CN117598281A - Full-time space intelligent laser bird-repellent device based on unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a full-time space intelligent laser bird-driving device based on an unmanned plane, which comprises an airborne laser bird-driving device, wherein the airborne laser bird-driving device comprises a mounting plate for mounting the airborne laser bird-driving device on a patrol unmanned plane, a space motion transmission mechanism is arranged below the mounting plate, a mounting plate for mounting a laser generator is arranged below the space motion transmission mechanism, and a high-energy laser transmitter for realizing laser bird driving is arranged below the laser generator; the space motion transmission mechanism provides a power source through a driver and is used for realizing pitching and azimuth scanning bird-repellent by laser beams emitted by the high-energy laser transmitter; the bird repellent device has the advantages of reasonable structure, suitability for birds, long service time and good bird repellent effect when being mounted on an unmanned plane.

Description

Full-time space intelligent laser bird-repellent device based on unmanned aerial vehicle

Technical Field

The invention belongs to the technical field of power grid bird repellent, and particularly relates to a full-time air intelligent laser bird repellent device based on an unmanned aerial vehicle.

Background

In recent years, the bird-involved fault of the power transmission line has become a problem of the third largest power transmission line fault caused by lightning stroke and external force damage, but the bird-involved fault is often related to natural laws, bird life habits and human production life, unlike the line fault problems such as lightning stroke and external force damage; at present, bird prevention devices commonly used on overhead transmission lines at home and abroad mainly comprise the following: bird stabs, bird boxes, bird shields, bird baffles, large-disc-diameter insulators, bird insulation jackets, windmill-type bird repellers, electronic bird surprise devices, intelligent voice bird repellers, ultrasonic bird repellers and the like; however, the current bird preventing device has the following problems: after the bird thorns are used for a period of time, the bird thorns are easy to deform by large birds, and some birds can build the nest by relying on the deformed bird thorns; the windmill type bird repeller, the voice bird repeller and the ultrasonic bird repeller can achieve good bird repellent effect at first, but birds are living things for a long time and gradually become used to move in the living environment, so that the bird repeller is similar to a dummy, and the purpose of bird repellent cannot be achieved; therefore, the full-time air intelligent laser bird-driving device based on the unmanned aerial vehicle is reasonable in structure, mounted on the unmanned aerial vehicle, incapable of adapting to birds, long in service time and good in bird-driving effect, and is very necessary.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides the full-time air intelligent laser bird-driving device based on the unmanned aerial vehicle, which has reasonable structure, is mounted on the unmanned aerial vehicle, can not adapt to birds, has long service time and good bird-driving effect.

The purpose of the invention is realized in the following way: the full-time space intelligent laser bird-driving device based on the unmanned aerial vehicle comprises an airborne laser bird-driving device, wherein the airborne laser bird-driving device comprises a mounting plate for mounting the airborne laser bird-driving device on the inspection unmanned aerial vehicle, a space motion transmission mechanism is arranged below the mounting plate, a mounting plate for mounting a laser generator is arranged below the space motion transmission mechanism, and a high-energy laser transmitter for realizing laser bird driving is arranged below the laser generator; the space motion transmission mechanism provides a power source through a driver and is used for realizing pitching and azimuth scanning bird-repellent by laser beams emitted by the high-energy laser emitters.

The laser generator comprises a cover plate for mounting the high-energy laser transmitter, a switch for controlling the laser generator to be turned on or off is arranged on one side of the laser generator, a frame is arranged in the laser generator, a power supply consisting of a lithium battery and a common power supply circuit is arranged below one side of the frame, and the power supply can supply power to the airborne laser bird-driving device mounted on the inspection unmanned aerial vehicle through the inspection unmanned aerial vehicle from a belt; when the power supply of the inspection unmanned aerial vehicle is insufficient, the power supply can be switched to supply power for the airborne laser bird repelling equipment.

The cooling block is arranged below the other side of the inside of the frame, a group of heaters and isolation brackets are respectively arranged above the inside of the frame in an X-shaped diagonal cross structure, a temperature control module used for controlling the cooling block and the heaters and internally provided with a temperature sensor is arranged behind the cooling block, and a resonator is arranged inside the frame.

The high-energy laser transmitter comprises a laser transmitting unit, a group of transmitting holes for transmitting laser are formed in one side of the laser transmitting unit, a substrate for bearing is arranged in the high-energy laser transmitter, an adaptive light control unit for adjusting the output power of the laser transmitting unit is arranged above the substrate, the self-adaptive control of the transmitting power of the laser transmitting unit is realized, a bottom plate is arranged on one side below the substrate, a rotating disc for mounting the laser transmitting unit is arranged below the bottom plate, a motor for driving the laser transmitting unit to rotate is arranged on one side of the bottom plate, and a belt pulley is arranged below the motor and is in power connection with the rotating disc through a driving belt; the bottom plate is connected with the base plate and the self-adaptive light control unit through cross groove pan head screws.

The laser emission unit comprises a laser excitation source, a semiconductor pump green laser and an optical beam expanding and shaping module, wherein the semiconductor pump green laser is used for receiving a laser beam passing through a resonator in the laser generator and controlling the laser wavelength to be 532nm; the laser excitation source is used for driving the semiconductor pump green laser to emit a circular laser spot with the diameter not smaller than 18mm, and the circular laser spot is converted by the optical beam expanding and shaping module to emit a collimated scanning green laser beam with the specific diameter and the specific power density.

The mounting device comprises a mounting plate, wherein a rotating device is arranged on one side, far away from the driver, of the inner side of the mounting plate, a support plate is arranged on the outer side of the rotating device, a support plate with an arc-shaped structure is arranged above the support plate, and a rod sleeve is arranged on the inner side of the support plate.

The space motion transmission mechanism comprises a transmission assembly, a gear shifting assembly and a driven assembly, wherein the transmission assembly comprises an inner gear ring, a first pinion meshed with the inner gear ring is arranged on the inner side of the inner gear ring, a second pinion meshed with the first pinion is arranged on the inner side of the first pinion, the second pinion is in power connection with the driver through a first driving shaft, the transmission assembly and the driven assembly are connected through a carrier frame, a second driving shaft coaxial with the first driving shaft is arranged on the inner side of the carrier frame, a second clutch is arranged at one end, close to the first driving shaft, of each second driving shaft, and a first clutch driven by the gear shifting assembly is arranged on the inner side of the second clutch.

The gear shifting assembly comprises a gear shifting rod which is in power connection with the rotating device, a shifting fork of a U-shaped structure is arranged on the inner side of the gear shifting rod, a shifting plate which is connected with the first clutch is arranged in the shifting fork in an extending mode in the direction of the first clutch, a connecting rod which is perpendicular to the shifting plate is arranged in the shifting fork in the extending mode in the direction of the driven assembly, the connecting rod is movably connected with a rod sleeve, a spring is arranged at the outer side portion of the connecting rod, penetrates through the supporting plate, and a limiting plate is arranged on the outer side of the spring; the driven assembly comprises a first bevel gear connected with the second driving shaft in a shaft mode, a second bevel gear meshed with the first bevel gear is arranged on the outer side of the first bevel gear, and the second bevel gear is connected with the mounting plate through an L-shaped plate.

The carrier frame comprises a crank and a circular plate, one end of the crank is provided with a connecting end connected with the first pinion shaft, the circular plate is used for installing a first bevel gear, the circular plate is connected with the crank through a shaft frame arranged outside the second driving shaft, and the circular plate is provided with a mounting frame used for installing the second bevel gear relative to one side of the connecting end.

The inspection unmanned aerial vehicle based on autonomous cruising comprises a flight control module, a motor speed regulation module, a wireless communication module, a sensor module and a real-time shooting module, wherein the inspection unmanned aerial vehicle based on autonomous cruising is used for mounting the full-time air intelligent laser bird-driving device based on the unmanned aerial vehicle, an unmanned aerial vehicle autonomous cruising technology is adopted, an autonomous cruising route is planned in advance according to line characteristics, and full-time, full-airspace and full-period autonomous laser bird-driving is realized;

the flight control module comprises a main control chip and a coprocessor, wherein the main control chip adopts an MSP430 chip and is responsible for the related operation of flight control and overall management of hardware resources; the coprocessor adopts an STM32F103 processor and is responsible for management and data acquisition of the sensor module, and an SPI or IC interface is reserved so as to be connected with more sensors;

the motor speed regulating module comprises a microprocessor adopting STM8, a back electromotive force detection module, a motor current detection module, a PWM waveform output module, a three-phase drive axle module and a voltage stabilizing circuit adopting 7805 chips;

the wireless communication module adopts a GPRS communication module;

the sensor module comprises a gyroscope, an acceleration sensor, an altimeter, a GPS device and a reserved sensor interface, wherein the gyroscope provides attitude parameters for the system; the acceleration sensor provides acceleration parameters; the altimeter feeds back the flying altitude to the system; the GPS device provides navigation or track flight services;

the real-time shooting module adopts a high-definition camera with a wireless transmission function.

In this embodiment, the working principle of the inspection unmanned aerial vehicle is as follows: the ground remote control station sends a wireless control signal, the wireless communication module receives the signal and then transmits data to the flight control module, the main control chip calculates and processes sensor information from the coprocessor, and then outputs a control signal to the motor speed regulating module to control the rotating speed of the motor; the coprocessor continuously receives data from the sensor module, performs preliminary processing on the data, then sends the data to the main control chip, and is also responsible for initializing the sensor module when the system is started; the real-time shooting module transmits the shot information to the main control chip, the main control chip transmits the related information to the wireless control module, and the wireless control module transmits the information to the ground or air mobile monitoring station.

The invention has the beneficial effects that: the invention relates to a full-time-space intelligent laser bird-driving device based on an unmanned plane, in use, an onboard laser bird-driving device is arranged at the bottom or the side of a patrol unmanned plane through a mounting plate, an unmanned plane autonomous cruise technology is utilized, an autonomous cruise route is planned in advance according to line characteristics, the intelligent laser bird-driving device in full real time and full airspace can be realized, meanwhile, the online work of 7 x 24 can be achieved, and the bird-driving efficiency and success rate are improved; the airborne laser bird repellent device of the invention can repel birds through the green laser with the wavelength of 532nm emitted by the laser generator and the high-energy laser emitter, and the birds have strong physiological stress reaction on the green laser with the wavelength of 532nm, and the stress reaction can not react to decline along with the increase of the reaction times, thereby achieving the effect of effectively repelling birds for a long time; the irradiation of the laser beam can accurately interfere birds, so as to generate deterrent effect, make the birds feel uncomfortable, prevent the birds from adapting, force the birds to leave the target area, and avoid unnecessary damage to other organisms and the environment; the intensity and frequency of the laser beam can be adjusted through the self-adaptive light control unit according to the requirement so as to adapt to different kinds of birds and different environmental requirements; the space motion transmission mechanism can adjust the high-energy laser transmitter, and the high-energy laser transmitter can also rotate and adjust, so that pitching and azimuth scanning of the laser beam are realized; the bird repellent device has the advantages of reasonable structure, suitability for birds, long service time and good bird repellent effect when being mounted on an unmanned plane.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a perspective view of a portion of the structure of fig. 1 according to the present invention.

Fig. 3 is a top view of fig. 2 in accordance with the present invention.

Fig. 4 is a bottom view of fig. 2 in accordance with the present invention.

Fig. 5 is a schematic structural view of the carrier frame of the present invention.

Fig. 6 is a schematic view of a portion of the structure of fig. 2 according to the present invention.

Fig. 7 is a schematic structural diagram of the laser generator of the present invention.

Fig. 8 is a schematic view of the internal structure of fig. 7 according to the present invention.

Fig. 9 is a schematic structural diagram of a resonator according to the present invention.

Fig. 10 is a schematic structural view of the high-energy laser transmitter of the present invention.

Fig. 11 is a schematic view of the internal structure of fig. 10 according to the present invention.

Fig. 12 is a schematic diagram of an automatic scanning mode according to the present invention.

FIG. 13 is a schematic diagram of an on-line scanning method according to the present invention.

Fig. 14 is a block diagram of the inspection robot set up in accordance with the present invention.

In the figure: 100. the onboard laser bird-driving device 1, the mounting plate 11, the rotating device 12, the support plate 13, the support plate 14, the rod sleeve 2, the spatial movement transmission mechanism 21, the transmission assembly 211, the ring gear 212, the first pinion 213, the second pinion 214, the first driving shaft 215, the carrier frame 151, the crank 152, the connection end 153, the circular plate 154, the shaft frame 155, the mounting frame 216, the second driving shaft 217, the first clutch 218, the second clutch 22, the gear shifting assembly 221, the gear shifting lever 222, the shifting fork 223, the shifting plate 224, the connecting rod 225, the spring 226, the limiting plate 23, the driven assembly 231, the first bevel gear 232, the second bevel gear 233, the L-shaped plate 3, the driver 4, the mounting plate 5, the laser generator 51, the cover plate 52, the switch 53, the frame 54, the power supply 55, the cooling block 56, the temperature control module 57, the heater 58, the spacer 59, the resonator 6, the high-energy laser transmitter 61, the laser transmitting unit 62, the firing 63, the base plate 64, the adaptive unit 65, the cross-disk head screw 66, the base plate 67, the rotary disk 68, the rotary disk 69, the belt pulley 69, the belt pulley 610.

Description of the embodiments

The invention is further described below with reference to the accompanying drawings.

Examples

As shown in fig. 1-14, the full-time space intelligent laser bird-driving device based on the unmanned aerial vehicle comprises an onboard laser bird-driving device 100, wherein the onboard laser bird-driving device 100 comprises a mounting plate 1 for mounting the onboard laser bird-driving device 100 on the inspection unmanned aerial vehicle, a space motion transmission mechanism 2 is arranged below the mounting plate 1, a mounting plate 4 for mounting a laser generator 5 is arranged below the space motion transmission mechanism 2, and a high-energy laser transmitter 6 for realizing laser bird-driving is arranged below the laser generator 5; the space motion transmission mechanism 2 provides a power source through the driver 3 and is used for realizing pitching and azimuth scanning bird-repellent by laser beams emitted by the high-energy laser emitters 6.

The laser generator 5 comprises a cover plate 51 for mounting the high-energy laser emitter 6, a switch 52 for controlling the laser generator 5 to be turned on or off is arranged on one side of the laser generator 5, a frame 53 is arranged in the laser generator 5, a power supply 54 composed of a lithium battery and a common power supply circuit is arranged below one side of the inside of the frame 53, and the power supply 54 can supply power to the airborne laser bird-driving device 100 mounted on the inspection unmanned aerial vehicle through the inspection unmanned aerial vehicle from a belt; when the inspection unmanned aerial vehicle is insufficient in power supply, the power supply 54 can switch the lithium battery to supply power for the on-board laser bird repellent device 100.

The cooling block 55 is arranged below the other side of the inside of the frame 53, a group of heaters 57 and isolation brackets 58 are respectively arranged above the inside of the frame 53 in an X-shaped diagonal cross structure, a temperature control module 56 which is used for controlling the cooling block 55 and the heaters 57 and is internally provided with a temperature sensor is arranged behind the cooling block 55, and a resonator 59 is arranged inside the frame 53.

In the embodiment, the temperature control module senses the internal temperature of the device through a built-in temperature sensor, and when the temperature is lower than the minimum working temperature of the device, the temperature control module triggers the heater to enable the internal temperature to rise to the normal working temperature of the device; when the temperature is higher than the highest working temperature of the device, the refrigerating block is triggered to reduce the internal temperature to the normal working temperature of the device.

The high-energy laser transmitter 6 comprises a laser transmitting unit 61, a group of transmitting holes 62 for transmitting laser are arranged on one side of the laser transmitting unit 61, a substrate 63 for bearing is arranged in the high-energy laser transmitter 6, an adaptive light control unit 64 for adjusting the output power of the laser transmitting unit 61 is arranged above the substrate 63, the self-adaptive control of the transmitting power of the laser transmitting unit 61 is realized, a bottom plate 66 is arranged on one side below the substrate 63, a rotating disc 67 for installing the laser transmitting unit 61 is arranged below the bottom plate 66, a motor 68 for driving the laser transmitting unit 61 to rotate is arranged on one side of the bottom plate 66, a belt pulley 69 is arranged below the motor 68, and the belt pulley 69 is in power connection with the rotating disc 67 through a driving belt 610; the bottom plate 66 is connected with the base plate 63 and the self-adaptive light control unit 64 through cross groove pan head screws 65.

In this embodiment, the working principle of the high-energy laser transmitter is: when the high-energy laser transmitter scans and drives birds, the motor starts to drive the belt pulley to rotate, and the belt pulley drives the rotating disc to rotate through the driving belt, so that the laser transmitting unit is driven to rotate, and the laser beam is rotated to scan and drive birds.

In this embodiment, the adaptive light control unit has the following functions: (1) sensing the illuminance of the environment, converting an optical signal into an electric signal, generating a laser analog modulation signal through amplification processing, and adjusting the laser output power to realize the self-adaptive control of the laser emission power; (2) the self-adaptive light control technology is adopted to ensure the eye safety during laser scanning: controlling the contrast between the laser beam and the background light so as not to cause the laser beam to be too bright in the evening or early morning to stimulate human eyes; (3) the adoption of the laser beam expanding and collimating technology ensures the safety of human eyes during laser scanning: the light intensity of the long distance and the short distance is basically consistent, and the situation that the long distance light is weak and the short distance laser is too strong to stimulate human eyes is avoided; (4) the adoption of the laser beam homogenization technology ensures the safety of human eyes during laser scanning: ensuring the uniformity of the power density in the emergent laser beam; (5) the safety of human eyes during laser scanning is ensured by reasonably setting the scanning speed: when the human eyes observe the laser beams directly, the residence time of the laser spots in the eyes is short (less than or equal to 0.05 seconds), so that the eyes can be prevented from being glared or damaged.

The laser emitting unit 61 comprises a laser excitation source, a semiconductor pump green laser and an optical beam expanding and shaping module, wherein the semiconductor pump green laser is used for receiving a laser beam passing through a resonator 59 in the laser generator 5 and controlling the laser wavelength to be 532nm; the laser excitation source is used for driving the semiconductor pump green laser to emit a circular laser spot with the diameter not smaller than 18mm, and the circular laser spot is converted by the optical beam expanding and shaping module to emit a collimated scanning green laser beam with the specific diameter and the specific power density.

In this embodiment, the present invention has the following advantages: (1) can realize the bird monitoring and expelling in full space time: regardless of day or night, the device can monitor the activities of birds in real time and respond quickly according to the behavior patterns of the birds, regardless of weather conditions; (2) laser bird repelling technology: the bird-type high-energy laser device is provided with the high-energy laser emitter, so that green laser beams which cannot be perceived by human eyes can be projected, birds take the laser beams as a physical danger and can fly away from dangerous areas immediately, and compared with a traditional sound deterrent method, the laser device has the advantages that the laser device does not enable the birds to generate adaptability, so that the bird-type high-energy laser device is effective for a long time; (3) the unmanned aerial vehicle is further provided with a real-time shooting module and a GPRS communication module, so that remote monitoring and operation are facilitated; (4) intelligent management: the device realizes the functions of remote control, real-time monitoring, automatic early warning and the like through the technology of the Internet of things and big data analysis, and simultaneously, continuously optimizes the control parameters of the laser transmitter through an artificial intelligent algorithm to improve the bird repelling effect; (5) multi-scenario application: the device is suitable for various scenes, such as power transmission lines of a power grid, airports, wind power plants, military bases, crop protection and the like, can effectively reduce threat of birds to aircrafts and facilities, and improves safety and working efficiency.

The invention is a full-time space intelligent laser bird-driving device based on unmanned aerial vehicle, in use, the onboard laser bird-driving device 100 is arranged at the bottom or side of the inspection unmanned aerial vehicle through the mounting plate 1, an autonomous cruising route is planned in advance according to the route characteristics by utilizing the unmanned aerial vehicle autonomous cruising technology, the intelligent laser bird-driving device of full real time and full airspace can be realized, meanwhile, the online work of 7 x 24 can be also realized, and the bird-driving efficiency and success rate are improved; the on-board laser bird repellent device 100 of the invention can repel birds through the green laser with the wavelength of 532nm emitted by the laser generator 5 and the high-energy laser emitter 6, and the birds have strong physiological stress reaction to the green laser with the wavelength of 532nm, and the stress reaction can not react to decline along with the increase of the reaction times, thereby achieving the effect of effectively repelling birds for a long time; the irradiation of the laser beam can accurately interfere birds, so as to generate deterrent effect, make the birds feel uncomfortable, prevent the birds from adapting, force the birds to leave the target area, and avoid unnecessary damage to other organisms and the environment; the intensity and frequency of the laser beam can be adjusted by the adaptive light control unit 64 as required to adapt to different kinds of birds and different environmental requirements; the space motion transmission mechanism 2 can adjust the high-energy laser transmitter 6, and the high-energy laser transmitter 6 can also rotate and adjust, so that pitching and azimuth scanning of the laser beam are realized; the bird repellent device has the advantages of reasonable structure, suitability for birds, long service time and good bird repellent effect when being mounted on an unmanned plane.

Examples

As shown in fig. 1-14, the full-time space intelligent laser bird-driving device based on the unmanned aerial vehicle comprises an onboard laser bird-driving device 100, wherein the onboard laser bird-driving device 100 comprises a mounting plate 1 for mounting the onboard laser bird-driving device 100 on the inspection unmanned aerial vehicle, a space motion transmission mechanism 2 is arranged below the mounting plate 1, a mounting plate 4 for mounting a laser generator 5 is arranged below the space motion transmission mechanism 2, and a high-energy laser transmitter 6 for realizing laser bird-driving is arranged below the laser generator 5; the space motion transmission mechanism 2 provides a power source through the driver 3 and is used for realizing pitching and azimuth scanning bird-repellent by laser beams emitted by the high-energy laser emitters 6.

The inside of the mounting plate 1 is far away from one side of the driver 3 and is provided with a rotating device 11, the outer side of the rotating device 11 is provided with a support plate 12, a support plate 13 with an arc-shaped structure is arranged above the support plate 12, and the inner side of the support plate 12 is provided with a rod sleeve 14.

The space motion transmission mechanism 2 comprises a transmission assembly 21, a gear shifting assembly 22 and a driven assembly 23, the transmission assembly 21 comprises an inner gear ring 211, a first pinion 212 meshed with the inner gear ring 211 is arranged on the inner side of the inner gear ring 211, a second pinion 213 meshed with the first pinion 212 is arranged on the inner side of the first pinion 212, the second pinion 213 is in power connection with the driver 3 through a first driving shaft 214, the transmission assembly 21 and the driven assembly 23 are connected through a carrier frame 215, a second driving shaft 216 coaxial with the first driving shaft 214 is arranged on the inner side of the carrier frame 215, a second clutch 218 is arranged at one ends, close to each other, of the first driving shaft 214 and the second driving shaft 216, and a first clutch 217 driven by the gear shifting assembly 22 is arranged on the inner side of the second clutch 218.

The gear shifting assembly 22 comprises a gear shifting rod 221 which is in power connection with the rotating device 11, a shifting fork 222 with a U-shaped structure is arranged on the inner side of the gear shifting rod 221, a shifting plate 223 which is connected with the first clutch 217 is arranged in the shifting fork 222 in an extending way towards the first clutch 217, a connecting rod 224 which is perpendicular to the shifting plate 223 is arranged in the shifting fork 222 in an extending way towards the driven assembly 23, the connecting rod 224 is movably connected with the rod sleeve 14, a spring 225 is arranged at the outer side part which penetrates through the support plate 12, and a limiting plate 226 is arranged on the outer side of the spring 225; the driven assembly 23 includes a first bevel gear 231 coupled to the second driving shaft 216, a second bevel gear 232 engaged with the first bevel gear 231 is disposed outside the first bevel gear 231, and the second bevel gear 232 is coupled to the mounting plate 4 through an L-shaped plate 233.

The carrier rack 215 comprises a crank 151 and a circular plate 153, wherein one end of the crank 151 is provided with a connecting end 152 connected with the first pinion 212 in a shaft way, the circular plate 153 is used for installing a first bevel gear 231, the circular plate 153 is connected with the crank 151 through a shaft bracket 154 arranged outside the second driving shaft 216, and a mounting rack 155 used for installing the second bevel gear 232 is arranged on one side of the circular plate 153 opposite to the connecting end 152.

In this embodiment, the working principle of the spatial motion transmission mechanism is: as shown in fig. 3-6, (1) when the rotating device drives the shifting fork to move leftwards through the shifting rod, the shifting fork drives the connecting rod and the limiting plate to move leftwards, and meanwhile, the shifting fork drives the first clutch to move leftwards through the shifting plate to be in contact with the second clutch close to the driver, at the moment, the first clutch is matched with a key slot on the first driving shaft through the second clutch, as the left and right conical surfaces of the first clutch are respectively matched with the inclined surfaces of the second pinion and the end surface of the second driving shaft, the connection between the first driving shaft and the second pinion and the connection between the second driving shaft and the first bevel gear can be realized, when the conical surfaces of the first clutch are respectively combined with the inclined surfaces of the left end and the right end surfaces of the first clutch, larger friction force can be generated, and then the second pinion and the first bevel gear can be respectively driven to rotate, so that when the driver drives the first driving shaft to rotate, the second pinion is driven to rotate around the ring gear through the first clutch, and the first pinion can be driven to rotate around the ring gear through the matching of the second pinion and the first pinion, and the carrier frame can drive the first driving disc to rotate along the first driving shaft; (2) when the rotating device drives the shifting fork to move rightwards through the shifting rod, the shifting fork drives the connecting rod and the limiting plate to move rightwards and contact with the side surface of the circular plate of the carrier frame, meanwhile, the shifting fork drives the first clutch to move rightwards through the shifting plate and contact with the second clutch far away from the driver, at the moment, the first clutch is matched with a key slot on the second driving shaft through the second clutch, the driver drives the second driving shaft to rotate through the first driving shaft and the first clutch, the second driving shaft drives the first bevel gear to rotate, the first bevel gear drives the second bevel gear to rotate, the second bevel gear drives the mounting plate to rotate through the L-shaped plate, and the mounting plate can rotate around the second bevel gear through the matching of the first clutch and the first bevel gear, so that the mounting plate is driven to rotate in all positions in a three-dimensional space respectively; the invention is driven by the driver, the rotating device controls the rotation of the mounting disc in all directions of the space by controlling the gear shifting assembly, and the mounting disc, the laser generator and the high-energy laser transmitter arranged on the mounting disc are controlled to rotate at any position of the space, so that pitching and azimuth scanning of the laser beam are realized, and the scanning range and flexibility of the laser beam are greatly improved.

The invention is a full-time space intelligent laser bird-driving device based on unmanned aerial vehicle, in use, the onboard laser bird-driving device 100 is arranged at the bottom or side of the inspection unmanned aerial vehicle through the mounting plate 1, an autonomous cruising route is planned in advance according to the route characteristics by utilizing the unmanned aerial vehicle autonomous cruising technology, the intelligent laser bird-driving device of full real time and full airspace can be realized, meanwhile, the online work of 7 x 24 can be also realized, and the bird-driving efficiency and success rate are improved; the on-board laser bird repellent device 100 of the invention can repel birds through the green laser with the wavelength of 532nm emitted by the laser generator 5 and the high-energy laser emitter 6, and the birds have strong physiological stress reaction to the green laser with the wavelength of 532nm, and the stress reaction can not react to decline along with the increase of the reaction times, thereby achieving the effect of effectively repelling birds for a long time; the irradiation of the laser beam can accurately interfere birds, so as to generate deterrent effect, make the birds feel uncomfortable, prevent the birds from adapting, force the birds to leave the target area, and avoid unnecessary damage to other organisms and the environment; the intensity and frequency of the laser beam can be adjusted by the adaptive light control unit 64 as required to adapt to different kinds of birds and different environmental requirements; the space motion transmission mechanism 2 can adjust the high-energy laser transmitter 6, and the high-energy laser transmitter 6 can also rotate and adjust, so that pitching and azimuth scanning of the laser beam are realized; the bird repellent device has the advantages of reasonable structure, suitability for birds, long service time and good bird repellent effect when being mounted on an unmanned plane.

Examples

As shown in fig. 1-14, an autonomous cruise-based inspection unmanned aerial vehicle comprises a flight control module, a motor speed regulation module, a wireless communication module, a sensor module and a real-time shooting module, wherein the autonomous cruise-based inspection unmanned aerial vehicle is used for mounting the full-time space intelligent laser bird driving device based on the unmanned aerial vehicle, and adopts an unmanned aerial vehicle autonomous cruise technology, so that an autonomous cruise route is planned in advance according to line characteristics, and full-time, full-space and full-period autonomous laser bird driving is realized;

the flight control module comprises a main control chip and a coprocessor, wherein the main control chip adopts an MSP430 chip and is responsible for the related operation of flight control and overall management of hardware resources; the coprocessor adopts an STM32F103 processor and is responsible for management and data acquisition of the sensor module, and an SPI or IC interface is reserved so as to be connected with more sensors;

the motor speed regulating module comprises a microprocessor adopting STM8, a back electromotive force detection module, a motor current detection module, a PWM waveform output module, a three-phase drive axle module and a voltage stabilizing circuit adopting 7805 chips;

the wireless communication module adopts a GPRS communication module;

the sensor module comprises a gyroscope, an acceleration sensor, an altimeter, a GPS device and a reserved sensor interface, wherein the gyroscope provides attitude parameters for the system; the acceleration sensor provides acceleration parameters; the altimeter feeds back the flying altitude to the system; the GPS device provides navigation or track flight services;

the real-time shooting module adopts a high-definition camera with a wireless transmission function.

In this embodiment, the working principle of the inspection unmanned aerial vehicle is as follows: the ground remote control station sends a wireless control signal, the wireless communication module receives the signal and then transmits data to the flight control module, the main control chip calculates and processes sensor information from the coprocessor, and then outputs a control signal to the motor speed regulating module to control the rotating speed of the motor; the coprocessor continuously receives data from the sensor module, performs preliminary processing on the data, then sends the data to the main control chip, and is also responsible for initializing the sensor module when the system is started; the real-time shooting module transmits the shot information to the main control chip, the main control chip transmits the related information to the wireless control module, and the wireless control module transmits the information to the ground or air mobile monitoring station.

The invention is a full-time space intelligent laser bird-driving device based on unmanned aerial vehicle, in use, the onboard laser bird-driving device 100 is arranged at the bottom or side of the inspection unmanned aerial vehicle through the mounting plate 1, an autonomous cruising route is planned in advance according to the route characteristics by utilizing the unmanned aerial vehicle autonomous cruising technology, the intelligent laser bird-driving device of full real time and full airspace can be realized, meanwhile, the online work of 7 x 24 can be also realized, and the bird-driving efficiency and success rate are improved; the on-board laser bird repellent device 100 of the invention can repel birds through the green laser with the wavelength of 532nm emitted by the laser generator 5 and the high-energy laser emitter 6, and the birds have strong physiological stress reaction to the green laser with the wavelength of 532nm, and the stress reaction can not react to decline along with the increase of the reaction times, thereby achieving the effect of effectively repelling birds for a long time; the irradiation of the laser beam can accurately interfere birds, so as to generate deterrent effect, make the birds feel uncomfortable, prevent the birds from adapting, force the birds to leave the target area, and avoid unnecessary damage to other organisms and the environment; the intensity and frequency of the laser beam can be adjusted by the adaptive light control unit 64 as required to adapt to different kinds of birds and different environmental requirements; the space motion transmission mechanism 2 can adjust the high-energy laser transmitter 6, and the high-energy laser transmitter 6 can also rotate and adjust, so that pitching and azimuth scanning of the laser beam are realized; the bird repellent device has the advantages of reasonable structure, suitability for birds, long service time and good bird repellent effect when being mounted on an unmanned plane.

Claims (10)

1. Full-time empty intelligent laser bird repellent device based on unmanned aerial vehicle, it includes that airborne laser drives bird equipment, its characterized in that: the airborne laser bird-driving device comprises a mounting plate for mounting the airborne laser bird-driving device on the inspection unmanned aerial vehicle, a space motion transmission mechanism is arranged below the mounting plate, a mounting plate for mounting the laser generator is arranged below the space motion transmission mechanism, and a high-energy laser transmitter for realizing laser bird-driving is arranged below the laser generator; the space motion transmission mechanism provides a power source through a driver and is used for realizing pitching and azimuth scanning bird-repellent by laser beams emitted by the high-energy laser emitters.

2. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 1, wherein: the laser generator comprises a cover plate for mounting the high-energy laser transmitter, a switch for controlling the laser generator to be turned on or off is arranged on one side of the laser generator, a frame is arranged in the laser generator, a power supply consisting of a lithium battery and a common power supply circuit is arranged below one side of the frame, and the power supply can supply power to the airborne laser bird-driving device mounted on the inspection unmanned aerial vehicle through the inspection unmanned aerial vehicle from a belt; when the power supply of the inspection unmanned aerial vehicle is insufficient, the power supply can be switched to supply power for the airborne laser bird repelling equipment.

3. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 2, wherein: the cooling block is arranged below the other side of the inside of the frame, a group of heaters and isolation brackets are respectively arranged above the inside of the frame in an X-shaped diagonal cross structure, a temperature control module used for controlling the cooling block and the heaters and internally provided with a temperature sensor is arranged behind the cooling block, and a resonator is arranged inside the frame.

4. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 3, wherein: the high-energy laser transmitter comprises a laser transmitting unit, a group of transmitting holes for transmitting laser are formed in one side of the laser transmitting unit, a substrate for bearing is arranged in the high-energy laser transmitter, an adaptive light control unit for adjusting the output power of the laser transmitting unit is arranged above the substrate, the self-adaptive control of the transmitting power of the laser transmitting unit is realized, a bottom plate is arranged on one side below the substrate, a rotating disc for mounting the laser transmitting unit is arranged below the bottom plate, a motor for driving the laser transmitting unit to rotate is arranged on one side of the bottom plate, and a belt pulley is arranged below the motor and is in power connection with the rotating disc through a driving belt; the bottom plate is connected with the base plate and the self-adaptive light control unit through cross groove pan head screws.

5. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 4, wherein: the laser emission unit comprises a laser excitation source, a semiconductor pump green laser and an optical beam expanding and shaping module, wherein the semiconductor pump green laser is used for receiving a laser beam passing through a resonator in the laser generator and controlling the laser wavelength to be 532nm; the laser excitation source is used for driving the semiconductor pump green laser to emit a circular laser spot with the diameter not smaller than 18mm, and the circular laser spot is converted by the optical beam expanding and shaping module to emit a collimated scanning green laser beam with the specific diameter and the specific power density.

6. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 1, wherein: the mounting device comprises a mounting plate, wherein a rotating device is arranged on one side, far away from the driver, of the inner side of the mounting plate, a support plate is arranged on the outer side of the rotating device, a support plate with an arc-shaped structure is arranged above the support plate, and a rod sleeve is arranged on the inner side of the support plate.

7. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 6, wherein: the space motion transmission mechanism comprises a transmission assembly, a gear shifting assembly and a driven assembly, wherein the transmission assembly comprises an inner gear ring, a first pinion meshed with the inner gear ring is arranged on the inner side of the inner gear ring, a second pinion meshed with the first pinion is arranged on the inner side of the first pinion, the second pinion is in power connection with the driver through a first driving shaft, the transmission assembly and the driven assembly are connected through a carrier frame, a second driving shaft coaxial with the first driving shaft is arranged on the inner side of the carrier frame, a second clutch is arranged at one end, close to the first driving shaft, of each second driving shaft, and a first clutch driven by the gear shifting assembly is arranged on the inner side of the second clutch.

8. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 7, wherein: the gear shifting assembly comprises a gear shifting rod which is in power connection with the rotating device, a shifting fork of a U-shaped structure is arranged on the inner side of the gear shifting rod, a shifting plate which is connected with the first clutch is arranged in the shifting fork in an extending mode in the direction of the first clutch, a connecting rod which is perpendicular to the shifting plate is arranged in the shifting fork in the extending mode in the direction of the driven assembly, the connecting rod is movably connected with a rod sleeve, a spring is arranged at the outer side portion of the connecting rod, penetrates through the supporting plate, and a limiting plate is arranged on the outer side of the spring; the driven assembly comprises a first bevel gear connected with the second driving shaft in a shaft mode, a second bevel gear meshed with the first bevel gear is arranged on the outer side of the first bevel gear, and the second bevel gear is connected with the mounting plate through an L-shaped plate.

9. The unmanned aerial vehicle-based full-time space intelligent laser bird repellent device according to claim 8, wherein: the carrier frame comprises a crank and a circular plate, one end of the crank is provided with a connecting end connected with the first pinion shaft, the circular plate is used for installing a first bevel gear, the circular plate is connected with the crank through a shaft frame arranged outside the second driving shaft, and the circular plate is provided with a mounting frame used for installing the second bevel gear relative to one side of the connecting end.

10. Unmanned aerial vehicle patrols and examines based on independently cruising, its characterized in that: the inspection unmanned aerial vehicle comprises a flight control module, a motor speed regulation module, a wireless communication module, a sensor module and a real-time shooting module, wherein the inspection unmanned aerial vehicle based on autonomous cruise is used for mounting the full-time air intelligent laser bird driving device based on the unmanned aerial vehicle according to any one of claims 1-9, and an unmanned aerial vehicle autonomous cruise technology is adopted, so that an autonomous cruise route is planned in advance according to line characteristics, and full-time, full-space and full-period autonomous laser bird driving is realized;

the flight control module comprises a main control chip and a coprocessor, wherein the main control chip adopts an MSP430 chip and is responsible for the related operation of flight control and overall management of hardware resources; the coprocessor adopts an STM32F103 processor and is responsible for management and data acquisition of the sensor module, and an SPI or IC interface is reserved so as to be connected with more sensors;

the motor speed regulating module comprises a microprocessor adopting STM8, a back electromotive force detection module, a motor current detection module, a PWM waveform output module, a three-phase drive axle module and a voltage stabilizing circuit adopting 7805 chips;

the wireless communication module adopts a GPRS communication module;

the sensor module comprises a gyroscope, an acceleration sensor, an altimeter, a GPS device and a reserved sensor interface, wherein the gyroscope provides attitude parameters for the system; the acceleration sensor provides acceleration parameters; the altimeter feeds back the flying altitude to the system; the GPS device provides navigation or track flight services;

the real-time shooting module adopts a high-definition camera with a wireless transmission function;

in this embodiment, the working principle of the inspection unmanned aerial vehicle is as follows: the ground remote control station sends a wireless control signal, the wireless communication module receives the signal and then transmits data to the flight control module, the main control chip calculates and processes sensor information from the coprocessor, and then outputs a control signal to the motor speed regulating module to control the rotating speed of the motor; the coprocessor continuously receives data from the sensor module, performs preliminary processing on the data, then sends the data to the main control chip, and is also responsible for initializing the sensor module when the system is started; the real-time shooting module transmits the shot information to the main control chip, the main control chip transmits the related information to the wireless control module, and the wireless control module transmits the information to the ground or air mobile monitoring station.