CN209037850U - Unmanned vehicle - Google Patents
Unmanned vehicle Download PDFInfo
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- CN209037850U CN209037850U CN201790000711.6U CN201790000711U CN209037850U CN 209037850 U CN209037850 U CN 209037850U CN 201790000711 U CN201790000711 U CN 201790000711U CN 209037850 U CN209037850 U CN 209037850U
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/54—Floats
- B64C25/56—Floats inflatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/62—Deployment
- B64D17/72—Deployment by explosive or inflatable means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/26—Ducted or shrouded rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/87—Vertical take-off or landing, e.g. using rockets using inflatable cushions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
Embodiment is related to a kind of unmanned vehicle comprising: ontology；Photographic device, installation is on the body；Sensing unit senses the current state of the ontology；And controller, it is communicated with the photographic device and sensing unit, the controller is judging that the ontology is when in an abnormal state, using the ground image obtained by the photographic device, at least one home is selected, and the ontology is made to be moved to the home.Therefore, unmanned vehicle is by the drawing based on photographic device, grasp can safe landing home and land in home, so as to ensure the organism safe of unmanned vehicle and prevent to people, to the injury of object.
Description
Technical field
The present embodiment is related to a kind of unmanned vehicle i.e. unmanned plane (Drones).
Background technique
Recently, unmanned vehicle (such as: unmanned plane) removes because of the various benefits such as simplicity, swiftness, economy
Other than military, it is also applied to the various fields such as logistics distribution, disaster relief, broadcast, leisure and is utilized.Therefore,
Demand explosive growth to unmanned vehicle.
Although unmanned vehicle has many advantages, still, because of variation and the driving behaviour of the external environments such as wind
A possibility that vertical is unskilled, falls height.
For example, in the case where this unmanned vehicle falls, it is unskilled to the manipulation of unmanned vehicle or
It is maximum using unskilled accounting.Secondly because the case where electronic error of unmanned vehicle leads to uncontrollable state
Occur, unmanned vehicle is made to fall.Also, because of wind speed or meteorology reason, unmanned vehicle is caused to fall
Situation.
Accordingly, because unmanned vehicle and be arranged in unmanned vehicle various components it is expensive, with nobody
Economic loss is necessarily serious caused by driving the breakage of falling of aircraft.
In addition when unmanned vehicle falls, it is serious in addition to causing because of the breakage of unmanned vehicle itself
It is similarly serious to people and to the risk of the injury of object other than economic loss.
In this way, in order to reduce the damage occurred by falling for unmanned vehicle to the maximum extent and realize that nobody drives
The commercialization for sailing aircraft, needs the stability application scheme of aircraft, and needs when unmanned vehicle is because that can not control
System and when freely falling body, can make the safety device of its settling landing.
Utility model content
Technical problem
The utility model provides a kind of unmanned vehicle, caused by can preventing due to uncontrollable or emergency
Organism safe to unmanned vehicle and to people, to the damage of object.
Additionally, it is provided a kind of unmanned vehicle, by the drawing (mapping) of photographic device, grasp is landed in an emergency
Or when falling can safe landing home, and be directed to home.
Additionally, it is provided a kind of unmanned vehicle, can reduce sinking speed, to ensure the avoidance time to people,
And ensures the controllable time, unmanned vehicle is directed to home.
Additionally, it is provided a kind of unmanned vehicle, has safety device, to prevent unmanned vehicle itself
Breakage, and prevent to people or to the secondary injury of object.
Embodiment problem to be solved is not limited to problems noted above, and those skilled in the art should be from following record
It is expressly understood that unmentioned other problems herein.
Technical solution
The unmanned vehicle that described problem can be related to by embodiment is reached, which includes: this
Body；Photographic device, installation is on the body；Sensing unit senses the current state of the ontology；And controller, with institute
It states photographic device and sensing unit is communicated, the controller is judging that the ontology is when in an abnormal state, using by institute
The ground image for stating photographic device acquisition, selectes at least one home, and the ontology is made to be moved to the home.
The controller can utilize the information of the sensing unit, calculate movable distance.
Also, when the home is multiple, the controller, which can select to land in the movable distance, pacifies
The highest place of whole step is as landing site.
Wherein, the landing degree of safety can include: object on the ground based on determined by the photographic device exist with
Whether the concentration degree of no, the described object, the object are mobile and at least one of the flatness on the ground or two with
On combination.
In addition, the sensing unit may include acceleration transducer, gyro sensor, direction sensor, infrared ray biography
Sensor, ultrasonic sensor, vibrating sensor, shock transducer, height sensor, wind transducer, air velocity transducer, power supply
At least one of sensor or more than two combinations.
On the other hand, the unmanned vehicle can further comprise parachute unit, removably configure in institute
State body upper part.
The parachute unit includes: tubulose parachute ontology, the expansion when gas is supplied to inside；Multiple ropes, match
It sets between the ontology and the tubulose parachute ontology, the controller adjusts the length of each rope, by institute
It states ontology and is directed to the home.
The gas can be used quality less than the inert gas of nitrogen.
In addition, the ontology includes: trunk；Multiple arms, prominent configuration is on the trunk；Propeller is configured described
The end of arm；And sled, it configures in the lower part of the trunk.
In addition, the unmanned vehicle can further comprise multiple air bags removably configured on the sled
Unit.
Wherein, the gas bag unit includes: air bag；Air bag capsule, Xiang Suoshu air bag supply air；And multiple discharges
Mouthful, it configures on the air bag.
Also, the gas can be used quality less than the inert gas of nitrogen.
In addition, multiple discharge outlets are configurable on the side surface of the air bag of expansion.
In addition, multiple discharge outlets are configurable on the lower surface of the air bag of expansion.
Also, the discharge outlet can be aperture-type (diaphragm type).
In addition, the controller, which passes through the discharge outlet configured at least one of described gas bag unit, discharges institute
The gas of inside air bag is stated, so as to control the posture of the ontology.
In addition, the unmanned vehicle may be configured with for alleviating the impact between the trunk and the sled
Shock-proof suspension.
On the other hand, the unmanned vehicle can further comprise notification unit, when the ontology is in abnormal shape
When state, the abnormality is notified.
Wherein, the notification unit can be micro projector or laser designator.
In addition, the notification unit can be directional loudspeaker.
Also, the unmanned vehicle can further comprise microphone, the microphone senses ambient noise, with true
The sound size of the fixed directional loudspeaker.
Utility model effect
The unmanned vehicle that embodiment is related to grasps the peace for capableing of safe landing by the drawing based on photographic device
All positon simultaneously lands in home, so that it is guaranteed that the organism safe of unmanned vehicle and preventing to people, to the injury of object.
In addition, the unmanned vehicle persistently selects multiple home S using sensing unit and photographic device,
The unmanned vehicle is when in an abnormal state, and parachute ontology and air bag is unfolded, based on the home S selected,
Home S to be landed can be selected again.
In addition, the unmanned vehicle is able to use drop when the unmanned vehicle is abnormal state
Umbrella unit is fallen, sinking speed is reduced and is directed to home.
In addition, the unmanned vehicle uses air bag list when the unmanned vehicle is abnormal state
Member reduces sinking speed, and is directed to home, while can prevent to people, the injury to object and body injury.
At this point, the amount of the gas of discharge outlet injection of the unmanned vehicle by adjusting through gas bag unit, is drawn
Lead home S to be landed.
Especially, the gas bag unit of the unmanned vehicle is unfolded from the lower part of the unmanned vehicle, because
This, it can be ensured that the organism safe of unmanned vehicle is simultaneously prevented to people, to the injury of object.
For this purpose, passing through the unfolded state of parachute ontology, the ontology of the unmanned vehicle will be located at parachute
Lower side, therefore, the disposition of gasbag being unfolded is in the lower part of ontology.Even if posture is not when moving for the unmanned vehicle
Balance, the air that can also be fed into inside air bag based on the information by sensing unit, controller are discharged through discharge outlet, from
And control posture.Therefore, object of the air bag being unfolded preferentially with ground or positioned at ground collides, and can reduce to the maximum extent
Because being injured caused by collision.
Also, the unmanned vehicle uses notification unit, and the unmanned vehicle can be notified to people
Abnormality, and prevent people enter for the unmanned vehicle land movement routine on or landing site.
Detailed description of the invention
Fig. 1 is the perspective view for showing the unmanned vehicle that embodiment is related to.
Fig. 2 is the bottom view for showing the unmanned vehicle that embodiment is related to.
Fig. 3 is the main view for showing the unmanned vehicle that embodiment is related to.
Fig. 4 is the block diagram for showing the control planning of controller for the unmanned vehicle that embodiment is related to.
Fig. 5 is to show the figure for being selected as the home that the unmanned vehicle that embodiment is related to lands.
Fig. 6 is the figure for showing the parachute unit for the unmanned vehicle that embodiment is related to.
Fig. 7 is the perspective view for showing the gas bag unit of the unmanned vehicle that embodiment is related to being unfolded.
Fig. 8 is the bottom view for showing the gas bag unit of the unmanned vehicle that embodiment is related to being unfolded.
Fig. 9 and Figure 10 is the figure for showing the operation of discharge outlet for the gas bag unit that embodiment is related to.
Figure 11 is the figure for showing the light irradiation of the notification unit for the unmanned vehicle that embodiment is related to.
Figure 12 is that the parachute ontology for showing the unmanned vehicle that embodiment is related to and air bag are unfolded under state and calculate
The figure of moving distance out.
Figure 13 is the figure for showing the unmanned landing place that selected embodiment is related to.
Figure 14 is the figure for showing the unmanned vehicle that embodiment is related to and moving to landing site.
Figure 15 is the block diagram for showing the operation for the unmanned vehicle that embodiment is related to.
Appended drawing reference
1: unmanned vehicle 100: ontology
200: power supply source 300: sensing unit
400: photographic device 500: parachute unit
600: gas bag unit 700: notification unit
800: controller S: home
H: landing site
Specific embodiment
The utility model can apply various changes and can have various embodiments, and specific embodiment is illustrated in attached drawing and is gone forward side by side
Row explanation.But the utility model is not limited to the particular implementation, covers the thought and technology for falling into the utility model
The having altered of range, equivalent and substitute, it is thus understood that be included.
Ordinal term including first, second etc. can be used for illustrating various constituent elements, but the constituent element
It is not limited to the term.The term is only used for distinguishing a constituent element and another constituent element.For example, not taking off
From under the scope of the claims of the utility model, the second constituent element can be named as the first constituent element, similarly, the first structure
It can also be named as the second constituent element at element.The combination of term and/or the project including multiple associated records is multiple
A certain project in the associated project recorded.
It should be appreciated that this not only includes when referring to a certain constituent element with other constituent elements " connection " or " contact "
The case where being directly connected to or contact with other constituent elements is also understood as the feelings between being included therein there are other constituent elements
Condition.Conversely, when referring to a certain constituent element with other constituent elements " being directly connected to " or " directly contacting ", it is thus understood that wherein
Between be not present other constituent elements.
In the explanation of embodiment, when be recorded as a certain constituent element be formed in other constituent elements " it is upper (and on) or under (it
Under) (on or under) " when, upper (on) or under (under) (on or under) include that two constituent elements directly connect mutually
Touching or other constituent elements configuration of at least one are formed between described two constituent elements and are included.Also, it states
When for up or down, on the basis of a certain constituent element, side direction is referred not only to, may also include downside direction.
Term used herein simply to illustrate that specific embodiment and use, be not necessarily referring to limit this practical new
Type.Unless the context clearly determines otherwise, otherwise the expression of odd number includes plural expression.In this application, it should be understood that " packet
Include " or the terms such as " having " for specified there are feature recorded in specification, number, step, operation, constituent element, portions
Part or combinations thereof, and it is non-predetermined exclude one or other features more than it, number, step, operation, constituent element, component or
The presence of a combination thereof or additional possibility.
Unless otherwise defined, including technical term or scientific term, all terms as used herein and those skilled in the art
What member was generally understood possesses identical meaning.Term defined in the dictionary generally used should be explained and the relevant technologies
The possessed consistent meaning of meaning on context is not construed to ideal or mistake if do not explicitly defined in this application
In the meaning of form.
Hereinafter, embodiment will be described in detail referring to attached drawing, it is unrelated with appended drawing reference, for identical or corresponding structure
Identical appended drawing reference is assigned at element, repeated explanation will be omitted to this.
Referring to figs. 1 to Figure 14, the unmanned vehicle 1 that embodiment is related to includes ontology 100, power supply source 200, uses
Sensing unit 300, photographic device 400, parachute unit 500, gas bag unit 600, notification unit in sensing 100 state of ontology
700 and controller 800.Wherein, controller 800 can be communicated with sensing unit 300 and photographic device 400.
Ontology 100 can form the shape of the unmanned vehicle 1.Also, sensing unit 300, photographic device 400,
Parachute unit 500, gas bag unit 600, notification unit 700 and controller 800 can be arranged respectively at the side or interior of ontology 100
Portion.
Ontology 100 includes trunk 110, arm 120, multiple propellers 130 and sled 140.Wherein, such as Fig. 1 to Fig. 3 institute
Show, rotary wings 130 can be used in propeller 130, are illustrated below with rotary wings 130.
The end of arm 120 from the prominent configuration in the side of trunk 110 is provided with rotary wings 130.Also, can have multiple
From the arm 120 of the prominent configuration of trunk 110.
Rotary wings 130 by driving motor it is (not shown) rotation, so as to make the unmanned vehicle 1 carry out from
Land, landing or movement (horizontal direction: x, vertical direction: y).Wherein, the driving motor is supplied by power supply source 200
Power supply and driven.As shown in Fig. 1, ontology 100 can have 4 rotary wings 130, but be not limited to this.
Rotary wings 130 are configurable to different quantity, and are mountable to different positions, to fly.Also, only
If the structure of ontology 100 can be moved, so that it may be deformed into different structure.
At least a pair of of sled 140 is configurable on the lower part of trunk 110.Also, sled contacts ground when landing first,
Thus prevent the direct collision of trunk 110 Yu ground.
As shown in Figure 1 to Figure 3, sled 140 may include the braced frame being formed slopely towards outside with defined tiltangleθ
141 and landing frame 142.
Landing frame 142 is formed by bending in rodlike towards inside from the end of braced frame 141, defined to have
Curvature R.
Wherein, " outside " refers to the outside direction on the basis of trunk 110, and " inside " refers on the basis of trunk 110
Internal direction.
The braced frame 141 being formed slopely with predetermined angular, by the unmanned vehicle 1 when landing, application
The direction of impact is converted, to mitigate the impact being applied directly on trunk 110.
In addition, can be from the external force or impact for being applied to 110 lower part of trunk towards the landing frame 142 that inside is formed by bending
Protect trunk 110.
That is, as described above, can both mitigate trunk 110 by the sled 140 that braced frame 141 and landing frame 142 are constituted
The impact being subject to can also protect trunk 110.
Although the present embodiment is with the landing of ontology 100, sled 140 is placed in for ground, is not necessarily limited to this,
The structure of sled 140 can according to need and omit or be replaced by other landing units.
On the other hand, ontology 100 can further comprise the shock-proof suspension 150 configured between trunk 110 and sled 140.
Shock-proof suspension 150 includes shock absorber or shock absorber structure, and when landing can mitigate the impact for being applied to ontology 100.
Referring to Fig. 4, power supply source 200 is controlled by controller 800, can also be single with sensing other than driving motor
Member 300, photographic device 400, parachute unit 500, gas bag unit 600, notification unit 700 and controller 800 are electrically connected, from
And it can be powered.
Power supply source 200 includes main battery 210 and boosting battery 220.
Main battery 210 is powered under the general operating status of the unmanned vehicle 1.
Boosting battery 220 main battery 210 be discharged or main battery 210 be in can not power supply state when, to it is described nobody
Drive each constituent element power supply of aircraft 1.
Therefore, when sensing main battery 210 by the power sensor in sensing unit 300 can not power, controller
800 controls are powered using boosting battery 220, to substitute main battery 210.
Referring to Fig. 4, sensing unit 300 can sense the current state of the unmanned vehicle, and send out to controller 800
The number of delivering letters.Wherein, sensing unit 300 may be provided on ontology 100.
Sensing unit 300 can by the acceleration for measuring the unmanned vehicle 1 acceleration transducer, be used for
Measure gyro sensor, direction sensor, infrared sensor, ultrasonic sensor, the vibrating sensor, impact of rotation angle
Sensor, the height sensor for measuring height, the wind transducer in the direction for sensing wind, the wind for senses wind speed
At least one of fast sensor, power sensor for sensing power supply or more than two combinations are constituted.
Acceleration transducer, gyro sensor, direction sensor and height sensor are for sensing measured value
And the variable quantity of value.In addition, infrared sensor can measure the distance between high-temperature portion.In addition, ultrasonic sensor can be surveyed
The distance between fixed and object.In addition, vibrating sensor becomes flight obstacle for sensing when more than assigned frequency to vibrate
The case where.
In addition, shock transducer is for sensing the in-flight impact with arbitrary objects.
Therefore, controller 800 receives the signal sent from sensing unit 300, can grasp the unmanned vehicle 1
Current state is the normal condition that can be run or the abnormality of problem occurs on the unmanned vehicle 1.
The lower part of ontology 100 is arranged in photographic device 400, can image image or image to ground object (to people, to object).
For example, photographic device 400 can be 360 degree of cameras, building shape, the road on camera camera shooting ground
Shape, trees shape, people etc., and controller 800 will be sent to including their image information.
The controller 800 for receiving described image information can have mapping software, using by acceleration transducer, gyroscope biography
The value of the measurements such as sensor, direction sensor, height sensor, ultrasonic sensor, the variable quantity of value and described image information, can
It draws to dimensional topography, atural object.
Therefore, as shown in Fig. 5, controller 800 grasps the state of the unmanned vehicle 1, by analyzing the figure
Picture, select the unmanned vehicle 1 can safe landing multiple home S.Also, controller 800 is in view of camera shooting
The landing degree of safety of device 400, according to different rankings select home S1, S2, S3 ..., Sn.
Wherein, the home S is based on the moveable range (moving distance d1) of the unmanned vehicle 1, and
And according in view of unmanned area or the few area of people or ground object presence or absence, the concentration degree of the object, by camera shooting object
Whether body is mobile, at least one of the state of floor flatness and the unmanned vehicle 1 etc. or more than two
Combined landing degree of safety, sustainable renewal.
Therefore, the controller 800 of the unmanned vehicle 1 is abnormal state in the unmanned vehicle 1
When, the state of the unmanned vehicle 1 in abnormality is grasped, according to the home selected in normal condition
The rank order of S, again select home S1, S2, S3 ..., Sn.
Also, controller 800 selected again and selected home S1, S2, S3 ..., in Sn, consider
Land degree of safety selectes the highest landing site H of landing degree of safety, the unmanned vehicle 1 is directed to the landing field
Point H, it can be ensured that the safety of the unmanned vehicle 1 is simultaneously prevented to people, to the injury of object.
That is, since the unmanned vehicle 1 every the preset time is continually updated home S, when the nothing
When people's driving aircraft 1 is abnormal state, shorten the time required to drawing (Mapping), so as to quickly be corresponded to.Cause
This can also be quickly guided to select from home S even if when in an abnormal state in the unmanned vehicle 1
Landing site H.
In the embodiment for selecting home S using photographic device 500, although in normal state by draw come
For continuous updating home S, but it is not necessarily limited to this.For example, finding the unmanned vehicle 1 in different
While normal state, controller 800 selectes multiple home S using sensing unit 300 and photographic device 400, by the nothing
People drives aircraft 1 and is quickly guided to the landing site H selected from home S.
On the other hand, the unmanned vehicle 1 can further comprise parachute unit 500.
Parachute unit 500 is removably disposed at the top of ontology 100.Therefore, it can be easy to carry out because of parachute unit
500 use or damage etc. and occur replacement.
When the unmanned vehicle 1 is when in an abnormal state, parachute unit 500 reduces the nolo flight
The sinking speed of device 1, to ensure the time that can control the unmanned vehicle 1 to be directed to chosen home S.
Parachute unit 500 is configurable on the top of ontology 100.
When the unmanned vehicle 1 is when in an abnormal state, controller 800 starts parachute unit 500, with expansion
Parachute.
Parachute unit 500 may include tubulose parachute ontology 510, multiple ropes 520 and for controlling each rope
The rope adjustment portion (not shown) of 520 length.
Tubulose parachute ontology 510 be internally provided with can internally supply gas capsule (not shown).Therefore, when described
Unmanned vehicle 1 is when in an abnormal state, and the capsule is to 510 supply gas of tubulose parachute ontology, to play drop
Fall umbrella effect.
Wherein, the gas can implantation quality be less than nitrogen gas.For example, can be supplied to not lazy with other elements chemical combination
Helium in property gas, to meet safety and to reduce sinking speed.
Therefore, the tubulose parachute ontology 510 for being supplied to the helium can reduce the sinking speed of ontology 100.Therefore, it manages
Shape parachute ontology 510 ensures more to control the time than general parachute, and the unmanned vehicle 1 is directed to
Home S.
Multiple ropes 520 may be provided between the trunk 110 of ontology 100 and the ontology 510 of tubulose parachute.
Also, the respective length of multiple ropes 520 is adjusted by the rope adjustment portion, and the rope adjustment portion is by controller
800 controls.
Therefore, when the unmanned vehicle 1 is landed in an emergency, controller 800 utilizes the rope adjustment portion,
The respective length of rope 520 is controlled, respectively so as to which the unmanned vehicle 1 is directed to chosen home
S。
In embodiment, although being not limited to so that parachute unit 500 is that can adjust the gliding mode in direction as an example
This, also can be used the general parachute that can reduce sinking speed.
The unmanned vehicle 1 can further comprise safety device, to prevent the breakage of ontology 100 itself and to people
Or the secondary injury to object.
Gas bag unit 600 can be used as the safety device.
Referring to Fig. 2 and Fig. 7, gas bag unit 600 is removably disposed on sled 140.That is, gas bag unit 600 can
Removably it is arranged respectively at the both ends of each landing frame 142.
Gas bag unit 600 includes: air bag 610；Multiple discharge outlets 620 are configured in the side of the air bag 610；And gas
Capsule capsule 630 can internally supply air.
Therefore, when the unmanned vehicle 1 is when in an abnormal state, air bag capsule 630 supplies gas to air bag 610
Body so as to prevent the breakage of ontology 100 itself, and is prevented to people or to the secondary injury of object.
Wherein, the gas can implantation quality be less than nitrogen gas.For example, can to air bag 610 supply not with other yuan
The helium in inert gas that element chemically reacts, to meet safety and reduce sinking speed.
Therefore, the tubular bladder 610 for being supplied to the helium reduces the sinking speed of ontology 100.Therefore, the air bag
610 can ensure more to can control the time, and the unmanned vehicle 1 is directed to home S.
In addition, even if the air bag 610 being unfolded when landing in an emergency or falling, can also prevent the breakage of ontology 100 itself
And it prevents to people or to the secondary injury of object.
As shown in fig. 7, the lower part of ontology 100 can be formed with the gas being unfolded with donut shape when deployment balloon 610
Capsule.Wherein, the air bag 610 can realize the shape to be divided into 4.
Because the air bag 610 for being divided into 4 is each formed with discharge outlet 620, the opening and closing of controller 800 is formed in each gas
Discharge outlet 620 on capsule 610, so that the gas flow of each air bag 610 be adjusted.Therefore, controller 800 adjusts each air bag
Gas flow inside 610, so as to adjust the flight balance (control posture) of the unmanned vehicle 1.Therefore, described
Unmanned vehicle 1 utilizes the photographed images of photographic device 400, moreover it is possible to when preventing to people or to the collision of object, and colliding
The gas flow being also adjustable inside air bag 610, so as to be reduced to the maximum extent because of injury caused by colliding.
For example, relative to the air bag 610 expanded completely, the air bag 610 of incomplete expansion more can be reduced when colliding with object
Impact.
In the embodiment of air bag 610, although being not necessarily limited to this for being divided into four shapes,
Three or more air bags 610 for maintaining donut shape can be used.
Discharge outlet 620 can be arranged respectively at the lower surface and side surface of air bag 610.Wherein, it the opening and closing of discharge outlet 620 and opens
The degree of closing can be controlled by controller 800.
By the discharge outlet 620 configured in lower surface, the gas inside air bag 610 is discharged, so as to further decrease
The rising of the unmanned vehicle 1 or sinking speed.
In addition, the unmanned vehicle 1 is by adjusting the gas for being configured in the discharge outlet 620 of lower surface and being discharged
Amount, is adjusted the balance of the unmanned vehicle 1.
Discharge outlet 620 by being configured in side surface discharges the gas inside air bag 610, the unmanned vehicle
1 adjustable moving direction and moving distance.In addition, the unmanned vehicle 1 is configured in the row of side surface by adjusting
The gas flow for putting the discharge of mouth 620, is adjusted the flight balance of the unmanned vehicle 1.
In the embodiment of discharge outlet 620, although the side surface and lower surface with air bag 610 are each configured with discharge outlet
For 620, but it is not limited to this, it is contemplated that the reduction of moving direction and moving distance and balance and sinking speed, Ke Yi
Discharge outlet 620 is configured on the different location of air bag 610.
Only, additional discharge outlet is respectively configured in the side surface of air bag 610 and lower surface in the unmanned vehicle 1
620, so as to control the adjusting of moving direction and moving distance and the reduction of sinking speed respectively.Therefore, controller 800 can
Critically control the movement and flight balance of the unmanned vehicle 1.
Aperture-type can be used in the discharge outlet 620 that gas inside air bag 610 is discharged.
Referring to Fig. 9 and Figure 10, discharge outlet 620 may include support plate 621, multiple wings 622 and adjustment gear.
On the plate of annular backup pad 621, multiple streamlined wings 622 are configured to rotate with swirl shape.
Also, adjustment gear 623 can be formed as to annular identical with support plate.
Therefore, the multiple wings 622 being connected in support plate 621 configure between support plate 621 and adjustment gear 623, branch
Fagging 621 is arranged on air bag 610, to form discharge outlet 620.
Wherein, the outer periphery of adjustment gear 623 is formed with gear teeth, and the gear teeth can accurately adjust adjustment gear
623 rotation is adjusted.Also, the gear teeth can be engaged with the gear on the axis for being connected to the motor as driving source.
Therefore, it is rotated with adjustment gear 623 due to the motor, multiple wings 622 can be rotated with swirl shape.Therefore,
The amount of the adjustable gas being discharged.
Hereinafter, illustrating the operation logic of the discharge outlet 620 formed with structure as described above referring to Fig. 9 and Figure 10.
As shown in Fig. 9, when adjustment gear 623 is run to a direction, in order to reduce the flow in air bag 610, the wing 622
Towards centrifugal direction as vortical rotation, multiple wings 622 are prominent towards centrifugal direction, move as the aperture of camera gun
It is dynamic, to can be reduced discharge area.As needed, make the radius of turn of the wing 622 maximum, so as to block flow path completely.
As shown in Figure 10, on the contrary, in order to increase flow, 623 reverse direction operation of adjustment gear makes the wing 622 towards centrifugation side
To opposite direction rotation, so as to open discharge outlet 620.
As described above, because the multiple wings 622 being connected in support plate 621 are run with aperture-type, gas and the wing
The part of 622 contacts becomes uniformly on the whole, so that the amount of gas distributes evenly.
According to above-mentioned operation logic, discharge outlet 620 is run as the aperture of camera gun, therefore, both adjustable gas
Discharge amount, and gas can be distributed evenly.
On the other hand, together with the parachute ontology 510 that is unfolded on the top of ontology 100, in the lower part quilt of ontology 100
The gas bag unit 600 of expansion maintains the flight balance (control posture) of the unmanned vehicle 1.
For example, ontology 100 will be located at the lower part of parachute ontology 510 due to 510 unfolded state of parachute ontology
Side.Therefore, air bag 610 is unfolded in the lower part of ontology 610, so can ensure the organism safe of unmanned vehicle and prevent
Only to people, to the injury of object.
That is, the ontology 100 of the unmanned vehicle 1 is located under parachute when parachute ontology 510 is unfolded
Portion side, therefore, the air bag 610 being unfolded are configured in the lower part of ontology 100.Even if when the unmanned vehicle 1 is mobile
Postural disequilibration, can also be based on the information for passing through sensing unit 300, and controller 800 is by the way that through discharge outlet 620, discharge is supplied outward
The air being given to inside air bag 610, so as to control posture.Therefore, the air bag 610 being unfolded is preferentially with ground or positioned at ground
The object in face collides, injury caused by capable of reducing to the maximum extent because of collision.
Referring to Fig. 2 and Figure 11, the unmanned vehicle 1 may include notification unit 700, according to abnormality, lead to
Know that the unmanned vehicle 1 is to land in an emergency, fall.
The unmanned vehicle 1 based on the multiple home S selected in normal state, when it is described nobody drive
The landing degree of safety that aircraft 1 is when in an abnormal state, after considering parachute ontology 510 and the expansion of air bag 610 is sailed, can be selected again
Home S.
Certainly, in the case where the multiple home S selected under no normal condition, it is contemplated that parachute ontology
510 and air bag 610 be unfolded after landing degree of safety, home S can also be selected.
Therefore, the notification unit 700 of the unmanned vehicle 1 is to being located at landing field to be landed in home S
The people on the periphery point H notifies the unmanned vehicle 1 to be in abnormality.
The micro projector or laser designation of irradiation light can be used in the notification unit 700 of the unmanned vehicle 1
Device, with the landing site H chosen to people's notice.
The laser designator is in land mark landing site H, to be notified to people, thus prevent people be moved to it is described nobody
Drive the landing site H to be landed of aircraft 1.
In addition, the micro projector notifies described unmanned winged while the H of land mark landing site to people
Row device is from being moved to the movement routine of landing, to prevent people from entering the movement routine or landing of the unmanned vehicle
Place H.
On the other hand, directional loudspeaker can be used in notification unit 700.
The directional loudspeaker utilizes sound, notifies the nothing to the people for the lower section for being located at the unmanned vehicle 1
People drives aircraft 1 and is in abnormality, to make one to be hidden from the lower section of the unmanned vehicle 1.
At this point, the unmanned vehicle 1 can further comprise the microphone for sensing periphery noise.
Therefore, controller 800 analyzes the noise by the microphone senses, to can determine the directional loudspeaker
Sound size.
During illustrating notification unit 700, although being with micro projector, laser designator or directional loudspeaker
Example, but is not limited to this, can be at least one or their combination therein.
Hereinafter, referring to Fig.1 2 to Figure 14, the operation of the unmanned vehicle 1 is observed.
As shown in figure 12, under 610 unfolded state of parachute ontology 510 and air bag, the unmanned vehicle 1
Controller 800 calculates the unmanned vehicle 1 using the ground image obtained by sensing unit 300 and photographic device 400
Movable distance d2.
For example, using by the sinking speed of the unmanned vehicle 1, wind direction, wind speed, discharge through discharge outlet 620
Can discharge amount etc., controller 800 calculates the unmanned vehicle 1 movably distance d2.
As shown in figure 13, controller 800 selectes multiple home S in movably distance d2, considers safety of landing
Degree, according to the chosen home S of different rankings selection, to select landing site H.That is, controller 800 will be pacified by landing
First in the selected home S of whole step is chosen to be landing site H.
At this point, considering the object presence or absence on ground, floor flatness etc., multiple home S can be selected.Also, it controls
Device 800 processed considers the concentration degree to people and the movement routine to people etc., can according to different rankings, select home S1, S2,
S3 ..., thus selected landing site H.
At this point, using multiple home S selected in normal state, then selected home S, so as to quickly select
Determine landing site H.
Wherein, the image obtained at predetermined intervals by photographic device 400 is compared, thus prediction pair
The movement routine of people.
Referring to Fig.1 4, the unmanned vehicle 1 uses notification unit 700, can notify to people described unmanned
Aircraft 1 is in abnormality.
Especially, using laser designator or micro projector, it can prevent people from entering landing site H.
Also, the unmanned vehicle 1 is mobile to landing site H, so as to ensure organism safe and prevent pair
People, the injury to object.
5 unmanned vehicle control method includes: the step of identification unmanned vehicle 1 is run referring to Fig.1
S10；Confirm the step S20 of 1 state of unmanned vehicle；The step S30 imaged using photographic device；Selected landing field
The step S40 of point；Sense the step S50 of the abnormality of unmanned vehicle 1；Start the step S60 of security system；And
Landing step S70.
In the step S10 that identification unmanned vehicle 1 is run, using sensing unit 300, unmanned fly can recognize
Whether row device 1 runs.
In the step S20 of confirmation 1 state of unmanned vehicle, using sensing unit 300, unmanned fly can be confirmed
The state of row device 1, for example, using sensing unit 300 persistently to the height of unmanned vehicle 1, gradient, speed, acceleration
Degree etc. is confirmed, can determine that the current state of unmanned vehicle 1.
In the step S30 imaged using photographic device, using photographic device 400, it is (right to ground object to image
People, to object) image or image.
In the step S40 in selected landing site, using the image obtained by sensing unit 300 and photographic device 400,
Select multiple homes.Also, based on chosen home S, considers landing degree of safety, landing to be landed can be selected
Place H.
In the step S50 of the abnormality of sensing unmanned vehicle 1, using sensing unit 300, it is able to confirm that nothing
People's aircraft is in normal condition or abnormality.
If unmanned vehicle 1 is in normal condition, repeat from step S20 to step S50.
If the unmanned vehicle 1 is confirmed to be in abnormality, in the step for implementing starting security system
After rapid S60, based on the multiple home S selected in normal state, considers landing degree of safety, home can be selected again
S.Wherein, abnormality can refer to battery discharge, 130 failure of rotary wings, sense freely falling body, communication mistake, collision etc.
The sensed state of unusual condition.
In the step S60 of starting security system, parachute ontology 510 and air bag 610 is unfolded, is driven so as to reduce nobody
Sail the sinking speed of aircraft 1.
At this point, the gas that discharge outlet 620 of the unmanned vehicle 1 by adjusting through gas bag unit 600 sprays
Amount, can be directed into landing site H to be landed.
In addition, the unmanned vehicle 1 passes through controls the length of each rope 520 respectively, can be directed into
The landing site H in land.
In addition, notifying the unmanned vehicle 1 to be in abnormality, Neng Goufang to personnel using notification unit 700
Only people enter the unmanned vehicle 1 for landing movement routine on or landing site H.
If in the rotary wings 130 of the unmanned vehicle 1 a part in can driving condition, it is described that nobody drives
It sails aircraft 1 and grasps drivable rotary wings 130, by driving drivable rotary wings 130, sinking speed can be reduced and landed
On the H of landing site.
Therefore, the landing that the unmanned vehicle 1 can be safe S70 on the H of landing site.
On the other hand, although the unmanned vehicle 1 is to use parachute unit when that can not drive rotary wings 130
500 or for gas bag unit 600 drives the unmanned vehicle 1, but it is not necessarily limited to this.That is, by being equipped with it
His auxiliary propeller, can also make 1 safe landing of unmanned vehicle to landing site.
It is illustrated above by reference to the embodiments of the present invention, it is understood, however, that being wanted not departing from appended right
In the range of thought and the field of seeking the utility model recorded in book, those skilled in the art can be carried out the utility model
Various modifications and change.Also, distinguishing feature related with this modifications and changes should be construed to be contained in appended
Claims specified in the scope of the utility model.
Claims (10)
1. a kind of unmanned vehicle characterized by comprising
Ontology；
Photographic device, installation is on the body；
Sensing unit senses the current state of the ontology；And
Controller is communicated with the photographic device and sensing unit,
The controller is judging that the ontology is when in an abnormal state, using the ground image obtained by the photographic device,
At least one home is selected, and the ontology is made to be moved to the home.
2. unmanned vehicle according to claim 1, which is characterized in that
The controller utilizes the information of the sensing unit, calculates movable distance.
3. unmanned vehicle according to claim 2, which is characterized in that
When the home is multiple, the controller selects landing degree of safety highestly in the movable distance
Point is used as landing site.
4. unmanned vehicle according to claim 3, which is characterized in that
The landing degree of safety includes: object presence or absence on the ground based on determined by the photographic device, the object
Whether concentration degree, the object are mobile and at least one of the flatness on the ground or more than two combinations.
5. unmanned vehicle according to claim 1, which is characterized in that
The sensing unit includes acceleration transducer, gyro sensor, direction sensor, infrared sensor, ultrasonic wave
Sensor, vibrating sensor, shock transducer, height sensor, wind transducer, air velocity transducer, in power sensor
Combination more than at least one or two.
6. unmanned vehicle according to claim 1, which is characterized in that
Further comprise parachute unit, removably configures portion on the body.
7. unmanned vehicle according to claim 6, which is characterized in that
The parachute unit includes:
Tubulose parachute ontology, the expansion when gas is supplied to inside；
Multiple ropes configure between the ontology and the tubulose parachute ontology,
The controller adjusts the length of each rope, and the ontology is directed to the home.
8. unmanned vehicle according to claim 1, which is characterized in that the ontology includes:
Trunk；
Multiple arms, prominent configuration is on the trunk；
Propeller is configured in the end of the arm；And
Sled is configured in the lower part of the trunk.
9. unmanned vehicle according to claim 8, which is characterized in that further comprise multiple removably configuring
Gas bag unit on the sled.
10. unmanned vehicle according to claim 9, which is characterized in that the gas bag unit includes:
Air bag；
Air bag capsule, Xiang Suoshu air bag supply air；And
Multiple discharge outlets configure on the air bag.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2016-0036133 | 2016-03-25 | ||
| KR1020160036133A KR102476233B1 (en) | 2016-03-25 | 2016-03-25 | Drone |
| PCT/KR2017/003128 WO2017164666A1 (en) | 2016-03-25 | 2017-03-23 | Unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209037850U true CN209037850U (en) | 2019-06-28 |
Family
ID=59899673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201790000711.6U Active CN209037850U (en) | 2016-03-25 | 2017-03-23 | Unmanned vehicle |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR102476233B1 (en) |
| CN (1) | CN209037850U (en) |
| WO (1) | WO2017164666A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110844079A (en) * | 2019-12-23 | 2020-02-28 | 北京泊松技术有限公司 | Swarm unmanned aerial vehicle aerial transmitting device and method |
| CN111414008A (en) * | 2020-04-08 | 2020-07-14 | 中国地质大学（武汉） | Unmanned aerial vehicle bootstrap system based on visual transmission design |
| CN114275171A (en) * | 2021-12-23 | 2022-04-05 | 夏燕 | Unmanned system based on artificial intelligence |
| CN114537687A (en) * | 2022-04-27 | 2022-05-27 | 济南市勘察测绘研究院 | Geographic information survey and drawing unmanned aerial vehicle equipment |
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| JP6905445B2 (en) * | 2017-10-16 | 2021-07-21 | 日本化薬株式会社 | Crash detectors, methods for detecting aircraft crashes, parachute or paraglider deployment devices, and airbag devices |
| GB2569789A (en) * | 2017-12-21 | 2019-07-03 | Av8Or Ip Ltd | Autonomous unmanned aerial vehicle and method of control thereof |
| JP6385604B1 (en) * | 2018-01-22 | 2018-09-05 | 株式会社松屋アールアンドディ | Control method of drone with airbag and drone with airbag |
| WO2019189076A1 (en) * | 2018-03-27 | 2019-10-03 | 株式会社ナイルワークス | Unmanned aerial vehicle, control system thereof and control program |
| JP7226629B2 (en) * | 2018-06-08 | 2023-02-21 | カシオ計算機株式会社 | Flight device, flight method and program |
| JP7102958B2 (en) * | 2018-06-08 | 2022-07-20 | カシオ計算機株式会社 | Flight equipment, flight methods and programs |
| KR101977304B1 (en) * | 2018-07-17 | 2019-05-10 | 주식회사 다인에스엔티 | Solar Panel Maintenance Drone and Maintenance Method Using the Same |
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| CN112638773B (en) * | 2018-09-28 | 2024-04-16 | 日本化药株式会社 | Aircraft with body to be deployed |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110844079A (en) * | 2019-12-23 | 2020-02-28 | 北京泊松技术有限公司 | Swarm unmanned aerial vehicle aerial transmitting device and method |
| CN111414008A (en) * | 2020-04-08 | 2020-07-14 | 中国地质大学（武汉） | Unmanned aerial vehicle bootstrap system based on visual transmission design |
| CN114275171A (en) * | 2021-12-23 | 2022-04-05 | 夏燕 | Unmanned system based on artificial intelligence |
| CN114537687A (en) * | 2022-04-27 | 2022-05-27 | 济南市勘察测绘研究院 | Geographic information survey and drawing unmanned aerial vehicle equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20170111192A (en) | 2017-10-12 |
| WO2017164666A1 (en) | 2017-09-28 |
| KR102476233B1 (en) | 2022-12-09 |
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