but unmanned aerial vehicle is more troublesome with the dismantlement installation of spherical netted shell, and unmanned aerial vehicle can not steady when not using put subaerial, but make a round trip to roll on the ground.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a detection unmanned aerial vehicle, which solves the problems that the unmanned aerial vehicle and a spherical reticular shell are troublesome to disassemble and assemble and the unmanned aerial vehicle cannot be stably placed on the ground but rolls back and forth on the ground when not used in the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the utility model provides a detect unmanned aerial vehicle, detect unmanned aerial vehicle includes fuselage main part and protective structure, the fuselage main part sets up protective structure's inside last telescopic component and the opening of setting of protective structure, the opening sets up the below of fuselage main part.
The unmanned aerial vehicle for detection is reasonable in structural arrangement, the opening is formed below the main body of the vehicle body, and on one hand, the main body of the vehicle body is convenient to mount/dismount in the protective structure through the opening; on the other hand, when detecting unmanned aerial vehicle not using, be convenient for detect that unmanned aerial vehicle is steady puts subaerial, does not make a round trip to roll.
Further, the main body of the machine body is connected with the protective structure through a connecting device.
The arrangement increases the connection stability of the protective structure and the main body of the fuselage on one hand; on the other hand receives when striking when detecting unmanned aerial vehicle, can play the effect of buffering striking, further forms the protection to the fuselage main part.
Further, protective structure includes protection pole subassembly and coupling assembling, protection pole subassembly with coupling assembling is connected.
Furthermore, the protective structure adopts a football-shaped net-shaped hollow design.
On one hand, the propeller blade is isolated from contact with human beings, obstacles and the like, and double protection on the human beings and the unmanned aerial vehicle is realized; on the other hand the design of protective structure fretwork is convenient for detect unmanned aerial vehicle and carries out the detection task of full aspect, also can make the result of detection more accurate.
Furthermore, a second connecting element is provided on the protective structure, by means of which the protective structure is connected to the connecting device.
This arrangement facilitates the attachment of the attachment means to the protective structure.
Further, detect unmanned aerial vehicle still includes driving system, flight control system, image transmission system and power supply system, image transmission system, flight control system are connected with remote control unit.
Furthermore, a camera device is arranged on the machine body, and the camera device transmits acquired information to the remote control device through an image transmission system.
Further, the camera device comprises a camera and a holder, and the camera is arranged on the holder.
Furthermore, an obstacle avoidance radar device is arranged on the main body of the airplane body, and the obstacle avoidance radar device is arranged on the front side and/or the rear side and/or the left side and/or the right side and/or the upper side and/or the lower side of the main body of the airplane body.
Furthermore, a lighting device is arranged on the machine body main body and connected with a remote control device, and the lighting device is controlled by the remote control device.
Compared with the prior art, the unmanned aerial vehicle detection device has the following beneficial effects: the unmanned aerial vehicle for detection is reasonable in structural arrangement, the opening in the protective structure is arranged below the main body of the vehicle body, and on one hand, the main body of the vehicle body is convenient to mount/dismount in the protective structure through the opening; on the other hand, when detecting unmanned aerial vehicle not using, be convenient for detect that unmanned aerial vehicle is steady puts subaerial, does not make a round trip to roll.
Drawings
Fig. 1 is a schematic view of a front view structure of a detection unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic side view of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic view of a three-dimensional structure of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a third connecting member and a retractable assembly for detecting a drone according to an embodiment of the present invention;
fig. 5 is a schematic top view of an adjustment apparatus for detecting a flight balance of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a schematic cross-sectional structural view of an adjustment apparatus for detecting a flight balance of an unmanned aerial vehicle according to an embodiment of the present invention.
Description of reference numerals:
1. a main body of the body; 101. the bottom of the machine; 2. a protective structure; 201. an opening; 210. a guard bar assembly; 211. a first lever; 212. a second lever; 220. a connecting assembly; 221. a first connecting member; 222. a second connecting member; 223. a third connecting member; 23. a retractable assembly; 3. a first obstacle avoidance module; 4. a first light module; 41. a center ball; 42. a plane; 43. a sliding resistor; 431. a sliding part; 432. a stationary portion; 400. a flight balance adjustment device; 5. a second light module; 53. a third light module; 6. a camera; 7. a fourth light module; 8. a second obstacle avoidance module; 9. and (4) a connecting device.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The descriptions of "first", "second", etc. mentioned in the embodiments of the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
This embodiment proposes a detect unmanned aerial vehicle, as shown in fig. 1-3, detect unmanned aerial vehicle includes unmanned aerial vehicle's fuselage main part 1 and protective structure 2, fuselage main part 1 sets up protective structure 2's inside set up opening 201 on the protective structure 2, opening 201 sets up the below of fuselage main part 1.
The opening 201 is arranged below the fuselage body 1, on the one hand, the fuselage body 1 is convenient to be mounted/dismounted in the protective structure 2 through the opening 201; on the other hand, when detecting unmanned aerial vehicle not using, be convenient for detect that unmanned aerial vehicle is steady puts subaerial, does not make a round trip to roll.
According to the unmanned aerial vehicle for detection, the protective structure 2 is arranged, so that the flight attitude of the unmanned aerial vehicle cannot be greatly changed when collision is generated at the low-speed flight speed of the unmanned aerial vehicle, the internal structure and the components cannot be damaged, and the inspection task can be continuously executed.
In particular, as shown in fig. 3, the fuselage body 1 is connected to the protective structure 2 by means of a connecting device 9.
This arrangement increases on the one hand the stability of the connection of the protective structure 2 to the fuselage body 1; on the other hand receives when striking when detecting unmanned aerial vehicle, can play the effect of buffering, further forms the protection to fuselage main part 1.
Specifically, the connecting device 9 is not limited.
More specifically, one end of the support is connected to the protective structure 2, and the other end of the support is connected to the fuselage main body 1.
Preferably, in this embodiment, as shown in fig. 3, the connecting device 9 is a bracket. One end of the bracket is connected with the second connecting piece 222, and the other end of the bracket is connected with the machine bottom 101.
Specifically, as shown in fig. 1 to 3, the protection structure 2 includes a protection rod assembly 210 and a connection assembly 220, and the protection rod assembly 210 is connected to the connection assembly 220.
Specifically, the guard bar assembly 210 includes a first bar 211 and a second bar 212. The connection assembly 220 includes a first connection member 221, a second connection member 222, and a third connection member 223.
Specifically, as shown in fig. 1 to 3, the protective structure 2 is designed to be a mesh-like hollow structure.
The protective structure 2 adopts the mesh-shaped hollow shell to isolate the contact of the propeller blades with human beings, obstacles and the like on one hand, and realizes double protection of the human beings and the unmanned aerial vehicle; on the other hand, the design of 2 hollows of the protective structure is convenient for detecting the unmanned aerial vehicle to carry out detection tasks of all aspects, and the detection result can be more accurate.
Specifically, a second connecting piece 222 is arranged on the protective structure 2, and the protective structure 2 is connected with the connecting device 9 through the second connecting piece 222.
This arrangement facilitates the attachment of the attachment means 9 to the protective structure 2.
The opening 201 of the shielding structure 2 is composed of a second rod 212 and a third connecting piece 223.
The protective structure 2 is provided with a telescopic assembly 23, the telescopic assembly 23 can enable the opening 201 to be opened or contracted relative to the protective structure 2, the telescopic assembly 23 is connected with a remote control device, and the remote control device controls the telescopic assembly 23 to extend or retract.
Specifically, a retractable assembly 23 is disposed on the opening 201.
When the unmanned aerial vehicle is detected to perform flying operation, the remote control device can control the telescopic component 23 to extend out, so that the opening 201 is reduced relative to the protective structure 2, and the unmanned aerial vehicle can be better protected and detected; when detecting that unmanned aerial vehicle does not carry out the flight operation, remote control unit can control telescopic component 23 withdrawal, makes opening 201 is relative protective structure 2 is opened, guarantees to detect that unmanned aerial vehicle steadily falls to the ground.
More specifically, in the present embodiment, as shown in fig. 4, the telescopic assembly 23 is preferably provided on the third connecting member 223. The number of the telescopic assemblies 23 is the same as that of the third connecting members 223.
In this embodiment, the number of the retractable assembly 23 and the number of the third connecting members 223 are 5.
The telescopic assembly 23 is provided with a plurality of sections, and circuits for triggering the telescopic sections are connected in parallel.
Specifically, a flight balance adjustment device 400 is provided on the main body 1.
The adjustment of flight balance adjusting device 400 triggers the flexible electric current size of scalable subassembly 23 and adjusts scalable subassembly 23 and stretch out or retract, also can ensure when detecting that unmanned aerial vehicle receives the striking unbalance to appear and detect the balanced flight of unmanned aerial vehicle.
More specifically, as shown in fig. 3, a flight balance adjustment device 400 is provided at a central position of the machine base 101.
More specifically, as shown in fig. 5 and 6, the flying balance adjusting device 400 includes a center ball 41 located at the center of the machine bottom 101, a plane 42 for holding the center ball 41, and a sliding resistor 43 disposed along a connecting line between the center ball 41 and the third connecting member 223; the sliding resistor 43 includes a sliding part 431 and a stationary part 432, the sliding part 431 is sleeved outside the stationary part 432, and the outer end of the sliding part 431 is connected with the center ball 41; the number of the sliding resistors 43 is the same as that of the telescopic assemblies 23, and the sliding resistors 43 are connected in series with a circuit for triggering the telescopic assemblies 23 to stretch and contract. The flight balance adjustment device 400 is configured to quickly and accurately control the magnitude of the current flowing through the retractable assembly 23.
When the unmanned aerial vehicle is detected to be impacted and unbalanced, the flight balance adjusting device 400 controls the central ball 41 to slide towards one side, and pushes the sliding part 431 of the sliding resistor 43 at the inclined side to slide towards one side of the static part 432, so that the resistance is reduced; the sliding portion 431 of the other sliding resistor 43 slides to the outside of the stationary portion 432, increasing the resistance; therefore, the current of the corresponding telescopic assembly 23 is increased and decreased, so that the telescopic assembly 23 on one inclined side is extended, and the telescopic assembly 23 on the other inclined side is shortened to balance the flight of the unmanned aerial vehicle; it can be seen that the center ball 41 has different degrees of triggering elongation for the plurality of extendable assemblies 23 on one side in the tilting direction and different degrees of triggering shortening for the plurality of extendable assemblies 23 on the other side in the tilting direction after sliding; thereby can ensure to detect the balanced flight of unmanned aerial vehicle.
Specifically, detect unmanned aerial vehicle and include driving system, flight control system, image transmission system and power supply system, image transmission system, flight control system are connected with remote control unit.
Specifically, a camera device is provided on the main body 1, and the camera device is used for collecting information (video or photos). The camera device transmits the collected information to the remote control device through the image transmission system.
More specifically, the position where the imaging device is provided on the main body 1 is not limited. The imaging device is arranged on the front side and/or the rear side and/or the left side and/or the right side and/or the upper side and/or the lower side of the body 1. The image pickup device may be provided at the front side on the body main body 1, the image pickup device may be provided at the rear side of the body main body 1, the image pickup device may be further provided at the upper side of the body main body 1, and the like.
Preferably, in the present embodiment, as shown in fig. 1 and 2, the image pickup device is provided on the front side of the body main body 1.
More specifically, as shown in fig. 1 and 2, the image pickup apparatus includes a camera 6 and a pan/tilt head on which the camera 6 is disposed.
Preferably, in this embodiment, the camera 6 is a high-sensitivity high-definition camera, and the pan/tilt head is a two-axis pan/tilt head.
This setting is convenient for unmanned aerial vehicle to work under the dim light environment to the diaxon cloud platform realizes increasing steady in the roll direction, realizes controllable angle in the every single move direction and reaches 180 degrees.
Specifically, as shown in fig. 1 and 2, an obstacle avoidance radar device is arranged on the fuselage main body 1, and the obstacle avoidance radar device is used for avoiding obstacles in the flying process of the unmanned aerial vehicle.
Specifically, the number of obstacle avoidance modules in the obstacle avoidance radar device is not limited, the obstacle avoidance radar device may include one obstacle avoidance module, the obstacle avoidance radar device may include two obstacle avoidance modules, and the obstacle avoidance radar device may further include three obstacle avoidance modules and the like.
More specifically, preferably, in this embodiment, as shown in fig. 1 and fig. 2, the obstacle avoidance radar device includes two obstacle avoidance modules, which are a first obstacle avoidance module 3 and a second obstacle avoidance module 8, respectively.
More specifically, the position of the obstacle avoidance radar device provided on the main body 1 is not limited. The obstacle avoidance radar device is arranged on the front side and/or the rear side and/or the left side and/or the right side and/or the upper side and/or the lower side of the fuselage main body 1. The obstacle avoidance radar device can be arranged on the front side of the machine body 1, the obstacle avoidance radar device can be arranged on the rear side of the machine body 1, and the obstacle avoidance radar device can also be arranged on the front side, the rear side and the like of the machine body 1.
Preferably, in this embodiment, as shown in fig. 1 and fig. 2, the first obstacle avoidance module 3 is disposed at the rear side of the main body 1, and the second obstacle avoidance module 8 is disposed at the front side of the main body 1.
The first obstacle avoidance module 3 is arranged at the rear side of the main body 1, so that the unmanned aerial vehicle can avoid obstacles in a certain range behind the unmanned aerial vehicle in the backward flight process, the collision probability of the unmanned aerial vehicle and the obstacles is reduced, and the service life of the unmanned aerial vehicle is prolonged; obstacle module 8 setting is kept away to the second in the front side of fuselage main part 1, realizes that unmanned aerial vehicle is flying the in-process forward and is evaded the barrier in preceding certain extent to reduce unmanned aerial vehicle and barrier probability of bumping, and then the extension detect unmanned aerial vehicle's life.
Specifically, as shown in fig. 1 and 2, a lighting device is provided on the main body 1.
Specifically, the lighting device is connected with the remote control device and is controlled through the remote control device.
More specifically, the turning-on and turning-off and the brightness of the lighting device are controlled through a dial wheel on the remote control device.
The lighting device is arranged to help an unmanned aerial vehicle operator judge the posture of the unmanned aerial vehicle within the sight distance range; and on the other hand, the light is supplemented to the camera device.
Specifically, the number of the light modules in the light device is not limited, the light device can comprise one light module, the obstacle avoidance radar device can comprise two light modules, and the light switch device can further comprise four light modules and the like.
Preferably, in this embodiment, more specifically, as shown in fig. 1 and 2, the light module includes four light modules, namely a first light module 4, a second light module 5, a third light module 53 and a fourth light module 7.
More specifically, the lighting device is disposed on the front side and/or the rear side and/or the left side and/or the right side and/or the upper side and/or the lower side of the main body 1. The position of the lighting device arranged on the machine body 1 is not limited. The light device can set up the front side of fuselage main part 1, the light device can set up the rear side of fuselage main part 1, the light device sets up front side, rear side, left side and upside etc. of fuselage main part 1.
Preferably, in this embodiment, as shown in fig. 1 and 2, the first light module 4 is disposed on the left side of the body 1, and the second light module 5 is disposed on the upper side of the body 1; third light module 53 sets up the right side of fuselage main part 1, fourth light module 7 sets up the front side of fuselage main part 1.
Specifically, the light colors of the first light module 4 and the third light module 53 may be set to be the same, or may be set to be different. Preferably, in this embodiment, the light colors of the first light module 4 and the third light module 53 may be set to be different. This setting further helps unmanned aerial vehicle operating personnel to carry out accurate judgement to the unmanned aerial vehicle gesture at the stadia within range. For example, the first light module 4 is set to yellow, and the third light module 53 is set to red.
More specifically, the second light module 5 is disposed at an end of the upper side of the body 1 near the camera 6. This setting is convenient for the cloud platform light filling when upwards observing.
More specifically, the fourth light module 7 is disposed at a front side of the body main body 1. The main function of this arrangement is to fill the camera 6 with light.
The inspection unmanned aerial vehicle is adopted for inspection and inspection, a large-area take-off and landing platform is not needed, and quick inspection can be realized. Compared with the traditional mode that a detection platform is built by a person, the preparation time and equipment in the early detection stage can be greatly shortened, the detection efficiency is improved, and the detection cost is reduced; and because the invention has less requirements on the number of field operators, two to three persons can finish the patrol detection, thereby greatly reducing the accident risk of the personnel in the process of executing the patrol detection task.
When detecting that unmanned aerial vehicle does not carry out the flight operation, flight personnel pass through remote control unit control telescopic component 23 withdrawal, make opening 201 is relative protective structure 2 is opened, guarantees to detect that unmanned aerial vehicle steadily falls to the ground.
When the unmanned aerial vehicle is detected to perform flight operation, a flight crew manually controls the unmanned aerial vehicle to enter an operation space through the remote control device, and the flight crew controls the telescopic assembly 23 to extend out through the remote control device, so that the opening 201 is reduced relative to the protective structure 2, and the unmanned aerial vehicle can be better protected and detected; utilize the camera 6 that detects unmanned aerial vehicle and carry on video or photo and gather, detect unmanned aerial vehicle and pass through image transmission system with video real-time transmission to remote control unit on, the second is kept away barrier module 8 and is assisted and is detected unmanned aerial vehicle and carry out the ascending obstacle of keeping away of direction of advance, first keep away barrier module 3 and assist unmanned aerial vehicle and retreat the ascending obstacle of keeping away of direction, the flight crew can observe the passback data of above-mentioned all sensors through remote control unit, judges and carries out the tour task according to this to detecting unmanned aerial vehicle gesture position. Owing to detect unmanned aerial vehicle and installed integral protection result, the collision that low-speed airspeed produced can not exert an influence to detecting unmanned aerial vehicle state and inner structure and subassembly, and the collision back takes place, and flight personnel passes through remote control unit control flight balance adjusting device 400, and then controls stretching out or retracting of scalable subassembly 23 to can continue to carry out the task of patrolling after adjusting and detecting the unmanned aerial vehicle gesture.
Compared with the prior art, the unmanned aerial vehicle detection device has the following beneficial effects: the unmanned aerial vehicle for detection is reasonable in structural arrangement, the opening in the protective structure is arranged below the main body of the vehicle body, and on one hand, the main body of the vehicle body is convenient to mount/dismount in the protective structure through the opening; on the other hand, when detecting unmanned aerial vehicle not using, be convenient for detect that unmanned aerial vehicle is steady puts subaerial, does not make a round trip to roll.
Example 2
The embodiment provides a control method for detecting an unmanned aerial vehicle, which uses the control method for detecting an unmanned aerial vehicle according to embodiment 1, and the control method for detecting an unmanned aerial vehicle specifically includes the following steps:
s101, detecting the state of the detection unmanned aerial vehicle;
s102, judging whether the state of the unmanned aerial vehicle is in flight operation or not, and if so, entering S103; if not, the step S107 is entered;
s103, controlling the telescopic component 23 to extend out;
in step 103, when detecting unmanned aerial vehicle and carrying out the flight operation, control telescopic component 23 and stretch out, make opening 201 is relative protective structure 2 dwindles, protection that can be better detects unmanned aerial vehicle.
S104, judging whether the unmanned aerial vehicle is unbalanced during flight operation, and if so, entering S105; if not, entering S106;
s105, controlling the flight balance adjusting device 400 to adjust the current for triggering the telescopic component 23 to stretch and contract so as to adjust the telescopic component 23 to stretch or retract;
in step S105, when detecting that the unmanned aerial vehicle is out of balance during the flight operation, control flight balance adjustment device 400 adjusts the current magnitude that triggers retractable assembly 23 to stretch out or retract so as to adjust retractable assembly 23, and guarantee that the unmanned aerial vehicle is detected to fly in balance.
S106, keeping the original state;
and S107, controlling the telescopic assembly 23 to retract.
In step S107, when the unmanned aerial vehicle is detected not to perform flight operation, the retractable assembly 23 is controlled to retract, so as to ensure that the detected unmanned aerial vehicle stably lands on the ground; and also facilitates the mounting and dismounting of the fuselage body 1.
According to the control method for detecting the unmanned aerial vehicle, the opening 201, the telescopic component 23 and the flight balance adjusting device 400 are associated through steps S101-S107, the state of the unmanned aerial vehicle is judged through step S102, the telescopic component 23 is conveniently controlled to extend or retract by a control system for detecting the unmanned aerial vehicle, and in step S103, when the unmanned aerial vehicle is detected to carry out flight operation, the telescopic component 23 is controlled to extend, so that the opening 201 is reduced relative to the protective structure 2, and the unmanned aerial vehicle can be better protected and detected; in step S107, when the unmanned aerial vehicle is detected not to perform flight operation, the retractable assembly 23 is controlled to retract, so as to ensure that the detected unmanned aerial vehicle stably lands on the ground; meanwhile, the installation and the disassembly of the machine body main body 1 are convenient; whether the unmanned aerial vehicle is unbalanced during the flight operation is judged through the step S104, and in the step S105, when the unmanned aerial vehicle is unbalanced during the flight operation, the flight balance adjusting device 400 is controlled to adjust the current for triggering the telescopic component 23 to stretch out or retract so as to adjust the telescopic component 23, and the unmanned aerial vehicle can be detected to fly in a balanced manner.
Compared with the prior art, the control method for detecting the unmanned aerial vehicle has the following beneficial effects: according to the control method for detecting the unmanned aerial vehicle, firstly, the unmanned aerial vehicle can be better protected and detected; secondly, the detection of stable landing of the unmanned aerial vehicle is ensured; thirdly, ensuring the detection of the balanced flight of the unmanned aerial vehicle; fourthly, the installation and the disassembly of the machine body main body are convenient.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a detect unmanned aerial vehicle, its characterized in that, detect unmanned aerial vehicle includes fuselage main part (1) and protective structure (2), fuselage main part (1) sets up protective structure (2)'s inside set up scalable subassembly (23) and opening (201) on protective structure (2), opening (201) set up the below of fuselage main part (1) set up scalable subassembly (23) on opening (201), scalable subassembly (23) can make opening (201) are relative protective structure (2) are opened or are dwindled, opening (201) comprise second pole (212) and third connecting piece (223) set up scalable subassembly (23) on third connecting piece (223) set up flight balance adjusting device (400) on fuselage main part (1), flight balance adjusting device (400) adjustment triggers scalable subassembly (23) flexible electric current size to adjust scalable subassembly(s) (s) (the) and adjust scalable subassembly:(s) 23) The flying balance adjusting device (400) comprises a central ball (41) positioned on the central position of the bottom (101), a plane (42) for supporting the central ball (41) and a sliding resistor (43) arranged along a connecting line of the central ball (41) and the third connecting piece (223) in the corresponding direction; the number of the sliding resistors (43) is the same as that of the telescopic assemblies (23), and the sliding resistors (43) are connected in series with a circuit for triggering the telescopic assemblies (23) to stretch and contract.
2. A detecting drone according to claim 1, characterised in that the fuselage body (1) is connected to the protective structure (2) by means of connection means (9).
3. A detecting drone according to claim 2, characterized in that the protective structure (2) comprises a protective rod assembly (210) and a connection assembly (220), the protective rod assembly (210) being connected with the connection assembly (220).
4. A detecting drone according to claim 3, characterised in that the protective structure (2) is of football mesh openwork design.
5. A detecting drone according to claim 4, characterised in that a second connection (222) is provided on the protective structure (2), the protective structure (2) being connected to the connection means (9) through the second connection (222).
6. The unmanned aerial vehicle for detection of claim 1, further comprising a power system, a flight control system, an image transmission system and a power supply system, wherein the image transmission system and the flight control system are connected with a remote control device.
7. A detecting unmanned aerial vehicle according to claim 6, characterized in that, set up camera device on fuselage main part (1), camera device passes through image transmission system with the information transmission of gathering to remote control unit.
8. A detecting drone according to claim 7, characterised in that the camera means comprise a camera (6) and a head, the camera (6) being arranged on the head.
9. A detecting drone according to claim 1, characterised in that obstacle-avoidance radar means are provided on the fuselage body (1), arranged on the front and/or rear and/or left and/or right and/or upper and/or lower sides of the fuselage body (1).
10. A detection unmanned aerial vehicle according to claim 1, characterized in that, set up lighting fixture on fuselage main part (1), lighting fixture is connected with remote control unit, through remote control unit control the lighting fixture.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB157940A (en) * | 1913-09-23 | 1922-04-10 | Raimund Nimfuhr | Improved automatic apparatus for safeguarding flying machines against tipping and falling |
| RU2475424C1 (en) * | 2011-08-31 | 2013-02-20 | Андрей Порфирьевич Кириллов | Method of visual landing and kirillov's device to support aircraft takeoff or landing |
| CN105404309B (en) * | 2015-11-24 | 2018-12-21 | 木牛（青岛）科技有限公司 | A kind of unmanned aerial vehicle control system and control method |
| CN106741943B (en) * | 2016-12-23 | 2023-10-20 | 歌尔科技有限公司 | Unmanned aerial vehicle |
| US20210339845A1 (en) * | 2018-09-26 | 2021-11-04 | Flyability Sa | Uav with protective outer cage |
| CN210653670U (en) * | 2019-10-16 | 2020-06-02 | 烟台中睿专用车制造有限公司 | Protection type unmanned aerial vehicle |
| CN113291480A (en) * | 2021-06-04 | 2021-08-24 | 杭州骁浪科技有限公司 | Protection device for measuring unmanned aerial vehicle during falling |
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