CN117184470A - Intelligent control unmanned aerial vehicle and cluster control method thereof - Google Patents
Intelligent control unmanned aerial vehicle and cluster control method thereof Download PDFInfo
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- CN117184470A CN117184470A CN202311396433.9A CN202311396433A CN117184470A CN 117184470 A CN117184470 A CN 117184470A CN 202311396433 A CN202311396433 A CN 202311396433A CN 117184470 A CN117184470 A CN 117184470A
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- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 7
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 7
- 241001330002 Bambuseae Species 0.000 claims description 7
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 7
- 239000011425 bamboo Substances 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
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- 230000003139 buffering effect Effects 0.000 description 1
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Abstract
The invention discloses an intelligent control unmanned aerial vehicle and a cluster control method thereof, and belongs to the technical field of unmanned aerial vehicles. According to the invention, the unmanned aerial vehicle and the container are both of a wind resistance reducing design and are matched with the hidden undercarriage, so that the flight stability and the air movement rapidness of the unmanned aerial vehicle are improved, in the flight process, if an inclination phenomenon occurs, the gravity center adjusting treatment can be carried out, the unmanned aerial vehicle is helped to quickly return to a stable state, the control difficulty of the flying hand is reduced, the occurrence of the crash phenomenon is reduced, in the landing process of the unmanned aerial vehicle, the unmanned aerial vehicle can be buffered in advance by utilizing air, the landing stability and the vibration suffered by the unmanned aerial vehicle are improved, and the practicability is higher.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent control unmanned aerial vehicle and a cluster control method thereof.
Background
Unmanned aircraft, for short, "unmanned aircraft," is unmanned aircraft that is maneuvered using a radio remote control device and a self-contained programming device, or is operated autonomously, either entirely or intermittently, by an on-board computer.
In the use process of the existing unmanned aerial vehicle, in order to increase the landing stability of the unmanned aerial vehicle, a damping mechanism and the like are additionally arranged on a landing gear of the unmanned aerial vehicle, but the following defects exist in the mode:
the size of undercarriage has been increased, has increased unmanned aerial vehicle windage in the flight process, influences flying stability and unmanned aerial vehicle aerial movement's quick ability, and current unmanned aerial vehicle in the flight process, if unmanned aerial vehicle receives to control the mistake or outside weather influence takes place when rocking by a wide margin, does not possess focus regulatory function to if the flight is saved poorly, easily cause the crash phenomenon to take place, for this we have provided an intelligent control unmanned aerial vehicle and cluster control method thereof to solve above-mentioned problem.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an intelligent control unmanned aerial vehicle and a cluster control method thereof, which can finish wind resistance reduction treatment and reduce the control difficulty of a flying hand, reduce the occurrence of a crash phenomenon and improve the flight stability and rapidity according to the situation of switching an elastic membrane between flight operation and landing operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme.
The utility model provides an intelligent control unmanned aerial vehicle, includes the unmanned aerial vehicle main part, the bottom fixedly connected with annular box of unmanned aerial vehicle main part, the inside of annular box is provided with the focus regulating part, the top cap is installed to the bottom of annular box, the interior roof fixedly connected with spliced pole of top cap, the bottom threaded connection of spliced pole has a goods section of thick bamboo, the inside of top cap is provided with the water conservancy diversion subassembly.
As a further description of the above technical solution:
the gravity center adjusting piece comprises a group of partition plates, a group of first electric push rods and a group of counterweight balls, wherein the partition plates are uniformly distributed to the inside of the annular box along the axis of the annular box, one end, away from the axis of the annular box, of the first electric push rods is fixedly connected with the counterweight balls, one end, close to the axis of the annular box, of the first electric push rods penetrates into and is fixedly connected to the inner side of the annular box, and a magnetometer is installed on the inner side of the annular box.
As a further description of the above technical solution:
the flow guide assembly comprises a second electric push rod, a sliding ring and an elastic membrane, wherein the sliding ring is sleeved on the outer side of the connecting column, the second electric push rod is mounted inside the top cover, the bottom end of the second electric push rod is fixedly connected to the top of the sliding ring, and the elastic membrane is mounted between the sliding ring and the inner wall of the top cover.
As a further description of the above technical solution:
the outside fixedly connected with a set of fixed strip of spliced pole, a set of bayonet socket that matches with the fixed strip is seted up to the inside of slip ring.
As a further description of the above technical solution:
the novel air guide device is characterized in that an air guide area is arranged between the annular box and the top cover, a group of exhaust holes are formed in the top of the top cover, the bottom of the annular box is concave, and a group of grooves are formed in the bottom of the annular box.
As a further description of the above technical solution:
the inside of the cargo cylinder is provided with a group of third electric push rods, and the bottom ends of the third electric push rods are provided with anti-slip balls.
As a further description of the above technical solution:
the top of unmanned aerial vehicle main part and the bottom of goods section of thick bamboo all install the water conservancy diversion awl, the top the internally mounted of water conservancy diversion awl has the locator.
As a further description of the above technical solution:
chamfering is all done in the four corners of unmanned aerial vehicle main part, annular box, top cap and the cross-section of looking up of goods section of thick bamboo all are circularly.
The invention also provides a cluster control method of the intelligent control unmanned aerial vehicle, which comprises the following steps:
a terminal background;
a signal transmitting module; the signal transmitting module is controlled by a terminal background;
a plurality of signal docking modules; the unmanned aerial vehicle is respectively arranged in a plurality of unmanned aerial vehicle bodies, receives the operation instructions sent by the signal transmitting modules and controls the unmanned aerial vehicle bodies to execute; the signal docking module further comprises a storage module used for storing real-time data of the unmanned aerial vehicle main body during operation and performing real-time data interaction with a terminal background; the terminal background is convenient for cluster management of a plurality of groups of unmanned aerial vehicle main bodies;
the method comprises the following specific steps:
firstly, issuing operation instructions to a plurality of unmanned aerial vehicle main bodies needing to execute flight tasks through a terminal background control signal transmitting module;
b: then executing a flight task after receiving the operation instructions according to the plurality of unmanned aerial vehicle main bodies, recording various real-time data in the operation process of the machine body through a storage module, and sending the real-time data to a terminal background;
the unmanned aerial vehicle main body operation instruction comprises the following points:
route planning instructions: the method comprises a departure point, a target point, a passing waypoint and the like; these instructions determine the flight path of the drone;
fly height and speed instructions: the ground station can send a command to require the unmanned aerial vehicle to fly at a specific altitude and speed;
path correction instruction: if the flight path of the unmanned aerial vehicle needs to be adjusted, the ground station can send an instruction to enable the unmanned aerial vehicle to follow a new route;
emergency return instruction: in an emergency situation, the ground station can send a command to require the unmanned aerial vehicle to return to the voyage immediately;
other instructions: the ground station can also send instructions for other specific task requirements, such as taking photos, videos, etc.;
s2, real-time data in the operation process of the unmanned aerial vehicle main body comprises the following steps:
GPS positioning data: the method comprises the steps of including longitude, latitude, altitude and other information, and determining the current position of the unmanned aerial vehicle;
height and barometric pressure data: unmanned aerial vehicles are typically equipped with sensors for measuring air pressure to obtain altitude or flying height in real time;
battery status data: the system comprises information such as electric quantity, voltage, charging state and the like, and is used for monitoring the health condition and the residual capacity of the unmanned aerial vehicle battery;
camera image or video data: the camera mounted on the unmanned aerial vehicle can transmit image or video data in real time for investigation, monitoring or task execution;
compared with the prior art, the invention has the advantages that:
(1) This scheme can be according to the flight operation and the condition that falls the operation and switch the elastic membrane, accomplishes the dual effect of subtracting wind resistance and handling of stability increase, can make unmanned aerial vehicle more stable when falling again when not influencing normal flight, and the practicality is stronger.
(2) The scheme can carry out gravity center adjustment after unexpected slope, helps unmanned aerial vehicle to resume balanced state fast, reduces the flying hand and controls the degree of difficulty, reduces the crash phenomenon and takes place.
(3) According to the scheme, the unmanned aerial vehicle and the container are designed to be wind resistance reducing, and are matched with the hidden undercarriage, so that wind resistance of the unmanned aerial vehicle in the flight process is reduced, and the flight stability and the rapidness are improved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic bottom view of the structure of the ring-shaped case and the partition plate of the present invention;
FIG. 3 is a schematic bottom view of the structure of the connecting column and elastic membrane of the present invention;
FIG. 4 is a schematic bottom view of the top cover and connecting column structure of the present invention;
FIG. 5 is a schematic diagram of the elastic membrane structure of the present invention in motion;
FIG. 6 is a schematic flow chart of the system of the present invention.
The reference numerals in the figures illustrate:
1. an unmanned aerial vehicle main body; 2. an annular box; 3. a center of gravity adjustment member; 31. a partition plate; 32. a first electric push rod; 33. a weight ball; 4. a top cover; 5. a connecting column; 6. a cargo cylinder; 7. a flow guiding assembly; 71. a second electric push rod; 72. a slip ring; 73. an elastic membrane; 8. a magnetometer; 9. a fixing strip; 10. a bayonet; 11. an exhaust hole; 12. a diversion cone; 13. a groove.
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;
example 1
Referring to fig. 1-5, in the invention, an intelligent control unmanned aerial vehicle comprises an unmanned aerial vehicle main body 1, wherein an annular box 2 is fixedly connected to the bottom of the unmanned aerial vehicle main body 1, a gravity center adjusting piece 3 is arranged in the annular box 2, a top cover 4 is arranged at the bottom of the annular box 2, a connecting column 5 is fixedly connected to the inner top wall of the top cover 4, a cargo cylinder 6 is connected to the bottom end of the connecting column 5 in a threaded manner, and a diversion component 7 is arranged in the top cover 4.
The gravity center adjusting piece 3 comprises a group of partition plates 31, a group of first electric push rods 32 and a group of weight balls 33, the partition plates 31 are uniformly distributed inside the annular box 2 along the axis of the annular box 2, one end, away from the axis of the annular box 2, of the first electric push rods 32 is fixedly connected with the weight balls 33, one end, close to the axis of the annular box 2, of the first electric push rods 32 penetrates into and is fixedly connected with the inner side of the annular box 2, and the magnetometer 8 is installed on the inner side of the annular box 2.
According to the invention, the goods required to be carried by the unmanned aerial vehicle main body 1 are placed by adopting the goods cylinder 6, the goods cylinder 6 is installed by utilizing the connecting column 5 on the top cover 4, if an inclination phenomenon occurs in the flight process of the unmanned aerial vehicle main body 1, the inclination direction and the angle of the goods cylinder can be detected by adopting the magnetometer 8, then the first electric push rod 32 in the corresponding direction in the annular box 2 is started according to the inclination condition, so that the corresponding counterweight ball 33 is driven to move, the gravity center of the unmanned aerial vehicle main body 1 is changed, the unmanned aerial vehicle main body 1 is helped to quickly restore balance, and the flying hand operation rescue difficulty is reduced.
Example two
Based on the above embodiments, please refer to fig. 1-5, wherein: the flow guiding assembly 7 comprises a second electric push rod 71, a sliding ring 72 and an elastic membrane 73, wherein the sliding ring 72 is sleeved outside the connecting column 5, the second electric push rod 71 is installed inside the top cover 4, the bottom end of the second electric push rod 71 is fixedly connected to the top of the sliding ring 72, and the elastic membrane 73 is installed between the sliding ring 72 and the inner wall of the top cover 4; the outer side of the connecting column 5 is fixedly connected with a group of fixing strips 9, and a group of bayonets 10 matched with the fixing strips 9 are formed in the sliding ring 72; an air guide area is arranged between the annular box 2 and the top cover 4, and a group of exhaust holes 11 are formed in the top of the top cover 4; the bottom of the annular box 2 is concave, and a group of grooves 13 are formed in the bottom of the annular box 2.
In the invention, under the flying state of the unmanned aerial vehicle main body 1, the second electric push rod 71 pushes the sliding ring 72 to move downwards, so that the elastic film 73 moves along, and the front cross section of the elastic film 73 and the top cover 4 is inverted trapezoid, thereby effectively reducing wind resistance in the flying process, and ensuring the rapidness and stability of air movement while enabling the unmanned aerial vehicle main body 1 to have the object carrying function.
When unmanned aerial vehicle main part 1 is in the state of falling, but retract second electric putter 71, make it drive slip ring 72 motion to the inside of top cap 4, until the bayonet socket 10 and the fixed strip 9 separation on the slip ring 72, elastic membrane 73 follows the motion, at this moment in unmanned aerial vehicle main part 1 decline in-process, the gas to top cap 4 bottom will be led into to elastic membrane 73 will follow bayonet socket 10 and flow upwards, later get into the air guide region along exhaust hole 11, accomplish the gas emission, in the gas flow in-process, adopt elastic membrane 73 and gas contact, the exhaust setting of collocation bayonet socket 10, convert the discharge path of gas to the aperture of bayonet socket 10 by external region and discharge, reach the buffering deceleration effect, promote the stability that unmanned aerial vehicle main part 1 falls, its principle is similar with the parachute among the prior art.
And through bayonet socket 10 and exhaust hole 11 exhaust gas, will be in contact with the bottom of annular box 2 in advance, the gas will outwards discharge along a set of recess 13 promptly, thereby form a set of air current impact area that is in unmanned aerial vehicle main part 1 screw bottom, this impact area can be in unmanned aerial vehicle main part 1 decline in-process, can provide recoil on the one hand, promote unmanned aerial vehicle main part 1's speed reduction decline effect, on the other hand reducible unmanned aerial vehicle main part 1 bottom gas is to the interference that screw direct flushing caused, reduce unmanned aerial vehicle main part 1's descending and control the degree of difficulty, promote unmanned aerial vehicle main part 1's descending stability.
Fig. 5 can be observed when the elastic membrane 73 changes from the flying state to the falling state.
Wherein: a group of third electric push rods are arranged in the cargo cylinder 6, and anti-slip balls are arranged at the bottom ends of the third electric push rods.
According to the invention, the landing bracket is formed by adopting the third electric push rod matched with the anti-slip ball, and in the flight process, the third electric push rod can drive the anti-slip ball to move into the cargo cylinder 6, so that the wind resistance of the unmanned aerial vehicle main body 1 is reduced.
Wherein: the top of unmanned aerial vehicle main part 1 and the bottom of goods section of thick bamboo 6 all install the water conservancy diversion awl 12, and the internally mounted of top water conservancy diversion awl 12 has the locator.
In the invention, the wind resistance of the unmanned aerial vehicle main body 1 during flying and slowly descending is reduced by adopting the upper and lower diversion cones 12, the agility is improved, and the position of the unmanned aerial vehicle main body 1 is monitored in real time by matching with the locator.
Wherein: chamfering is carried out on four corners of the unmanned aerial vehicle main body 1, and the bottom cross sections of the annular box 2, the top cover 4 and the cargo cylinder 6 are all round; and the wind resistance of the unmanned aerial vehicle in the flight process is reduced.
Referring to fig. 1-6, the invention further provides a cluster control method of the intelligent control unmanned aerial vehicle, which comprises the following steps:
a terminal background;
a signal transmitting module; the signal transmitting module is controlled by a terminal background;
a plurality of signal docking modules; the system is respectively arranged in a plurality of unmanned aerial vehicle main bodies 1, receives the operation instructions sent by the signal transmitting modules and controls the unmanned aerial vehicle main bodies 1 to execute; the signal docking module further comprises a storage module for storing real-time data of the unmanned aerial vehicle main body 1 during operation and performing real-time data interaction with a terminal background; the terminal background is convenient for cluster management of a plurality of groups of unmanned aerial vehicle main bodies 1.
The method also comprises the following specific steps:
firstly, issuing operation instructions to a plurality of unmanned aerial vehicle main bodies 1 needing to execute flight tasks through a terminal background control signal transmitting module;
b: and then executing a flight task according to the received operation instructions of the unmanned aerial vehicle main bodies 1, recording various real-time data in the running process of the machine body through the storage module, and sending the real-time data to the terminal background.
The operation instruction of the unmanned aerial vehicle main body 1 comprises the following points:
route planning instructions: the navigation system comprises a departure point, a target point and a passing navigation point; these instructions determine the flight path of the drone.
Fly height and speed instructions: the ground station may send instructions that require the drone to fly at a particular altitude and speed.
Path correction instruction: if the flight path of the drone needs to be adjusted, the ground station may send instructions for the drone to follow the new route.
Emergency return instruction: in an emergency situation, the ground station may send a command requesting the drone to return to the home immediately.
In addition, the real-time data during the operation of the unmanned aerial vehicle main body 1 includes:
GPS positioning data: including longitude, latitude, altitude information, for determining the current location of the drone.
Height and barometric pressure data: unmanned aerial vehicles are often equipped with sensors for measuring air pressure to obtain altitude or flying height in real time.
Battery status data: the system comprises information such as electric quantity, voltage, charging state and the like and is used for monitoring the health condition and the residual capacity of the unmanned aerial vehicle battery.
Camera image or video data: the camera mounted on the unmanned aerial vehicle can transmit image or video data in real time for investigation, monitoring or task execution.
The functions and the real-time data are all easy to realize in the structure of the conventional unmanned aerial vehicle, and redundant description is omitted.
In general, utilize spliced pole 5 on the top cap 4 to accomplish the installation of goods section of thick bamboo 6, adopt goods section of thick bamboo 6 to place the article that unmanned aerial vehicle main part 1 needs to carry, accomplish article transportation operation, in unmanned aerial vehicle main part 1 flight in-process, adopt the locator to carry out real-time supervision to unmanned aerial vehicle main part 1's position, when a plurality of unmanned aerial vehicle main parts 1 together operate, can observe the condition of each unmanned aerial vehicle main part 1 according to corresponding locator, when the task is dispatched to needs, can select suitable unmanned aerial vehicle main part 1 to dispatch the operation according to the distance between locator display position and the task area.
The foregoing is a preferred embodiment of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.
Claims (9)
1. The utility model provides an intelligent control unmanned aerial vehicle, includes unmanned aerial vehicle main part (1), its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), wherein an annular box (2) is fixedly connected to the bottom of the unmanned aerial vehicle body (1), a gravity center adjusting piece (3) is arranged in the annular box (2), a top cover (4) is arranged at the bottom of the annular box (2), a connecting column (5) is fixedly connected to the inner top wall of the top cover (4), a cargo cylinder (6) is connected to the bottom end of the connecting column (5) in a threaded mode, and a flow guide assembly (7) is arranged in the top cover (4).
2. The intelligent control unmanned aerial vehicle of claim 1, wherein: the gravity center adjusting piece (3) comprises a group of partition plates (31), a group of first electric push rods (32) and a group of counterweight balls (33), wherein the partition plates (31) are uniformly distributed to the inside of the annular box (2) along the axis of the annular box (2), one end, far away from the axis of the annular box (2), of the first electric push rods (32) is fixedly connected with the counterweight balls (33), one end, close to the axis of the annular box (2), of the first electric push rods (32) penetrates into the inner side of the annular box (2) and is fixedly connected with the inner side of the annular box (2), and the magnetometer (8) is installed on the inner side of the annular box (2).
3. The intelligent control unmanned aerial vehicle of claim 1, wherein: the flow guide assembly (7) comprises a second electric push rod (71), a sliding ring (72) and an elastic membrane (73), wherein the sliding ring (72) is sleeved outside the connecting column (5), the second electric push rod (71) is mounted inside the top cover (4), the bottom end of the second electric push rod (71) is fixedly connected to the top of the sliding ring (72), and the elastic membrane (73) is mounted between the sliding ring (72) and the inner wall of the top cover (4).
4. A controlled intelligent unmanned aerial vehicle according to claim 3, wherein: the outside fixedly connected with a set of fixed strip (9) of spliced pole (5), bayonet socket (10) that a set of and fixed strip (9) match are seted up to the inside of slip ring (72).
5. The intelligent control unmanned aerial vehicle of claim 1, wherein: an air guide area is arranged between the annular box (2) and the top cover (4), a group of exhaust holes (11) are formed in the top of the top cover (4), the bottom of the annular box (2) is concave, and a group of grooves (13) are formed in the bottom of the annular box (2).
6. The intelligent control unmanned aerial vehicle of claim 1, wherein: a group of third electric push rods are arranged in the cargo cylinder (6), and anti-slip balls are arranged at the bottom ends of the third electric push rods.
7. The intelligent control unmanned aerial vehicle of claim 1, wherein: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), a cargo cylinder (6) and a guide cone (12) arranged at the top of the unmanned aerial vehicle body (1), wherein a positioner is arranged in the guide cone (12).
8. The intelligent control unmanned aerial vehicle of claim 1, wherein: chamfering is all done in the four corners of unmanned aerial vehicle main part (1), the bottom cross-section of annular box (2), top cap (4) and goods section of thick bamboo (6) all is circular.
9. The cluster control method of an intelligent control unmanned aerial vehicle according to any one of claims 1 to 8, comprising:
a terminal background;
a signal transmitting module; the signal transmitting module is controlled by a terminal background;
a plurality of signal docking modules; the system is respectively arranged in a plurality of unmanned aerial vehicle main bodies (1), receives the operation instructions sent by the signal transmitting modules and controls the unmanned aerial vehicle main bodies (1) to execute; the signal docking module further comprises a storage module used for storing real-time data of the unmanned aerial vehicle main body (1) in operation and performing real-time data interaction with a terminal background; the terminal background is convenient for cluster management of a plurality of groups of unmanned aerial vehicle main bodies (1);
the method also comprises the following specific steps:
firstly, issuing operation instructions to a plurality of unmanned aerial vehicle main bodies (1) needing to execute flight tasks through a terminal background control signal transmitting module;
b: after receiving the operation instruction, the unmanned aerial vehicle main bodies (1) execute flight tasks, record all real-time data in the running process of the machine body through the storage module and send the real-time data to the terminal background;
wherein unmanned aerial vehicle main part (1) operation instruction includes following points:
route planning instructions, flying height and speed instructions, path correction instructions, and emergency return instructions;
in addition, real-time data during operation of the unmanned aerial vehicle main body (1) includes:
GPS positioning data, battery status data, camera images or video data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311396433.9A CN117184470A (en) | 2023-10-26 | 2023-10-26 | Intelligent control unmanned aerial vehicle and cluster control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311396433.9A CN117184470A (en) | 2023-10-26 | 2023-10-26 | Intelligent control unmanned aerial vehicle and cluster control method thereof |
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| Publication Number | Publication Date |
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| CN117184470A true CN117184470A (en) | 2023-12-08 |
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| CN202311396433.9A Pending CN117184470A (en) | 2023-10-26 | 2023-10-26 | Intelligent control unmanned aerial vehicle and cluster control method thereof |
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| CN (1) | CN117184470A (en) |
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- 2023-10-26 CN CN202311396433.9A patent/CN117184470A/en active Pending
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