CN114966731A - Dynamic tracking unmanned aerial vehicle detection method based on laser radar technology - Google Patents
Dynamic tracking unmanned aerial vehicle detection method based on laser radar technology Download PDFInfo
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- CN114966731A CN114966731A CN202210557573.9A CN202210557573A CN114966731A CN 114966731 A CN114966731 A CN 114966731A CN 202210557573 A CN202210557573 A CN 202210557573A CN 114966731 A CN114966731 A CN 114966731A
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- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 238000005516 engineering process Methods 0.000 title claims abstract description 17
- 239000000428 dust Substances 0.000 claims abstract description 42
- 238000001179 sorption measurement Methods 0.000 claims abstract description 38
- 239000000843 powder Substances 0.000 claims abstract description 34
- NLXLAEXVIDQMFP-UHFFFAOYSA-N Ammonia chloride Chemical compound [NH4+].[Cl-] NLXLAEXVIDQMFP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000010521 absorption reaction Methods 0.000 claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims abstract description 15
- 235000019270 ammonium chloride Nutrition 0.000 claims abstract description 12
- 238000001125 extrusion Methods 0.000 claims description 41
- 239000000463 material Substances 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 19
- 238000009413 insulation Methods 0.000 claims description 18
- 230000005389 magnetism Effects 0.000 claims description 16
- 239000000956 alloy Substances 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 12
- 238000002955 isolation Methods 0.000 claims description 10
- 241001465754 Metazoa Species 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 7
- 238000000576 coating method Methods 0.000 claims description 7
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 7
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 7
- 239000010935 stainless steel Substances 0.000 claims description 7
- 229910001220 stainless steel Inorganic materials 0.000 claims description 7
- 229910001030 Iron–nickel alloy Inorganic materials 0.000 claims description 5
- RQPZNWPYLFFXCP-UHFFFAOYSA-L barium dihydroxide Chemical compound [OH-].[OH-].[Ba+2] RQPZNWPYLFFXCP-UHFFFAOYSA-L 0.000 claims description 5
- 229910001863 barium hydroxide Inorganic materials 0.000 claims description 5
- 235000014676 Phragmites communis Nutrition 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000001678 irradiating effect Effects 0.000 claims 1
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 abstract description 22
- 230000003068 static effect Effects 0.000 abstract description 10
- 230000005611 electricity Effects 0.000 abstract description 8
- 239000006247 magnetic powder Substances 0.000 abstract description 7
- ZUDYPQRUOYEARG-UHFFFAOYSA-L barium(2+);dihydroxide;octahydrate Chemical compound O.O.O.O.O.O.O.O.[OH-].[OH-].[Ba+2] ZUDYPQRUOYEARG-UHFFFAOYSA-L 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 238000001816 cooling Methods 0.000 abstract description 2
- 239000002775 capsule Substances 0.000 description 19
- 230000000694 effects Effects 0.000 description 10
- 239000012528 membrane Substances 0.000 description 7
- 229910021529 ammonia Inorganic materials 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 241000883990 Flabellum Species 0.000 description 3
- 230000007774 longterm Effects 0.000 description 3
- 230000006386 memory function Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 229910000990 Ni alloy Inorganic materials 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 150000004689 octahydrates Chemical class 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B6/00—Cleaning by electrostatic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a dynamic tracking unmanned aerial vehicle detection method based on a laser radar technology, which belongs to the technical field of target tracking, and the scheme realizes that heat is released when an unmanned aerial vehicle body and a laser radar body work, a deformation memory spring is extended, extruded air blows a fan blade to rotate, a gear is driven to rotate, two L-shaped rods are enabled to separate and extrude ammonium chloride powder and barium hydroxide octahydrate powder to mix and react, heat absorption and cooling are realized, the unmanned aerial vehicle body and the laser radar body work conveniently, simultaneously, ammonia gas is generated to blow collision balls to collide with a fluff pad to generate static electricity, dust carried by laser beams on the surface of the laser radar body is adsorbed to an adsorption layer, meanwhile, part of ammonia gas is blown into a telescopic air bag, the telescopic air bag is extended to extrude the air to shrink an elastic absolute magnetic bag body, the absolute magnetic powder is enabled to be dispersed, the magnetic shielding of a magnet block is cancelled, and residual dust is cleaned through a magnet strip driven coil spring and a cleaning brush under the action of same polarity repulsion, and the dust is fully cleaned.
Description
Technical Field
The invention relates to the technical field of target tracking, in particular to a dynamic tracking unmanned aerial vehicle detection method based on a laser radar technology.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle of the system is that a detection signal is transmitted to a target, then the received signal reflected from the target is compared with the transmitted signal, and after appropriate processing is carried out, relevant information of the target, such as parameters of target distance, direction, height, speed, posture, even shape and the like, can be obtained, so that the target is detected, tracked and identified.
Laser radar meets the target at the transmission laser beam and reflects the in-process back, and materials such as easily carrying dust return for laser radar is stained with and attaches the dust, easily causes the influence to its work, is unfavorable for its work, also can make it take place to damage simultaneously, reduces its life.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a dynamic tracking unmanned aerial vehicle detection method based on a laser radar technology, which can release heat when an unmanned aerial vehicle body and a laser radar body work, extend a deformation memory spring, extrude air to blow fan blades to rotate, drive a gear to rotate, enable two L-shaped rods to separate and extrude ammonium chloride powder and barium hydroxide octahydrate powder to mix and react, absorb heat and cool, facilitate the work of the unmanned aerial vehicle body and the laser radar body, simultaneously generate ammonia gas to blow collision balls to collide with a fluff pad to generate static electricity, adsorb dust carried by laser beams on the surface of the laser radar body to an adsorption layer, simultaneously blow partial ammonia gas into a telescopic air bag to extend and extrude air to enable an elastic magnetic isolation bag body to contract, enable the magnetic isolation powder to disperse, cancel magnetic shielding of a magnet block, and drive a coil spring plate and a cleaning brush to clean residual dust under the action of like polarity repulsion, and the dust is fully cleaned.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
A dynamic tracking unmanned aerial vehicle detection method based on a laser radar technology comprises the following steps:
s1, firstly, starting an unmanned detection device to track and detect the dynamic target, and emitting a laser beam to the direction of the dynamic target;
s2, the laser beam is irradiated on the dynamic target and reflected, and the unmanned detection device receives the reflected laser beam and obtains the relevant information of the target after proper processing;
and S3, transmitting the obtained dynamic target tracking data to a remote control terminal, analyzing and judging the moving route of the dynamic target, and feeding back to a worker for planning preparation on the route.
Further, the unmanned aerial vehicle detection device in S1 includes an unmanned aerial vehicle body, a laser radar body is mounted at a lower end of the unmanned aerial vehicle body, heat-conducting frames are fixedly connected to both left and right ends of the laser radar body, two pistons are slidably connected to the inside of the heat-conducting frames, a shape-changing memory spring is fixedly connected between the pistons and the heat-conducting frames, an air duct is fixedly connected to an outer end of the heat-conducting frames and is communicated with the inside of the heat-conducting frames, two extruding barrels are fixedly connected to an outer end of the laser radar body, an air-guiding frame is fixedly connected to an upper end of the extruding barrel, fan blades are rotatably connected to the air-guiding frame, the air-guiding frame is fixedly connected to the air-guiding tube, the air-guiding tube is communicated with the inside of the air-guiding frame, an air outlet is chiseled at an outer end of the air-guiding frame, a gear is rotatably connected to the extruding barrels, and the gear is fixedly connected to the fan blades, the device comprises a squeezing barrel, a gear rack, a gear, a squeezing plate, a laser radar body, a motion type injection bottle nozzle, an arc-shaped adsorption frame, an adsorption mechanism, an exhaust pipe, a gear, a squeezing plate, a laser radar body, a motion type injection bottle nozzle, a cold expansion ball adsorption mechanism, an exhaust pipe, a gear, a laser radar base and a laser radar base, wherein the two L-shaped rods are connected in the squeezing barrel in a sliding mode, the gear is meshed with the gear, the squeezing plate is fixedly connected with the L-shaped rods, the ammonium chloride powder is filled between the squeezing plate and the squeezing barrel, the cold expansion ball is fixedly connected with the cold expansion ball, the cold expansion ball adsorption mechanism is arranged in the arc-shaped adsorption frame, the arc-shaped adsorption frame is fixedly connected with the exhaust pipe on the same side of the two cold expansion balls, fixedly connected with air guide diaphragm in the blast pipe, the blast pipe is linked together with the inside of arc absorption frame and cold expansion ball respectively, can realize in unmanned aerial vehicle body and the long-time work of laser radar body, the release heat, make deformation memory spring be heated and extend, the air in the extrusion heat conduction frame blows in the guide frame through the air duct, make the flabellum rotate by the influence of air flow, thereby drive gear revolve, the gear drives two L shape poles and stripper plate extrusion ammonium chloride powder through the rack and enters into in the cold expansion ball and mix with the barium hydroxide powder of eight water, the heat absorption, reduce the temperature, produce the ammonia simultaneously and bulge the arc and adsorb the frame, make its inside adsorption apparatus carry and be stained with the dust that attaches on the laser radar body surface and adsorb to the laser beam.
Further, adsorption element includes the stretch cord, stretch cord and arc absorption frame fixed connection, a plurality of collision bobbles of outer end fixedly connected with of stretch cord, the inner wall fixedly connected with fine hair pad of arc absorption frame, the outer end of arc absorption frame bonds there is the adsorbed layer, and ammonia blows the collision bobble and strikes the fine hair pad in the arc absorption frame, rather than taking place the friction, produces static, adsorbs the dust on the adsorbed layer through electrostatic adsorption ability.
Further, the outer end of the laser radar body is fixedly connected with a fixed frame, inclined pipes are fixedly connected between the fixed frame and the two exhaust pipes, the inclined pipes are respectively communicated with the inside of the fixed frame and the inside of the exhaust pipes, a telescopic air bag is arranged in each inclined pipe, the outer end of the telescopic air bag is contacted with the inner wall of each inclined pipe, an elastic magnetic isolation capsule body is arranged in the fixed frame, a magnet block is arranged in each elastic magnetic isolation capsule body, the elastic magnetic isolation capsule body is filled with magnetic powder, an air outlet is formed in the upper end of the fixed frame, a breathable film is fixedly connected in the air outlet, the elastic magnetic isolation capsule body is tightly contacted with the breathable film, a coil spring piece is fixedly connected to the lower end of the fixed frame, a cleaning brush is fixedly connected to the outer end of the coil spring piece, one end of the coil spring piece, which is far away from the fixed frame, is fixedly connected with a magnet strip, and part of ammonia gas is blown into the telescopic air bags, make its air that extends in the extrusion pipe chute enter into fixed frame in, extrusion elasticity is magnetic capsule body deformation, make the dispersion of magnetic powder, cancel the magnetic screen of magnet piece, through like-pole repulsion effect, roll up the reed downwardly extending through the magnet strip, make the cleaning brush clear up the not complete dust of absorption in laser radar body surface, reinforcing clearance effect, be extruded shrink to ventilative membrane cancellation back of sheltering from when elasticity is magnetic capsule body, the air outwards spills over through the ventilated membrane this moment, and elasticity is magnetic capsule body begins to recover to the original state after the extrusion force weakens, the magnet piece is shielded by the magnetism once more, the wind spring piece also recovers to the original state, realize reciprocal clearance.
Further, the shape memory spring is made of a shape memory alloy material, the initial state of the shape memory spring is a contraction state, the shape memory spring made of the shape memory alloy material has a memory function, and can deform to extend after the temperature rises and restore to the initial state after the temperature falls.
Further, fixedly connected with dust screen between the inner wall of air outlet, the dust screen adopts stainless steel material to make, the surface of dust screen is equipped with anti rust coating, through the dust screen that uses stainless steel material to make to be equipped with anti rust coating, can play dirt-proof effect, make it difficult by the corrosion in long-term use simultaneously, prolong its life.
Further, the outer end fixedly connected with slider of L shape pole, the inner wall chisel in the recipient has the spout, slider and spout sliding connection through the setting of slider and spout, make the motion of L shape pole more smooth and easy convenient and stable.
Furthermore, the outer end fixedly connected with sealing washer of stripper plate, the outer end of sealing washer and the inner wall in close contact with of recipient, through the setting of sealing washer, make ammonium chloride powder be difficult for the possibility of leaking downwards through the gap between stripper plate and the recipient, improve the leakproofness.
Further, the collision small balls are made of rubber materials, the fluff pads are made of animal hair materials, and after the collision small balls made of the rubber materials and the fluff pads made of the animal hair materials rub against each other, static electricity can be generated and dust can be adsorbed.
Furthermore, the magnetism-insulating powder is made of Fe-Ni alloy materials, the Ni content in the magnetism-insulating powder is 80%, the ends, close to each other, of the magnet blocks and the magnet strips are arranged in the same polarity, the magnetism influence of the magnet blocks can be effectively shielded in a dense state through the magnetism-insulating powder made of the Fe-Ni alloy materials, and the magnets and the magnet strips can generate repulsive force to drive the magnet strips to move due to the fact that the ends, close to each other, of the magnet blocks and the magnet strips are arranged in the same polarity.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) this scheme can realize in the long-time work of unmanned aerial vehicle body and laser radar body, the release heat, make deformation memory spring be heated and extend, air in the extrusion heat conduction frame blows to the wind-guiding frame in through the air duct, it rotates to make the flabellum receive the influence of air flow, thereby drive gear revolve, the gear drives two L shape poles and stripper plate extrusion ammonium chloride powder through the rack and enters into in the cold expansion ball and mix with the barium hydroxide powder of eight hydrate, the heat absorption, the cooling, the ammonia that produces simultaneously is bloated to the arc and adsorbs the frame, make its inside adsorption apparatus carry the laser beam and be stained with and adsorb at laser radar body dust on the surface and adsorb.
(2) Adsorption element includes the stretch cord, stretch cord and arc absorption frame fixed connection, and a plurality of collision bobbles of outer end fixedly connected with of stretch cord, the inner wall fixedly connected with fine hair pad of arc absorption frame, the outer end of arc absorption frame bonds and has the adsorbed layer, and ammonia is blown and is collided the bobble and strike the fine hair pad in the arc absorption frame, rather than taking place the friction, produces static, adsorbs the dust on the adsorbed layer through electrostatic adsorption ability.
(3) The outer end of the laser radar body is fixedly connected with a fixed frame, inclined pipes are fixedly connected between the fixed frame and the two exhaust pipes, the inclined pipes are respectively communicated with the fixed frame and the interiors of the exhaust pipes, telescopic airbags are arranged in the inclined pipes, the outer ends of the telescopic airbags are contacted with the inner walls of the inclined pipes, elastic magnetic insulation capsules are arranged in the fixed frame, magnet blocks are arranged in the elastic magnetic insulation capsules, magnetic insulation powder is filled in the elastic magnetic insulation capsules, an air outlet is formed in the upper end of the fixed frame, a breathable film is fixedly connected in the air outlet, the elastic magnetic insulation capsules are tightly contacted with the breathable film, a coil spring is fixedly connected to the lower end of the fixed frame, a cleaning brush is fixedly connected to the outer end of the coil spring, a magnet strip is fixedly connected to one end, away from the fixed frame, of the coil spring sheet, meanwhile, partial ammonia gas is blown into the telescopic airbags, the elastic magnetic insulation capsules are extruded to extrude the air in the inclined pipes into the fixed frame to be magnetically insulated and deformed, make magnetic powder dispersion, cancel the magnetic screen of magnet piece, through like-pole repulsion effect, move coil spring piece downwardly extending through the magnet strip, make the cleaning brush clear up the dust that laser radar body surface did not adsorb completely, reinforcing clearance effect, after elasticity magnetic capsule body is extruded shrink to the ventilative membrane cancellation and is sheltered from, the air outwards spills over through the ventilative membrane this moment, and elasticity magnetic capsule body begins to recover to the original state after the extrusion force weakens, the magnet piece is shielded by the magnetism once more, coil spring piece also recovers to the original state, realize reciprocal clearance.
(4) The shape memory spring is made of shape memory alloy materials, the initial state of the shape memory spring is a contraction state, the shape memory spring made of the shape memory alloy materials has a memory function, and can deform to extend after the temperature rises and return to the initial state after the temperature falls.
(5) Fixedly connected with dust screen between the inner wall of air outlet, the dust screen adopts stainless steel material to make, and the surface of dust screen is equipped with anti rust coating, through the dust screen who uses stainless steel material to make to be equipped with anti rust coating, can play dirt-proof effect, make it difficult by the corrosion in long-term use simultaneously, prolong its life.
(6) The outer end fixedly connected with slider of L shape pole, the inner wall chisel in the recipient has the spout, slider and spout sliding connection, through the setting of slider and spout, make the motion of L shape pole more smooth and easy convenient and stable.
(7) The outer end fixedly connected with sealing washer of stripper plate, the outer end of sealing washer and the inner wall in close contact with of recipient, through the setting of sealing washer, make ammonium chloride powder be difficult for the possibility of leaking downwards through the gap between stripper plate and the recipient, improve the leakproofness.
(8) The collision small ball is made of rubber materials, the fluff pad is made of animal hair materials, and static electricity can be generated and dust can be adsorbed after the collision small ball made of the rubber materials and the fluff pad made of the animal hair materials are rubbed with each other.
(9) The magnetic insulation powder is made of Fe-Ni alloy materials, the content of Ni in the magnetic insulation powder is 80%, the ends, close to each other, of the magnet blocks and the magnet strips are arranged in a same-polarity mode, the magnetic influence of the magnet blocks can be effectively shielded in a dense state through the magnetic insulation powder made of the Fe-Ni alloy materials, and the magnets and the magnet strips can generate repulsive force to drive the magnet strips to move due to the fact that the same-polarity arrangement is formed between the ends, close to each other, of the magnet blocks and the magnet strips.
Drawings
FIG. 1 is a schematic view of the overall structure of the unmanned aerial vehicle detection device;
FIG. 2 is a schematic front view of a heat-conducting frame according to the present invention;
FIG. 3 is a schematic side view of the wind guiding frame of the present invention;
FIG. 4 is a schematic sectional view of the container of the present invention;
FIG. 5 is a schematic sectional view of the telescopic airbag of the present invention;
FIG. 6 is a schematic view of a partial cross-sectional structure of the fixing frame according to the present invention;
fig. 7 is a front view schematically showing the structure of a coil spring sheet in the present invention.
The reference numbers in the figures illustrate:
1. an unmanned aerial vehicle body; 2. a laser radar body; 3. a heat conducting frame; 4. a piston; 5. a deformation memory spring; 6. an air duct; 7. a wind guide frame; 701. a dust screen; 8. a fan blade; 9. an extrusion cylinder; 10. a gear; 11. an L-shaped rod; 12. a rack; 13. a pressing plate; 14. cold expansion of the ball; 15. a sport-type spray bottle nozzle; 16. an exhaust pipe; 17. an arc-shaped adsorption frame; 18. bumping the small ball; 19. a fluff pad; 20. an inclined pipe; 21. a telescopic air bag; 22. a fixing frame; 23. an elastic magnetic isolation capsule body; 24. a magnet block; 25. a gas permeable membrane; 26. coiling the reed; 27. a magnet bar; 28. a cleaning brush.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example (b):
a dynamic tracking unmanned aerial vehicle detection method based on a laser radar technology comprises the following steps:
s1, firstly, starting an unmanned detection device to track and detect the dynamic target, and emitting a laser beam to the direction of the dynamic target;
s2, the laser beam is irradiated on the dynamic target and reflected, and the unmanned detection device receives the reflected laser beam and obtains the relevant information of the target after proper processing;
and S3, transmitting the obtained dynamic target tracking data to a remote control terminal, analyzing and judging the moving route of the dynamic target, and feeding back to a worker for planning preparation on the route.
Referring to fig. 1-4, the unmanned detection device in S1 includes an unmanned aerial vehicle body 1, a laser radar body 2 is mounted at a lower end of the unmanned aerial vehicle body 1, heat conduction frames 3 are fixedly connected to left and right ends of the laser radar body 2, two pistons 4 are slidably connected to an inside of the heat conduction frames 3, a shape-changing memory spring 5 is fixedly connected between the piston 4 and the heat conduction frame 3, an air duct 6 is fixedly connected to an outer end of the heat conduction frame 3, the air duct 6 is communicated with an inside of the heat conduction frame 3, two extruding barrels 9 are fixedly connected to an outer end of the laser radar body 2, an air guide frame 7 is fixedly connected to an upper end of the extruding barrel 9, a fan blade 8 is rotatably connected to the air guide frame 7, the air guide frame 7 is fixedly connected to the air duct 6, the air duct 6 is communicated with an inside of the air guide frame 7, an outer end of the air guide frame 7 is chiseled with an air outlet, a gear 10 is rotatably connected to the extruding barrel 9, a gear 10 is fixedly connected with a fan blade 8, two L-shaped rods 11 are slidably connected in an extrusion cylinder 9, one ends of the two L-shaped rods 11, which are close to each other, are fixedly connected with a rack 12, the gear 10 is meshed with the rack 12, two extrusion plates 13 are slidably connected in the extrusion cylinder 9, the extrusion plates 13 are fixedly connected with the L-shaped rods 11, ammonium chloride powder is filled between the extrusion plates 13 and the extrusion cylinder 9, cold expansion balls 14 are fixedly connected at the upper and lower ends of the extrusion cylinder 9, the extrusion cylinder 9 is communicated with the interior of the cold expansion balls 14, the cold expansion balls 14 are fixedly connected with a laser radar body 2, a movable spray bottle nozzle 15 is fixedly connected between the cold expansion balls 14 and the extrusion cylinder 9, barium hydroxide powder octahydrate is filled in the cold expansion balls 14, an arc-shaped adsorption frame 17 is fixedly connected at the outer end of the laser radar body 2, an adsorption mechanism is arranged in the arc-shaped adsorption frame 17, exhaust pipes 16 are fixedly connected between the arc-shaped adsorption frame 17 and the two cold expansion balls 14 positioned on the same side, fixedly connected with air guide diaphragm in the blast pipe 16, the blast pipe 16 is linked together with arc adsorption frame 17 and cold expansion ball 14's inside respectively, can realize in unmanned aerial vehicle body 1 and the long-time work of laser radar body 2, the release heat, make deformation memory spring 5 be heated and extend, the air in the extrusion heat conduction frame 3 blows to in the guide frame 7 through air duct 6, make flabellum 8 receive the air flow influence to rotate, thereby drive gear 10 and rotate, gear 10 drives two L shape poles 11 and stripper plate 13 extrusion ammonium chloride powder through rack 12 and enters into cold expansion ball 14 and mix with eight water barium hydroxide powder, the heat absorption, reduce the temperature, produce the ammonia simultaneously and drum into arc adsorption frame 17, make its inside adsorption apparatus carry the laser beam and be stained with the dust that attaches on laser radar body 2 surfaces and adsorb.
Referring to fig. 1, the adsorption mechanism includes an elastic rope, the elastic rope is fixedly connected with an arc-shaped adsorption frame 17, the outer end of the elastic rope is fixedly connected with a plurality of collision small balls 18, the inner wall of the arc-shaped adsorption frame 17 is fixedly connected with a fluff pad 19, the outer end of the arc-shaped adsorption frame 17 is bonded with an adsorption layer, ammonia gas is blown into the arc-shaped adsorption frame 17 to blow the collision small balls 18 to collide with the fluff pad 19, friction is generated between the collision small balls and the fluff pad 19, static electricity is generated, and dust is adsorbed on the adsorption layer through the electrostatic adsorption capacity.
Referring to fig. 1 and 5-7, a fixing frame 22 is fixedly connected to an outer end of a laser radar body 2, an inclined tube 20 is fixedly connected between the fixing frame 22 and two exhaust pipes 16, the inclined tube 20 is respectively communicated with the fixing frame 22 and the interiors of the exhaust pipes 16, a telescopic airbag 21 is arranged in the inclined tube 20, an outer end of the telescopic airbag 21 contacts with an inner wall of the inclined tube 20, an elastic magnetism-insulating bag body 23 is arranged in the fixing frame 22, a magnet block 24 is arranged in the elastic magnetism-insulating bag body 23, magnetism-insulating powder is filled in the elastic magnetism-insulating bag body 23, an air outlet is formed in the upper end of the fixing frame 22, a breathable film 25 is fixedly connected in the air outlet, the elastic magnetism-insulating bag body 23 is tightly contacted with the breathable film 25, a coil spring 26 is fixedly connected to a lower end of the fixing frame 22, a cleaning brush 28 is fixedly connected to an outer end of the coil spring 26 far away from the fixing frame 22, and a magnet strip 27 is fixedly connected to one end of the coil spring sheet 26, meanwhile, part of ammonia gas is blown into the telescopic air bag 21, so that the ammonia gas extends to extrude the air in the inclined tube 20 to enter the fixing frame 22, the elastic magnetism insulation capsule body 23 is extruded to deform, magnetism insulation powder is dispersed, the magnetic shielding of the magnet block 24 is cancelled, the magnet strip 27 drives the coil spring piece 26 to extend downwards, the cleaning brush 28 is used for cleaning dust which is not completely adsorbed on the surface of the laser radar body 2, the cleaning effect is enhanced, when the elastic magnetism insulation capsule body 23 is extruded and contracted until the breathable film 25 is cancelled and shielded, the air overflows outwards through the breathable film 25 at the moment, the elastic magnetism insulation capsule body 23 starts to recover to the original state after the extrusion force is weakened, the magnet block 24 is magnetically shielded again, and the coil spring piece 26 also recovers to the original state, so that reciprocating cleaning is realized.
Referring to fig. 1 to 3, the shape memory spring 5 is made of a shape memory alloy material, an initial state of the shape memory spring 5 is a contracted state, the shape memory spring 5 made of the shape memory alloy material has a memory function, and is deformed and extended when a temperature rises, and is restored to the initial state when the temperature falls, a dust screen 701 is fixedly connected between inner walls of the air outlet, the dust screen 701 is made of a stainless steel material, an anti-rust coating is provided on a surface of the dust screen 701, and the dust screen 701 made of the stainless steel material and the anti-rust coating are provided, so that a dust prevention effect can be achieved, and meanwhile, the dust screen 701 is not easily rusted in a long-term use process, and a service life of the dust screen is prolonged.
Referring to fig. 1 and 4, the outer end of the L-shaped rod 11 is fixedly connected with a sliding block, the inner wall of the extrusion cylinder 9 is provided with a sliding groove, the sliding block is connected with the sliding groove in a sliding manner, the L-shaped rod 11 can move more smoothly, conveniently and stably through the arrangement of the sliding block and the sliding groove, the outer end of the extrusion plate 13 is fixedly connected with a sealing ring, the outer end of the sealing ring is in close contact with the inner wall of the extrusion cylinder 9, through the arrangement of the sealing ring, the possibility that ammonium chloride powder is not easy to leak downwards through a gap between the extrusion plate 13 and the extrusion cylinder 9 is improved, the sealing performance is improved, the collision ball 18 is made of a rubber material, the fluff pad 19 is made of an animal hair material, and after the collision ball 18 made of the rubber material and the fluff pad 19 made of the animal hair material rub against each other, static electricity can be generated, and dust can be adsorbed.
Referring to fig. 6, the anti-magnetic powder is made of Fe — Ni alloy material, the content of Ni in the anti-magnetic powder is 80%, the ends of the magnet block 24 and the magnet bar 27 close to each other are arranged in the same polarity, the anti-magnetic powder made of Fe — Ni alloy material can effectively shield the magnetic influence of the magnet block 24 in a dense state, and the ends of the magnet block 24 and the magnet bar 27 close to each other are arranged in the same polarity, so as to generate a repulsive force to drive the magnet bar 27 to move.
In the invention, when a relevant technician uses the device, in the long-time work of the unmanned aerial vehicle body 1 and the laser radar body 2, heat is released, the deformation memory spring 5 is heated and extended, air in the extrusion heat conduction frame 3 is blown into the air guide frame 7 through the air guide pipe 6, the fan blades 8 are rotated under the influence of air flow, so that the gear 10 is driven to rotate, the gear 10 drives the two L-shaped rods 11 and the extrusion plate 13 through the rack 12 to extrude ammonium chloride powder to enter the cold expansion ball 14 to be mixed with barium hydroxide octahydrate powder, heat is absorbed, temperature is reduced, simultaneously, ammonia gas is generated and blown into the arc-shaped adsorption frame 17, the ammonia gas is blown into the arc-shaped adsorption frame 17 to blow the collision small balls 18 to impact the fluff pad 19 to generate friction with the fluff pad, static electricity is generated, and dust attached to the surface of the laser beam is carried by the static electricity adsorption capacity to be adsorbed, meanwhile, part of ammonia gas is blown into the telescopic air bag 21 to extend and extrude the air in the inclined tube 20 to enter the fixing frame 22, the elastic magnetism isolating bag body 23 is extruded to deform, magnetism isolating powder is dispersed, the magnetic shielding of the magnet block 24 is cancelled, the coil spring 26 is driven by the magnet strip 27 to extend downwards through the repulsion of the same poles, so that the cleaning brush 28 cleans dust which is not completely adsorbed on the surface of the laser radar body 2, the cleaning effect is enhanced, when the elastic magnetism isolating capsule body 23 is squeezed and contracted until the air permeable membrane 25 is uncovered, the air overflows outwards through the air permeable membrane 25, and elasticity magnetic isolation utricule 23 begins to resume to the original state after the extrusion force weakens, and magnet piece 24 is shielded by the magnetism once more, and wind spring piece 26 also resumes to the original state, realizes reciprocal clearance, treats unmanned aerial vehicle body 1 and laser radar body 2 stop work time, tears the adsorbed layer down, realizes the clearance of dust.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by the equivalent or modified embodiments and the modified concepts of the present invention.
Claims (10)
1. A dynamic tracking unmanned aerial vehicle detection method based on a laser radar technology is characterized in that: the method comprises the following steps:
s1, firstly, starting an unmanned detection device to track and detect the dynamic target, and emitting a laser beam to the direction of the dynamic target;
s2, irradiating the dynamic target by the laser beam, reflecting the laser beam, receiving the reflected laser beam by the unmanned detection device, and obtaining the relevant information of the target after proper processing;
and S3, transmitting the obtained dynamic target tracking data to a remote control terminal, analyzing and judging the moving route of the dynamic target, and feeding back to a worker for planning preparation on the route.
2. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 1, wherein the method comprises the following steps: the unmanned detection device in the S1 comprises an unmanned aerial vehicle body (1), wherein a laser radar body (2) is installed at the lower end of the unmanned aerial vehicle body (1), heat-conducting frames (3) are fixedly connected to the left end and the right end of the laser radar body (2), two pistons (4) are slidably connected to the inside of each heat-conducting frame (3), a deformation memory spring (5) is fixedly connected between each piston (4) and each heat-conducting frame (3), an air duct (6) is fixedly connected to the outer end of each heat-conducting frame (3), the air duct (6) is communicated with the inside of each heat-conducting frame (3), two extruding barrels (9) which are bilaterally symmetrical are fixedly connected to the outer end of the laser radar body (2), an air guide frame (7) is fixedly connected to the upper end of each extruding barrel (9), fan blades (8) are rotatably connected to the air guide frame (7), and the air guide frame (7) is fixedly connected with the air duct (6), the air guide tube (6) is communicated with the inside of the air guide frame (7), an air outlet is chiseled at the outer end of the air guide frame (7), a gear (10) is rotationally connected in the extrusion cylinder (9), the gear (10) is fixedly connected with the fan blades (8), two L-shaped rods (11) are slidably connected in the extrusion cylinder (9), one ends of the two L-shaped rods (11) close to each other are fixedly connected with a rack (12), the gear (10) is meshed with the rack (12), two extrusion plates (13) are slidably connected in the extrusion cylinder (9), the extrusion plates (13) are fixedly connected with the L-shaped rods (11), ammonium chloride powder is filled between the extrusion plates (13) and the extrusion cylinder (9), cold expansion balls (14) are fixedly connected at the upper end and the lower end of the extrusion cylinder (9), and the extrusion cylinder (9) is communicated with the inside of the cold expansion balls (14), cold ball (14) and laser radar body (2) fixed connection expand, fixedly connected with motion type injection bottle mouth (15) between cold ball (14) and recipient (9) expand, cold ball (14) intussuseption is filled with eight water barium hydroxide powder, frame (17) is adsorbed to the outer end fixedly connected with arc of laser radar body (2), be equipped with adsorption apparatus in arc adsorption frame (17), arc adsorption frame (17) and lie in equal fixedly connected with blast pipe (16) between two cold balls (14) that expand with one side, fixedly connected with air guide diaphragm in blast pipe (16), blast pipe (16) are linked together with the inside of arc adsorption frame (17) and cold ball (14) respectively.
3. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 2, wherein the method comprises the following steps: adsorption equipment includes the stretch cord, stretch cord and arc absorption frame (17) fixed connection, a plurality of collision bobbles of outer end fixedly connected with (18) of stretch cord, the inner wall fixedly connected with fine hair pad (19) of arc absorption frame (17), the outer end bonding of arc absorption frame (17) has the adsorbed layer.
4. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 2, wherein: the outer end of the laser radar body (2) is fixedly connected with a fixed frame (22), an inclined tube (20) is fixedly connected between the fixed frame (22) and the two exhaust pipes (16), the inclined tube (20) is respectively communicated with the fixed frame (22) and the inside of the exhaust pipes (16), a telescopic air bag (21) is arranged in the inclined tube (20), the outer end of the telescopic air bag (21) is in contact with the inner wall of the inclined tube (20), an elastic magnetism insulation bag body (23) is arranged in the fixed frame (22), a magnet block (24) is arranged in the elastic magnetism insulation bag body (23), magnetism insulation powder is filled in the elastic magnetism insulation bag body (23), an air outlet is formed in the upper end of the fixed frame (22), a breathable film (25) is fixedly connected in the air outlet, the elastic magnetism insulation bag body (23) is in tight contact with the breathable film (25), and a coil spring piece (26) is fixedly connected with the lower end of the fixed frame (22), the outer end fixedly connected with cleaning brush (28) of book reed (26), the one end fixedly connected with magnet strip (27) of fixed frame (22) is kept away from to book reed (26).
5. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 2, wherein the method comprises the following steps: the deformation memory spring (5) is made of a shape memory alloy material, and the initial state of the deformation memory spring (5) is a contraction state.
6. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 2, wherein the method comprises the following steps: fixedly connected with dust screen (701) between the inner wall of air outlet, dust screen (701) adopt stainless steel material to make, the surface of dust screen (701) is equipped with anti rust coating.
7. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 2, wherein the method comprises the following steps: the outer end of the L-shaped rod (11) is fixedly connected with a sliding block, a sliding groove is formed in the inner wall of the extrusion container (9) in a chiseled mode, and the sliding block is connected with the sliding groove in a sliding mode.
8. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 2, wherein the method comprises the following steps: the outer end of the extrusion plate (13) is fixedly connected with a sealing ring, and the outer end of the sealing ring is in close contact with the inner wall of the extrusion container (9).
9. The method for dynamically tracking the unmanned aerial vehicle based on the laser radar technology as claimed in claim 3, wherein the method comprises the following steps: the collision ball (18) is made of rubber materials, and the fluff pad (19) is made of animal hair materials.
10. The method for dynamically tracking unmanned aerial vehicle detection based on laser radar technology as claimed in claim 4, wherein: the magnetic isolation powder is made of Fe-Ni alloy materials, the Ni content in the magnetic isolation powder is 80%, and the ends, close to each other, of the magnet blocks (24) and the magnet strips (27) are arranged in an identical-pole mode.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115524138A (en) * | 2022-09-15 | 2022-12-27 | 浙江赛格教仪科技有限公司 | Unmanned information interaction device based on internet technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115524138A (en) * | 2022-09-15 | 2022-12-27 | 浙江赛格教仪科技有限公司 | Unmanned information interaction device based on internet technology |
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Application publication date: 20220830 |