CN114063630B - Control method with different obstacle avoidance priorities for improving obstacle avoidance function of unmanned aerial vehicle - Google Patents
Control method with different obstacle avoidance priorities for improving obstacle avoidance function of unmanned aerial vehicle Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/62—Deployment
- B64D17/70—Deployment by springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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Abstract
The invention provides a control method for improving an obstacle avoidance function of an unmanned aerial vehicle with different obstacle avoidance priorities. According to the control method for improving the obstacle avoidance function of the unmanned aerial vehicle with different obstacle avoidance priorities, the peripheral image information of the unmanned aerial vehicle is collected in real time, and different obstacle avoidance priorities are set, so that the obstacle avoidance time of the unmanned aerial vehicle in the flight process can be shortened, and the effects of improving the obstacle avoidance efficiency and increasing the control precision and avoiding the damage of animals caused by collision on small-sized protected animals are achieved. When unmanned aerial vehicle broke down and dropped, the parachute body can be popped out the fuselage, and the baffle can move left under the pulling of second connecting spring, and the gasbag moved the bottom of fuselage this moment to the effect that protection device can't in time protect when protection response avoided low-altitude flight rapidly when having reached unmanned aerial vehicle trouble.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method with different obstacle avoidance priorities for improving an obstacle avoidance function of an unmanned aerial vehicle.
Background
A drone is an unmanned aircraft that is operated with a radio remote control device and self-contained program control, or is operated autonomously, either completely or intermittently, by an onboard computer. Compared with manned aircraft, it has the advantages of small volume, low cost, convenient use, low requirement on the operation environment, strong battlefield viability and the like.
Unmanned aerial vehicle flight in-process may meet the barrier, if the operation is not good the thing that the striking damaged appears very easily, present unmanned aerial vehicle keeps away the problem that the barrier in-process does not have the priority, can't distinguish whether need keep away the barrier according to the volume of barrier and the kind of barrier, it can directly dodge to meet the barrier, the time that can lead to unmanned aerial vehicle to carry out the task prolongs greatly like this, be unfavorable for unmanned aerial vehicle's accurate control, and unmanned aerial vehicle has the risk that the trouble dropped when carrying out the task, the unmanned aerial vehicle that the unable safe automatic protection of current unmanned aerial vehicle dropped does not damage, therefore we provide a have different keep away the barrier priority and improve unmanned aerial vehicle and keep away the control method of barrier function.
Disclosure of Invention
Aiming at the defects of the prior art, the unmanned aerial vehicle obstacle avoidance system has the advantages of improving obstacle avoidance efficiency by different obstacle avoidance priorities, increasing control precision, rapidly realizing protection response when the unmanned aerial vehicle breaks down, avoiding the situation that a protection device cannot protect in time when the unmanned aerial vehicle breaks down, solving the problem that the existing unmanned aerial vehicle has no priority in the obstacle avoidance process, being incapable of distinguishing whether the unmanned aerial vehicle needs to avoid the obstacle according to the volume of the obstacle and the type of the obstacle, and directly avoiding the obstacle, so that the time for the unmanned aerial vehicle to execute a task is greatly prolonged, the unmanned aerial vehicle is not beneficial to accurate control, the unmanned aerial vehicle has the risk of breaking down when executing the task, and the existing unmanned aerial vehicle cannot safely and automatically protect the falling unmanned aerial vehicle from damage, and the invention provides the following technical scheme: a control method with different obstacle avoidance priorities for improving the obstacle avoidance function of an unmanned aerial vehicle comprises an image acquisition module, an image analysis module, a data judgment module and a flight control module;
an image acquisition module: the system is used for acquiring obstacle information around the unmanned aerial vehicle;
an image analysis module: the device is used for analyzing the type and the size of the collected obstacles;
a data judgment module: the obstacle avoidance control system is used for judging whether an obstacle leaves or not, whether the volume exceeds a preset value or not and judging the obstacle avoidance priority level;
a flight control module: the method is used for controlling the unmanned aerial vehicle to detour and the calibrated flight route after the unmanned aerial vehicle detours.
The method comprises the following specific steps:
s, acquiring peripheral image information of the unmanned aerial vehicle in real time by using a camera, and uploading the peripheral image information to a data analysis module;
s, analyzing the acquired barrier data, and judging the size of the barrier and the type of the barrier;
s, judging whether the barrier leaves by itself, if so, keeping the flight state unchanged, otherwise, carrying out the next step;
s, judging whether the volume of the obstacle exceeds a preset value, if so, controlling the unmanned aerial vehicle to detour, and otherwise, carrying out the next step;
s, judging whether the obstacle avoidance priority exceeds a preset value or not, if so, controlling the unmanned aerial vehicle to detour, otherwise, keeping the flight state unchanged;
s, after the unmanned aerial vehicle is controlled to detour, judging whether all obstacles are avoided or not, if not, restarting the judgment from the step S, and if all obstacles are avoided, automatically calibrating a flight route;
s, keeping a flight state after calibration, and collecting peripheral information of the unmanned aerial vehicle in real time.
The utility model provides a control method's device with different obstacle avoidance priority improves unmanned aerial vehicle and keeps away barrier function, is including launching the subassembly, launch the inside of subassembly and be provided with first connecting rod, the middle part riveting of first connecting rod has first kelly, one side joint that first connecting rod was kept away from to first kelly has first buckle, the top fixedly connected with parachute body of first buckle, the parachute-opening end of parachute body is connected with the connection rope, the one end riveting of first connecting rod has the second kelly, one side joint that first connecting rod was kept away from to the second kelly has the second buckle, the top welding of second buckle has the overhead gage, the first coupling spring of one end fixedly connected with that the second buckle was kept away from to the overhead gage.
Still include pressure reducing assembly, pressure reducing assembly's inside is provided with the second connecting rod, the middle part riveting of second connecting rod has the third kelly, one side joint that the second connecting rod was kept away from to the third kelly has the third buckle, the bottom of third buckle is provided with the gasbag, the one end riveting of second connecting rod has the fourth kelly, one side joint that the second connecting rod was kept away from to the fourth kelly has the fourth buckle, the bottom welding of fourth buckle has down the baffle, the left side fixedly connected with second connecting spring of baffle down.
Still include the fuselage, the outside of fuselage is provided with the crashproof board, the inside of fuselage is provided with drives actuating cylinder, drive actuating cylinder's drive shaft fixedly connected with push pedal, the top riveting of push pedal has ejection of subassembly, the bottom riveting of push pedal has decompression subassembly, the inside of fuselage is provided with compression spring, compression spring's top fixedly connected with top board, compression spring's bottom fixedly connected with holding down plate.
Furthermore, one side of the first connecting rod, which is far away from the second clamping rod, is riveted to the top of the push plate, so that the first connecting rod is driven to move conveniently.
Furthermore, the bottom of the first buckle is abutted to the top of the upper pressure plate, so that the first buckle is convenient to push.
Further, go up the inside at the fuselage top of baffle sliding connection, one side fixed connection that the overhead gage was kept away from to first connecting spring is in the inside at the fuselage top, just baffle sliding connection is in the inside of fuselage bottom down, one side fixed connection that baffle was kept away from down to second connecting spring is in the inside of fuselage bottom.
Furthermore, one end, far away from the fourth clamping rod, of the second connecting rod is riveted with the bottom of the push plate, so that the second connecting rod can be driven to move conveniently.
Furthermore, the top of third buckle and the bottom butt of holding down plate are convenient for drive the motion of third buckle.
Compared with the prior art, the invention provides a control method with different obstacle avoidance priorities for improving the obstacle avoidance function of an unmanned aerial vehicle, which has the following beneficial effects:
1. the control method has the advantages that the peripheral image information of the unmanned aerial vehicle is collected in real time, the obstacle does not leave by itself, whether the obstacle detours according to the obstacle area is judged, whether the obstacle avoiding priority exceeds a preset value is judged when the obstacle does not detour, the obstacle avoiding priority exceeds the preset value and then the obstacle detours, different obstacle avoiding priorities are set, the obstacle avoiding time of the unmanned aerial vehicle in the flight process can be shortened, small protection animals can be avoided actively, collision avoidance and protection animals are prevented from causing damage to the protection animals, and therefore the effects that the obstacle avoiding priorities are improved, the obstacle avoiding efficiency is increased, the control precision is improved, and the collision avoidance and protection animals are prevented from causing damage to the protection animals are achieved.
2. This control method that has different obstacle-avoiding priority and improves unmanned aerial vehicle and keep away barrier function, through driving actuating cylinder and push pedal, first connecting spring, the overhead gage, the second connecting spring, compression spring, the lower baffle, the parachute body, the cooperation of gasbag is used, when unmanned aerial vehicle breaks down and drops, it starts to drive actuating cylinder this moment, further make the push pedal move right, the overhead gage can move left under the pulling of first connecting spring this moment, the parachute body can be popped out the fuselage under compression spring's elasticity this moment, the baffle can move left under the pulling of second connecting spring, the bottom of fuselage is moved to the gasbag this moment, the protection course is simple, the reaction speed is rapid, thereby the effect that protection device can't in time protect when having reached unmanned aerial vehicle trouble guard reaction and avoiding low-altitude flight rapidly.
Drawings
FIG. 1 is a schematic flow chart of the system of the present invention;
FIG. 2 is a schematic flow chart of the system steps of the present invention;
FIG. 3 is a schematic top perspective view of the overall structure of the present invention;
FIG. 4 is a schematic sectional elevation view of the fuselage structure of the present invention;
FIG. 5 is an enlarged view of the structure A of FIG. 4 according to the present invention;
FIG. 6 is an enlarged view of the structure B in FIG. 4 according to the present invention.
In the figure: 1. a body; 2. an anti-collision plate; 3. a driving cylinder; 4. pushing the plate; 5. an ejection assembly; 6. a pressure relief assembly; 7. a compression spring; 8. an upper pressure plate; 9. a lower pressing plate; 51. a first link; 52. a first clamping rod; 53. a first buckle; 54. a parachute body; 55. connecting ropes; 56. a second clamping rod; 57. a second buckle; 58. an upper baffle plate; 59. a first connecting spring; 61. a second link; 62. a third clamping rod; 63. a third buckle; 64. an air bag; 65. a fourth clamping rod; 66. a fourth buckle; 67. a lower baffle plate; 68. and a second connecting spring.
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment of the control method with different obstacle avoidance priorities for improving the obstacle avoidance function of the unmanned aerial vehicle is as follows:
the first embodiment is as follows:
referring to fig. 1 to 5, a control method for improving an unmanned aerial vehicle obstacle avoidance function with different obstacle avoidance priorities includes an image acquisition module, an image analysis module, a data judgment module, and a flight control module;
an image acquisition module: the system is used for acquiring obstacle information around the unmanned aerial vehicle;
an image analysis module: the device is used for analyzing the type and the size of the collected obstacles;
a data judgment module: the obstacle avoidance control system is used for judging whether an obstacle leaves or not, whether the volume exceeds a preset value or not and judging the obstacle avoidance priority level;
a flight control module: the method is used for controlling the unmanned aerial vehicle to detour and the calibrated flight route after the unmanned aerial vehicle detours.
The method comprises the following specific steps:
s1, acquiring peripheral image information of the unmanned aerial vehicle in real time by using a camera, and uploading the peripheral image information to a data analysis module;
s2, analyzing the acquired barrier data, and judging the size of the barrier and the type of the barrier;
s3, judging whether the barrier leaves by itself, if so, keeping the flight state unchanged, otherwise, carrying out the next step;
s4, judging whether the volume of the obstacle exceeds a preset value, if so, controlling the unmanned aerial vehicle to bypass, and otherwise, carrying out the next step;
s5, judging whether the obstacle avoidance priority exceeds a preset value or not, if so, controlling the unmanned aerial vehicle to detour, and otherwise, keeping the flight state unchanged;
s6, after the unmanned aerial vehicle is controlled to detour, judging whether all obstacles are avoided, if not, restarting the judgment from the step S3, and if all obstacles are avoided, automatically calibrating the flight route;
and S7, keeping the flight state after calibration, and acquiring peripheral information of the unmanned aerial vehicle in real time.
The utility model provides a control method's device with different obstacle-avoiding priority improves unmanned aerial vehicle and keeps away barrier function, including launching subassembly 5, launch the inside of subassembly 5 and be provided with first connecting rod 51, one side riveting at the top of push pedal 4 that second kelly 56 was kept away from to first connecting rod 51, be convenient for drive first connecting rod 51 motion, the middle part riveting of first connecting rod 51 has first kelly 52, one side joint that first connecting rod 51 was kept away from to first kelly 52 has first buckle 53, the bottom of first buckle 53 and the top butt of top board 8, be convenient for promote the motion of first buckle 53, the top fixedly connected with parachute body 54 of first buckle 53, the parachute-open end of parachute body 54 is connected with the connection rope 55, the one end riveting of first connecting rod 51 has second kelly 56, one side joint that first connecting rod 51 was kept away from to second buckle 57 of second buckle 56 has, the top welding of second buckle 57 has overhead gage 58, overhead gage 58 is connected with the inside at fuselage 1 top in sliding connection, one side fixed connection at the top of overhead gage 58 that first connecting spring 59 kept away from overhead gage 58, the one end fixed connection buckle 59 of overhead gage 59 is kept away from first connecting gage 59.
Still include fuselage 1, the outside of fuselage 1 is provided with anticollision board 2, and the inside of fuselage 1 is provided with drives actuating cylinder 3, drives actuating cylinder 3's drive shaft fixedly connected with push pedal 4, and the top riveting of push pedal 4 has ejection subassembly 5, and the bottom riveting of push pedal 4 has decompression subassembly 6, and the inside of fuselage 1 is provided with compression spring 7, compression spring 7's top fixedly connected with top board 8, compression spring 7's bottom fixedly connected with holding down plate 9.
Gather unmanned aerial vehicle peripheral image information in real time, the barrier does not leave by oneself, then judge whether detour according to the barrier volume, judge when not detouring whether barrier is kept away the barrier priority and is surpassed the default, surpass then the detour, set for the difference and keep away the barrier priority and can reduce the time that unmanned aerial vehicle flight in-process kept away the barrier, and can initiatively dodge when meetting small-size protection animal, it leads to protecting the animal damage to dodge the collision protection animal, thereby reached the difference and kept away the barrier priority and improved and keep away barrier efficiency increase control accuracy and dodge the effect that the collision small-size protection animal leads to protecting the animal damage.
When unmanned aerial vehicle broke down and dropped, driving actuating cylinder 3 and starting this moment, further making push pedal 4 move right, baffle 58 can move left under the pulling of first coupling spring 59 this moment, and at this moment, the parachute export at fuselage 1 top is not being blocked to the overhead gage 58, and parachute body 54 can be popped out fuselage 1 under compression spring 7's elasticity this moment, and parachute body 54 can drive unmanned speed reduction through connecting rope 55 this moment, avoids unmanned aerial vehicle to fall rapidly.
Example two:
referring to fig. 1-4 and 6, a control method for improving an obstacle avoidance function of an unmanned aerial vehicle with different obstacle avoidance priorities includes an image acquisition module, an image analysis module, a data judgment module, and a flight control module;
an image acquisition module: the system is used for acquiring obstacle information around the unmanned aerial vehicle;
an image analysis module: the device is used for analyzing the type and the size of the collected obstacles;
a data judgment module: the obstacle avoidance control system is used for judging whether the obstacle leaves or not, whether the volume exceeds a preset value or not and judging the obstacle avoidance priority level;
a flight control module: the method is used for controlling the unmanned aerial vehicle to detour and the calibrated flight route after the unmanned aerial vehicle detours.
The method comprises the following specific steps:
s1, acquiring peripheral image information of the unmanned aerial vehicle in real time by using a camera, and uploading the peripheral image information to a data analysis module;
s2, analyzing the acquired barrier data, and judging the size of the barrier and the type of the barrier;
s3, judging whether the barrier leaves by itself, if so, keeping the flight state unchanged, and if not, carrying out the next step;
s4, judging whether the volume of the obstacle exceeds a preset value, if so, controlling the unmanned aerial vehicle to bypass, and otherwise, carrying out the next step;
s5, judging whether the obstacle avoidance priority exceeds a preset value or not, if so, controlling the unmanned aerial vehicle to detour, and otherwise, keeping the flight state unchanged;
s6, after the unmanned aerial vehicle is controlled to bypass, judging whether all obstacles are avoided, if not, restarting the judgment from the step S3, and if all obstacles are avoided, automatically calibrating a flight route;
and S7, keeping the flight state after calibration, and acquiring peripheral information of the unmanned aerial vehicle in real time.
The utility model provides a device that has different obstacle-avoidance priority and improves control method that unmanned aerial vehicle kept away from barrier function, including pressure reducing component 6, pressure reducing component 6's inside is provided with second connecting rod 61, the one end that fourth kelly 65 was kept away from to second connecting rod 61 is riveted with the bottom of push pedal 4, be convenient for drive the motion of second connecting rod 61, the middle part riveting of second connecting rod 61 has third kelly 62, one side joint that second connecting rod 61 was kept away from to third kelly 62 has third buckle 63, the top of third buckle 63 and the bottom butt of holding down plate 9, be convenient for drive third buckle 63 motion, the bottom of third buckle 63 is provided with gasbag 64, one end riveting of second connecting rod 61 has fourth kelly 65, one side joint that second connecting rod 65 kept away from second connecting rod 61 has fourth buckle 66, baffle 67 has been welded to the bottom of fourth buckle 66, baffle 67 sliding connection is in the inside of fuselage 1 bottom, one side fixed connection that second connecting spring 68 kept away from baffle 67 is in the fuselage 1 bottom is connected with second connecting spring 68.
Still include fuselage 1, the outside of fuselage 1 is provided with crashproof board 2, and the inside of fuselage 1 is provided with drives actuating cylinder 3, drives actuating cylinder 3's drive shaft fixedly connected with push pedal 4, and the top riveting of push pedal 4 has ejection subassembly 5, and the bottom riveting of push pedal 4 has pressure reduction subassembly 6, and the inside of fuselage 1 is provided with compression spring 7, compression spring 7's top fixedly connected with top board 8, compression spring 7's bottom fixedly connected with holding down plate 9.
Gather unmanned aerial vehicle peripheral image information in real time, the barrier does not leave by oneself, then judge whether detour according to the barrier volume, judge when not detouring that the barrier is kept away the barrier priority and whether surpass the default, surpass then the detour, set for different and keep away the barrier priority and can reduce the time that unmanned aerial vehicle flight in-process kept away the barrier, and can initiatively dodge when meetting small-size protection animal, it leads to the protection animal damage to dodge the collision protection animal, thereby reached different and kept away the barrier priority and improved and keep away barrier efficiency increase control accuracy and dodge the effect that the collision small-size protection animal leads to the protection animal damage.
Second connecting rod 61 follows push pedal 4 and moves right, baffle 67 can move left under the pulling of second connecting spring 68 this moment, baffle 67 is not stifled in the export of 1 bottom of fuselage this moment down, push down plate 9 can drive third buckle 63 downstream under compression spring 7's spring action this moment, further make gasbag 64 move the bottom of fuselage 1, gasbag 64 can give unmanned aerial vehicle a damping force when unmanned aerial vehicle drops the ground, avoid unmanned aerial vehicle to break, the protection process is simple, the reaction rate is rapid, thereby the effect that protection device can't in time protect when the protection reaction avoids low-altitude flight rapidly when having reached the unmanned aerial vehicle trouble.
Example three:
referring to fig. 1-6, a control method for improving an obstacle avoidance function of an unmanned aerial vehicle with different obstacle avoidance priorities includes an image acquisition module, an image analysis module, a data judgment module, and a flight control module;
an image acquisition module: the system is used for acquiring obstacle information around the unmanned aerial vehicle;
an image analysis module: the device is used for analyzing the type and the size of the collected obstacles;
a data judgment module: the obstacle avoidance control system is used for judging whether an obstacle leaves or not, whether the volume exceeds a preset value or not and judging the obstacle avoidance priority level;
a flight control module: the method is used for controlling the unmanned aerial vehicle to detour and the calibrated flight route after the unmanned aerial vehicle detours.
The method comprises the following specific steps:
s1, acquiring peripheral image information of the unmanned aerial vehicle in real time by using a camera, and uploading the peripheral image information to a data analysis module;
s2, analyzing the acquired barrier data, and judging the size of the barrier and the type of the barrier;
s3, judging whether the barrier leaves by itself, if so, keeping the flight state unchanged, and if not, carrying out the next step;
s4, judging whether the volume of the obstacle exceeds a preset value, if so, controlling the unmanned aerial vehicle to detour, and otherwise, carrying out the next step;
s5, judging whether the obstacle avoidance priority exceeds a preset value or not, if so, controlling the unmanned aerial vehicle to detour, and otherwise, keeping the flight state unchanged;
s6, after the unmanned aerial vehicle is controlled to bypass, judging whether all obstacles are avoided, if not, restarting the judgment from the step S3, and if all obstacles are avoided, automatically calibrating a flight route;
and S7, keeping the flight state after calibration, and acquiring peripheral information of the unmanned aerial vehicle in real time.
The utility model provides a device that has different obstacle-avoidance priority and improves control method of unmanned aerial vehicle obstacle-avoidance function, including launching subassembly 5, launch the inside of subassembly 5 and be provided with first connecting rod 51, one side riveting of second kelly 56 is kept away from to first connecting rod 51 is at the top of push pedal 4, be convenient for drive first connecting rod 51 motion, first kelly 52 is riveted at the middle part of first connecting rod 51, one side joint that first connecting rod 51 was kept away from to first kelly 52 has first buckle 53, the bottom of first buckle 53 and the top butt of top board 8, be convenient for promote the motion of first buckle 53, the top fixedly connected with parachute body 54 of first buckle 53, the parachute-opening end of parachute body 54 is connected with and connects rope 55, the one end riveting of first connecting rod 51 has second kelly 56, one side joint that second kelly 56 kept away from first connecting rod 51 has second buckle 57, the top welding of second buckle 57 has top board 58, top board 58 sliding connection is in the inside of fuselage 1 top, one side fixed connection of first connecting spring 59 is kept away from the inside of top board 1 and is connected with second buckle 59.
Still include pressure reducing assembly 6, pressure reducing assembly 6's inside is provided with second connecting rod 61, the one end that fourth kelly 65 was kept away from to second connecting rod 61 is riveted with push pedal 4's bottom, be convenient for drive second connecting rod 61's motion, the middle part riveting of second connecting rod 61 has third buckle 63, one side joint that second connecting rod 61 was kept away from to third buckle 62 has third buckle 63, the top of third buckle 63 and the bottom butt of holding down plate 9, be convenient for drive third buckle 63 motion, the bottom of third buckle 63 is provided with gasbag 64, the one end riveting of second connecting rod 61 has fourth buckle 65, one side joint that second connecting rod 61 was kept away from to fourth buckle 65 has fourth buckle 66, the bottom welding of fourth buckle 66 has baffle 67 down, baffle 67 sliding connection is in the inside in fuselage 1 bottom, one side fixed connection in the inside in fuselage 1 bottom is kept away from to second connecting spring 68, the left side fixed connection of baffle 67 has second connecting spring 68 down.
Still include fuselage 1, the outside of fuselage 1 is provided with anticollision board 2, and the inside of fuselage 1 is provided with drives actuating cylinder 3, drives actuating cylinder 3's drive shaft fixedly connected with push pedal 4, and the top riveting of push pedal 4 has ejection subassembly 5, and the bottom riveting of push pedal 4 has decompression subassembly 6, and the inside of fuselage 1 is provided with compression spring 7, compression spring 7's top fixedly connected with top board 8, compression spring 7's bottom fixedly connected with holding down plate 9. Gather unmanned aerial vehicle peripheral image information in real time, the barrier does not leave by oneself, then judge whether detour according to the barrier volume, judge when not detouring whether barrier is kept away the barrier priority and is surpassed the default, surpass then the detour, set for the difference and keep away the barrier priority and can reduce the time that unmanned aerial vehicle flight in-process kept away the barrier, and can initiatively dodge when meetting small-size protection animal, it leads to protecting the animal damage to dodge the collision protection animal, thereby reached the difference and kept away the barrier priority and improved and keep away barrier efficiency increase control accuracy and dodge the effect that the collision small-size protection animal leads to protecting the animal damage.
When unmanned aerial vehicle broke down and dropped, it starts to drive actuating cylinder 3 this moment, further makes push pedal 4 move right, and baffle 58 can move left under the pulling of first coupling spring 59 this moment, and at this moment, the parachute outlet at fuselage 1 top is not being blocked to upper baffle 58, and parachute body 54 can be popped out fuselage 1 under compression spring 7's elasticity this moment, and parachute body 54 can drive unmanned speed reduction through connecting rope 55 this moment, avoids unmanned aerial vehicle to fall rapidly.
Second connecting rod 61 follows push pedal 4 and moves right, baffle 67 can move left under the pulling of second connecting spring 68 this moment, baffle 67 is not stifled in the export of 1 bottom of fuselage this moment down, push down plate 9 can drive third buckle 63 downstream under compression spring 7's spring action this moment, further make gasbag 64 move the bottom of fuselage 1, gasbag 64 can give a damping force of unmanned aerial vehicle when unmanned aerial vehicle drops the ground, avoid unmanned aerial vehicle to break, thereby when having reached the unmanned aerial vehicle trouble protection response avoid low-altitude flight the effect of the unable timely protection of protection device rapidly.
The working principle is that the peripheral image information of the unmanned aerial vehicle is collected in real time, the size of the obstacle and the type of the obstacle are judged, the obstacle does not leave by itself, whether the size of the obstacle exceeds a preset value is judged, if the size of the obstacle exceeds the preset value, the unmanned aerial vehicle detours, otherwise, whether the obstacle avoidance priority exceeds the preset value is judged, the obstacle avoidance is detoured if the size of the obstacle exceeds the preset value, otherwise, the flight state is kept unchanged, different obstacle avoidance priorities are set, the obstacle avoidance time of the unmanned aerial vehicle in the flight process can be reduced, after the unmanned aerial vehicle is controlled to detour, the flight route can be automatically calibrated, the obstacle avoidance time in the flight process is further reduced, and when small-sized protection animals are encountered, the obstacles can be actively avoided, the collision and the damage to the protection animals are caused, so that the effects of improving the obstacle avoidance efficiency and increasing the control precision and avoiding the damage to the small-sized protection animals are achieved through different obstacle avoidance priorities.
When unmanned aerial vehicle broke down and dropped, drive actuating cylinder 3 this moment and start, because the drive shaft fixedly connected with push pedal 4 who drives actuating cylinder 3, so push pedal 4 was kept away from and is driven actuating cylinder 3 motion this moment, because one side riveting of second kelly 56 is kept away from to first link 51 at the top of push pedal 4 again, so first link 51 can follow push pedal 4 and move right this moment.
Because the second clamping rod 56 is riveted to one end of the first connecting rod 51, the second buckle 57 is clamped to one side, away from the first connecting rod 51, of the second clamping rod 56, the second buckle 57 is not clamped by the second clamping rod 56 at the moment, and because the upper baffle 58 is welded to the top of the second buckle 57, the upper baffle 58 is not clamped at the moment, and because one side, away from the upper baffle 58, of the first connecting spring 59 is fixedly connected to the inside of the top of the machine body 1, and the one end, away from the second buckle 57, of the upper baffle 58 is fixedly connected with the first connecting spring 59, the upper baffle 58 can move leftwards under the pulling of the first connecting spring 59, and at the moment, the upper baffle 58 does not block the parachute outlet at the top of the machine body 1.
Because the middle part of first connecting rod 51 is riveted with first kelly 52 again, one side joint that first kelly 52 kept away from first connecting rod 51 has first buckle 53, so first kelly 52 is not blocking first buckle 53 this moment, because the top fixedly connected with parachute body 54 of first buckle 53 again, so parachute body 54 can not blocked yet this moment, because the bottom of first buckle 53 and the top butt of top board 8 again, the top fixedly connected with top board 8 of compression spring 7, so parachute body 54 can be popped out fuselage 1 under the elasticity of compression spring 7 this moment, because the parachute-opening end of parachute body 54 is connected with connecting rope 55 again, so parachute body 54 can drive unmanned speed reduction through connecting rope 55 this moment, avoid unmanned aerial vehicle to fall rapidly.
Because the end of the second connecting rod 61, which is far away from the fourth clamping rod 65, is riveted with the bottom of the push plate 4, at this time, the second connecting rod 61 can move rightwards along with the push plate 4, because the end of the second connecting rod 61 is riveted with the fourth clamping rod 65, and the fourth buckle 66 is clamped on the side, which is far away from the second connecting rod 61, of the fourth clamping rod 65, at this time, the fourth buckle 66 is not clamped, because the bottom of the fourth buckle 66 is welded with the lower baffle 67, at this time, the fourth buckle 66 is not clamped, because the side, which is far away from the lower baffle 67, of the second connecting spring 68 is fixedly connected inside the bottom of the fuselage 1, and the left side of the lower baffle 67 is fixedly connected with the second connecting spring 68, at this time, the lower baffle 67 can move leftwards under the pulling of the second connecting spring 68, and at this time, the lower baffle 67 is not at the outlet at the bottom of the fuselage 1.
Because the middle part of second connecting rod 61 is riveted with third kelly 62 again, one side joint that second connecting rod 61 was kept away from to third kelly 62 has third buckle 63, so third kelly 62 is not blocking third buckle 63 this moment, because the top of third buckle 63 and the bottom butt of holding down plate 9, compression spring 7's bottom fixedly connected with holding down plate 9, so holding down plate 9 can drive third buckle 63 downstream under compression spring 7's the effect of elasticity this moment, because the bottom of third buckle 63 is provided with gasbag 64, so gasbag 64 can move the bottom of fuselage 1 this moment, gasbag 64 can give unmanned aerial vehicle a damping force when unmanned aerial vehicle drops to the ground, avoid unmanned aerial vehicle to break, thereby the effect that protection device can't in time protect when having reached unmanned aerial vehicle trouble protection response when avoiding low-altitude flight fast.
Although embodiments of the present invention have been shown and described, it will be appreciated by 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, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. A device with different obstacle avoidance priorities for improving the control method of the obstacle avoidance function of an unmanned aerial vehicle is characterized in that: the ejection mechanism comprises an ejection assembly (5), a first connecting rod (51) is arranged inside the ejection assembly (5), a first clamping rod (52) is riveted to the middle of the first connecting rod (51), a first buckle (53) is clamped to one side, far away from the first connecting rod (51), of the first clamping rod (52), a parachute body (54) is fixedly connected to the top of the first buckle (53), a connecting rope (55) is connected to the parachute opening end of the parachute body (54), a second clamping rod (56) is riveted to one end of the first connecting rod (51), a second buckle (57) is clamped to one side, far away from the first connecting rod (51), of the second clamping rod (56), an upper baffle (58) is welded to the top of the second buckle (57), and a first connecting spring (59) is fixedly connected to one end, far away from the second buckle (57), of the upper baffle (58);
the novel air bag type air bag door lock is characterized by further comprising a decompression assembly (6), a second connecting rod (61) is arranged inside the decompression assembly (6), a third clamping rod (62) is riveted to the middle of the second connecting rod (61), a third buckle (63) is clamped to one side, away from the second connecting rod (61), of the third clamping rod (62), an air bag (64) is arranged at the bottom of the third buckle (63), a fourth clamping rod (65) is riveted to one end of the second connecting rod (61), a fourth buckle (66) is clamped to one side, away from the second connecting rod (61), of the fourth clamping rod (65), a lower baffle plate (67) is welded to the bottom of the fourth buckle (66), and a second connecting spring (68) is fixedly connected to the left side of the lower baffle plate (67);
the anti-collision device is characterized by further comprising a machine body (1), an anti-collision plate (2) is arranged outside the machine body (1), a driving cylinder (3) is arranged inside the machine body (1), a push plate (4) is fixedly connected to a driving shaft of the driving cylinder (3), an ejection assembly (5) is riveted to the top of the push plate (4), a pressure reduction assembly (6) is riveted to the bottom of the push plate (4), a compression spring (7) is arranged inside the machine body (1), an upper pressure plate (8) is fixedly connected to the top of the compression spring (7), and a lower pressure plate (9) is fixedly connected to the bottom of the compression spring (7);
one side of the first connecting rod (51) far away from the second clamping rod (56) is riveted to the top of the push plate (4);
the bottom of the first buckle (53) is abutted against the top of the upper pressure plate (8);
the upper baffle (58) is connected to the inside of the top of the machine body (1) in a sliding manner, and the lower baffle (67) is connected to the inside of the bottom of the machine body (1) in a sliding manner;
one end of the second connecting rod (61) far away from the fourth clamping rod (65) is riveted with the bottom of the push plate (4);
the top of the third buckle (63) is abutted against the bottom of the lower pressing plate (9);
the method comprises the steps of collecting peripheral image information of the unmanned aerial vehicle in real time, judging the size of an obstacle and the type of the obstacle, judging whether the size of the obstacle exceeds a preset value or not if the size of the obstacle does not exceed the preset value, bypassing if the size of the obstacle exceeds the preset value, otherwise judging whether the obstacle avoidance priority exceeds the preset value or not, bypassing if the obstacle avoidance priority exceeds the preset value, keeping the flight state unchanged, setting different obstacle avoidance priorities to reduce the obstacle avoidance time of the unmanned aerial vehicle in the flight process, automatically calibrating a flight route after the unmanned aerial vehicle is controlled to bypass, further reducing the obstacle avoidance time in the flight process, actively avoiding when small protection animals are encountered, avoiding and impacting the protection animals to protect the animals, and further achieving the effects of improving the obstacle avoidance efficiency by different obstacle avoidance priorities, increasing the control precision and avoiding the damage of the small protection animals;
when the unmanned aerial vehicle breaks down and drops, the driving cylinder (3) is started at the moment, and because the driving shaft of the driving cylinder (3) is fixedly connected with the push plate (4), the push plate (4) is far away from the driving cylinder (3) to move at the moment, and because one side, away from the second clamping rod (56), of the first connecting rod (51) is riveted at the top of the push plate (4), the first connecting rod (51) can move rightwards along with the push plate (4) at the moment;
because one end of the first connecting rod (51) is riveted with the second clamping rod (56), one side, far away from the first connecting rod (51), of the second clamping rod (56) is clamped with the second buckle (57), at the moment, the second clamping rod (56) does not clamp the second buckle (57), and because the top of the second buckle (57) is welded with the upper baffle plate (58), at the moment, the upper baffle plate (58) is not clamped, and because one side, far away from the upper baffle plate (58), of the first connecting spring (59) is fixedly connected to the inside of the top of the machine body (1), one end, far away from the second buckle (57), of the upper baffle plate (58) is fixedly connected with the first connecting spring (59), at the moment, the upper baffle plate (58) can move leftwards under the pulling of the first connecting spring (59), and at the moment, the upper baffle plate (58) does not block the parachute body outlet at the top of the machine body (1);
because the middle part of first connecting rod (51) is riveted with first kelly (52) again, one side joint that first connecting rod (51) were kept away from in first kelly (52) has first buckle (53), so first kelly (52) are not blocking first buckle (53) this moment, because top fixedly connected with parachute body (54) of first buckle (53) again, so parachute body (54) can not blocked this moment yet, because the bottom of first buckle (53) and the top butt of top clamp (8), the top fixedly connected with top clamp (8) of compression spring (7), so parachute body (54) can be popped out fuselage (1) under the elasticity of compression spring (7) this moment, because the parachute-opening end of parachute body (54) is connected with connection rope (55), so parachute body (54) can drive unmanned speed reduction through connection rope (55) this moment, avoid unmanned aerial vehicle to fall rapidly;
because one end, far away from the fourth clamping rod (65), of the second connecting rod (61) is riveted with the bottom of the push plate (4), the second connecting rod (61) can move rightwards along with the push plate (4), because one end, far away from the second connecting rod (61), of the second connecting rod (61) is riveted with the fourth clamping rod (65), one side, far away from the second connecting rod (61), of the fourth clamping rod (65) is clamped with the fourth buckle (66), the fourth clamping rod (65) does not clamp the fourth buckle (66), because the bottom of the fourth buckle (66) is welded with the lower baffle (67), the fourth buckle (66) is not clamped, because one side, far away from the lower baffle (67), of the second connecting spring (68) is fixedly connected to the inside of the bottom of the machine body (1), the left side of the lower baffle (67) is fixedly connected with the second connecting spring (68), the lower baffle (67) can move leftwards under the pulling of the second connecting spring (68), and the lower baffle (67) is not blocked at the outlet in the bottom of the machine body (1);
because the middle part riveting of second connecting rod (61) has third kelly (62) again, one side joint that second connecting rod (61) were kept away from in third kelly (62) has third buckle (63), so third kelly (62) are not blocking third buckle (63) this moment, because the top of third buckle (63) and the bottom butt of holding down plate (9) again, the bottom fixedly connected with holding down plate (9) of compression spring (7), so holding down plate (9) can drive third buckle (63) downstream under the spring action of compression spring (7) this moment, because the bottom of third buckle (63) is provided with gasbag (64) again, so gasbag (64) can move the bottom of fuselage (1) this moment, gasbag (64) can give unmanned aerial vehicle a damping force when unmanned aerial vehicle drops to the ground, avoid unmanned aerial vehicle to break, thereby the effect that protection device can's timely protection when having reached the unmanned aerial vehicle trouble and having reacted and avoiding the low altitude to fall rapidly.
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| CN104943865B (en) * | 2015-07-12 | 2017-10-24 | 北京理工大学 | Fully mechanical microminiature is jettisoninged robot parachute automatic-separation mechanism |
| IL245667A0 (en) * | 2016-05-16 | 2016-08-31 | Israel Aerospace Ind Ltd | Systems and methods for indicating and recovering parachute failures |
| CN106168810A (en) * | 2016-09-18 | 2016-11-30 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of unmanned plane during flying obstacle avoidance system based on RTK and method |
| CN107585303B (en) * | 2017-09-12 | 2023-08-22 | 厦门盈趣科技股份有限公司 | Unmanned aerial vehicle emergency parachute adjusting device and automatic adjusting method |
| CN108334103B (en) * | 2017-12-21 | 2023-04-14 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle multi-distance obstacle avoidance method and obstacle avoidance system |
| CN108502161A (en) * | 2018-06-19 | 2018-09-07 | 南京森林警察学院 | A kind of anti-air crash unmanned plane of more rotors of energy autonomous intelligence pop-up parachute |
| CN110329527A (en) * | 2019-08-02 | 2019-10-15 | 深圳市安泽拉科技有限公司 | A kind of UAV system with parachute safety guard |
| CN114423681A (en) * | 2019-09-20 | 2022-04-29 | 帕拉泽罗科技有限公司 | Damage mitigation for aircraft with deployable parachutes |
| CN113485450A (en) * | 2021-08-18 | 2021-10-08 | 江苏熙枫智能科技有限公司 | Unmanned aerial vehicle keeps away barrier system based on computer vision |
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