WO2018205099A1

WO2018205099A1 - Unmanned aerial vehicle protective device and method, unmanned aerial vehicle and flight field

Info

Publication number: WO2018205099A1
Application number: PCT/CN2017/083475
Authority: WO
Inventors: 何东流; 包玉奇; 任冠男
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-05-08
Filing date: 2017-05-08
Publication date: 2018-11-15
Also published as: CN108513561B; CN108513561A

Abstract

An unmanned aerial vehicle protective device, comprising an index device (10) and a traction device (20) which are provided in a flight field; the traction device (20) comprises a pulley and a rope telescopic structure; the pulley is connected to the index device (10); the rope telescopic structure comprises a winding mechanism (21) and a traction rope (22); one end of the traction rope (22) is connected to an unmanned aerial vehicle (200), and the other end of the traction rope (22) is wound on the winding mechanism (21), wherein the winding mechanism (21) has a pre-tightening force acting on the traction rope (22); and when the pre-tightening force is greater than the tensile force to the traction rope (22) in the flight process of the unmanned aerial vehicle (200), the winding mechanism (21) automatically winds the traction rope (22). Also disclosed are a corresponding unmanned aerial vehicle protective method, an unmanned aerial vehicle and a flight field. According to the unmanned aerial vehicle protective device, the index device and the traction device in the flight field are matched with each other so that the traction rope can limit the unmanned aerial vehicle to fly within a preset flight region, and the length of the traction rope can be automatically adjusted according to the flight of the unmanned aerial vehicle, so as to ensure the safety of the unmanned aerial vehicle and personnel in the flight field.

Description

UAV protection device and method, drone, flight field

Technical field

The invention relates to the technical field of drones, in particular to a drone protection device and method, a drone and a flight field.

Background technique

Due to its flexibility, quick response, and low operational requirements, drones are widely used in film and television shooting and event broadcast, which can present viewers with different angles of view. However, the drone will also cause special circumstances such as the drone's loss of control due to machine failure. At this time, the drone is out of control and cannot guarantee the safety of the shooting site or the audience and the participants. There is a great safety hazard.

Summary of the invention

The invention provides a UAV protection device and method, a UAV, and a flight field for limiting the flight area of the UAV.

According to a first aspect of the present invention, there is provided a drone guard device for use in a drone flight site, the drone guard device comprising an index device and a traction device disposed at the flight site; The traction device includes a pulley and a rope telescopic structure, the pulley is coupled to the indexing device, the rope telescopic structure includes a winding mechanism and a traction rope, one end of the traction rope is used to connect the drone, and the The other end of the traction rope is wound around the winding mechanism;

Wherein the winding mechanism has a preload force acting on the traction rope when the pretensioning The winding mechanism automatically winds the traction rope when the force is greater than the pulling force of the traction rope during the flight of the drone.

According to a second aspect of the embodiments of the present invention, a drone protection method is provided, including:

Connected to the drone with a traction rope;

Adjusting the extension length of the traction rope so that the extension length of the traction rope is adapted to the flight distance of the drone;

The maximum flight distance of the drone is controlled by the traction rope to limit the drone to a preset flight area.

According to a third aspect of the embodiments of the present invention, a drone includes: a body, and a connecting portion disposed on the body; the connecting portion is configured to be connected with the support rod to connect the support rod The traction rope thereby limits the flight area of the drone through the traction rope.

According to a fourth aspect of the present invention, a flight field is provided, including: a drone and a drone guard; the drone guard includes an indexing device and a traction device disposed at the flight site; The traction device includes a pulley and a rope telescopic structure, the pulley is coupled to the indexing device, the rope telescopic structure includes a winding mechanism and a traction rope, and one end of the traction rope is used to connect the drone, and The other end of the traction rope is wound around the winding mechanism;

Wherein the winding mechanism has a pre-tightening force acting on the traction rope, and when the pre-tightening force is greater than a pulling force on the traction rope during flight of the drone, the winding mechanism automatically winds the winding Leash.

The UAV guard of the embodiment of the present invention cooperates with the traction device in the flight field to enable the traction rope to restrict the flight of the drone in the preset flight area, and the length of the traction rope can be based on none The man-machine flight is automatically adjusted so that the safety of the drone and the personnel on the flight site can be ensured without affecting the flight of the drone.

The drone protection method of the embodiment of the present invention adjusts the traction connected to the drone The extension length of the rope is such that the extension length of the traction rope is adapted to the flight distance of the drone, and the maximum flight distance of the drone is controlled by the traction rope to limit the drone to the preset flight area, thereby The safety of the drone and the personnel on the flight site can be guaranteed without affecting the flight of the drone.

The drone of the embodiment of the present invention can be connected with the support rod, and then the support rod is connected with the traction rope, so as to prevent the traction rope from being wound on the drone, and the flight area of the drone can be restricted by the traction rope, thereby The safety of the drone and the personnel on the flight site can be guaranteed without affecting the flight of the drone.

The invention provides a drone protection device in the flight field, and the winding mechanism and the traction rope of the UAV protection device cooperate with the drone to make the drone move in the preset flight area, and when the winding When the pre-tightening force of the mechanism acting on the traction rope is greater than the pulling force of the traction rope during the flight of the drone, the winding mechanism automatically winds the traction rope, thereby ensuring the drone and the flight field without affecting the flight of the drone. The safety of the personnel inside.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a schematic structural view of a flight field according to an embodiment of the present invention;

2 is a top plan view of a flight field according to an embodiment of the present invention;

3 is a flow chart showing a method for protecting a drone according to an embodiment of the present invention;

4 is a schematic structural view of a drone according to an embodiment of the invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope are the scope of the present invention.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. The following description refers to the same or similar elements in the different figures unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with aspects of the invention as detailed in the appended claims.

The terminology used in the present invention is for the purpose of describing particular embodiments, and is not intended to limit the invention. The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

The unmanned aerial vehicle of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

As shown in FIG. 1 and FIG. 2, the UAV protection device of the embodiment of the present invention is applied to the UAV flight site 100 for protecting the UAV 200 and personnel in the flight site 100. The drone guard includes an indexing device 10 disposed at the flight field 100 and a traction device 20 coupled to the indexing device 10 and the drone 200, respectively, such that the drone 200 is restricted by the traction device 10 at a predetermined schedule. Flying within the flight area 30.

Specifically, the traction device 20 includes a pulley (not labeled) and a cable telescoping structure that is coupled to the indexing device 10. The rope telescopic structure includes a winding mechanism 21 and a traction rope 22, One end of the lead rope 22 is used to connect the drone 200, and the other end of the traction rope 22 is wound around the winding mechanism 21. In an alternative embodiment, the pulley is integrally assembled with the winding mechanism 21 and then attached to the indexing device 10 by pulleys.

In the present invention, the winding mechanism 21 has a preload force acting on the traction rope 22, and when the preload force is greater than the pulling force on the traction rope 22 during the flight of the drone 200, the winding mechanism 21 automatically winds the traction rope 22. That is, during the flight of the drone 200, if the distance of the drone 200 relative to the winding mechanism 21 is less than the length of the traction rope 22, the winding mechanism 21 will pass the pre-tightening force to cause the winding mechanism 21 to automatically wind the traction rope 22; When the drone 200 is flying in a direction away from the winding mechanism 21, the traction rope 22 is pulled out from the winding mechanism 21 at this time, and the pre-tightening force does not affect the flight of the drone 200. In the present embodiment, the structure of the winding mechanism 21 is similar to that of the tape measure, and will not be described in detail herein.

Further, the indexing device 10 includes a cableway 11 disposed at the top of the flight field 100, the pulley being sleeved on the cableway 11 and capable of sliding along the cableway 11. The ropeway 11 runs through the entire flight field 100 so that the drone 200 has a larger flight area. Further, the flight site 100 may be provided with a plurality of juxtaposed ropeways 11 so that the entire flight site 100 can be divided into a plurality of flight zones. Among them, the smaller the friction of the pulley relative to the cableway 11, the better.

In an alternative embodiment, the indexing device 10 further includes at least two brackets 12 that are coupled between the two brackets 12. In this embodiment, the two brackets 12 are equipped with one cableway 11 as an indexing device 10. The top of the flight field 100 may be provided with a plurality of indexing devices 10 of the present embodiment to divide the airspace of the flight field 100 into multiple flights. region. Of course, in other embodiments, the ropeway 11 can also be directly connected to the awning of the flight field 100 or other convex buildings.

As shown in FIGS. 1 and 4, the drone guard further includes a support rod 41 coupled to the drone 200, and one end of the leash 22 connected to the drone 200 is fixedly coupled to the free end of the support rod 41. In this embodiment, the support rod 41 is disposed to prevent the traction rope 22 from being wound around the wing 202 of the drone 200. Optionally, the support rod 41 is connected to the body 201 of the drone 200 the top of. Wherein, the length of the support rod 41 is greater than the height of the wing 202 of the drone 200 relative to the fuselage 201, so that the traction rope 22 can be further ensured to be away from the wing 202 of the drone 200. Of course, in other embodiments, the support bar 41 is not limited to be disposed at the top of the body 201 of the drone 200, and may be disposed on the aircraft of the drone 200 according to the height planning of the flight space of the drone 200. The side or bottom of the body 201.

The UAV protection device of the present invention cooperates with the traction device through the indexing device in the flight field, so that the traction rope can restrict the UAV from flying in the preset flight area, and the length of the traction rope can be based on the UAV It is automatically adjusted by flight, so that the safety of the drone and the personnel on the flight site can be guaranteed without affecting the flight of the drone.

As shown in FIG. 3, according to still another aspect of the embodiments of the present invention, a drone protection method is further provided, the method comprising:

S301, connected by a traction rope on the drone;

S303, adjusting the extension length of the traction rope so that the extension length of the traction rope is adapted to the flight distance of the drone;

S305. Control the maximum flight distance of the drone by the traction rope to limit the drone to the preset flight area.

The UAV protection method of the present invention is connected with a traction rope on the UAV, and is adapted to the flight distance of the UAV by adjusting the length of the traction rope, and controls the maximum flight distance of the UAV through the traction rope, The drone is restricted to the preset flight area, so that the control of the drone is realized, and the dangerous accident in the flight field is prevented from being caused by the drone in the case of out of control.

In an alternative embodiment, the extension length of the traction rope is controlled by a traction device comprising a pulley and a rope telescopic structure, the pulley being connected to the indexing device, the rope telescopic structure comprising a winding mechanism and a traction rope, one end of the traction rope The drone is connected, and the other end of the leash is wound around the winding mechanism. Wherein, the winding mechanism has a pre-tightening force acting on the traction rope, and when the pre-tightening force is greater than the pulling force on the traction rope during the flight of the drone, the winding mechanism automatically winds and pulls rope. The preload is much less than the pull of the drone during flight so that the preload does not affect the flight of the drone.

Further, the pulley is connected to an indexing device provided on the flight field, and the indexing device comprises a cableway provided at the top of the flight field, the pulley is sleeved on the ropeway and can slide along the ropeway. The ropeway runs through the entire flight field so that the drone has a larger flight area. Further, the flight site may be provided with a plurality of juxtaposed ropeways, so that the entire flight site can be divided into a plurality of flight zones. Among them, the smaller the friction of the pulley relative to the ropeway, the better.

In an alternative embodiment, the indexing device further includes at least two brackets connected between the two brackets. In this embodiment, the two brackets are equipped with one cableway as an indexing device, and the top of the flight field may be provided with a plurality of indexing devices of the present embodiment to divide the airspace of the flight field into a plurality of flight regions. Of course, in other embodiments, the cableway can also be directly connected to the awning of the flight site or other convex buildings.

The drone is connected to a support rod, and one end of the traction rope connected to the drone is fixedly connected to the free end of the support rod. In this embodiment, the support rod is arranged to prevent the traction rope from being wound around the wing of the drone. Optionally, the support rod is attached to the top of the fuselage of the drone. Wherein, the length of the support rod is greater than the height of the wing of the drone relative to the fuselage, so that the traction rope can be further ensured to be away from the wing of the drone. Of course, in other embodiments, depending on the altitude planning of the unmanned aerial space, the support bar is not limited to the top of the fuselage of the drone, but may also be located at the side or bottom of the fuselage of the drone. .

The drone protection method of the present invention adapts the extension length of the traction rope to the flight distance of the drone by adjusting the extension length of the traction rope connected to the drone, and controls the maximum of the drone through the traction rope. The flight distance is used to limit the drone to the preset flight area, thus ensuring the safety of the drone and the personnel on the flight site without affecting the flight of the drone.

As shown in FIG. 4, according to still another aspect of the embodiments of the present invention, a drone 200 is provided. The drone 200 includes a body 201 and a connecting portion disposed on the body 201 (not shown). ). The connecting portion is for connection with the support rod 41 to connect the support rod 41 to the traction rope 22 to restrict the flight area of the drone 200 by the traction rope 22. In this embodiment, the support rod 41 can be connected by the drone 200 to prevent the rope connected to the drone 200 from being wound around other moving parts of the drone 200.

In an alternative embodiment, the connection portion can be provided at the top of the body 201. The connecting portion may be a screw hole, a threaded post, a snap post or a connecting hole provided on the body 201. Of course, in other embodiments, according to the height planning of the flying space of the drone 200, the connecting portion is not limited to be disposed at the top of the body 201 of the drone 200, and may also be disposed in the body of the drone 200. Side or bottom of 201.

The drone 200 also includes a wing 202, which in this embodiment can be used to prevent the leash 22 from being wrapped around the wing 202. Wherein, the length of the support rod 41 is greater than the height of the wing 202 relative to the fuselage 201, so that the traction rope 22 is away from the wing 202.

The drone 200 of the present invention can be coupled to the support rod 41, and then the support rod 41 is coupled to the traction rope 22 to prevent the traction rope 22 from being wound around the drone 200, and the drone can be restricted by the traction rope 22. The flight area of 200, so that the personnel of the drone 200 and the flight field 100 can be secured without affecting the flight of the drone 200.

As shown in FIG. 1, FIG. 2 and FIG. 4, according to still another aspect of an embodiment of the present invention, a flight field 100 is further provided, which includes: a drone 200 and a drone guard. The drone guard is coupled to the drone 200 such that the drone 200 has a restricted flight area within the flight field 100, thereby ensuring the safety of personnel within the flight field 100.

The UAV protection device includes an indexing device 10 disposed on the flight field 100 and a traction device 20; the traction device 20 includes a pulley and a rope telescopic structure, the pulley is coupled to the indexing device 10, and the rope telescopic structure includes a winding mechanism 21 and a traction rope 22 One end of the traction rope 22 is used to connect the drone 200, and the other end of the traction rope 22 is wound around the winding mechanism 21. In an alternative embodiment, the pulley is assembled with the winding mechanism 21 and then connected to the index by a pulley. On device 10.

In the present embodiment, the winding mechanism 21 has a preload force acting on the traction rope 22, and when the preload force is greater than the pulling force on the traction rope 22 during the flight of the drone 200, the winding mechanism 21 automatically winds the traction rope 22. That is, during the flight of the drone 200, if the distance of the drone 200 relative to the winding mechanism 21 is less than the length of the traction rope 22, the winding mechanism 21 will pass the pre-tightening force to cause the winding mechanism 21 to automatically wind the traction rope 22; When the drone 200 is flying in a direction away from the winding mechanism 21, the traction rope 22 is pulled out from the winding mechanism 21 at this time, and the pre-tightening force does not affect the flight of the drone 200. In the present embodiment, the structure of the winding mechanism 21 is similar to that of the tape measure, and will not be described in detail herein.

The drone guard also includes a support rod 41 coupled to the drone 200, and one end of the leash 22 connected to the drone 200 is fixedly coupled to the free end of the support rod 41. In this embodiment, the support rod 41 is disposed to prevent the traction rope 22 from being wound around the wing 202 of the drone 200. Optionally, the support rod 41 is coupled to the top of the fuselage 201 of the drone 200. Wherein, the length of the support rod 41 is greater than the height of the wing 202 of the drone 200 relative to the fuselage 201, so that the traction rope 22 can be further ensured to be away from the wing 202 of the drone 200. Of course, in other embodiments, The support bar 41 is not limited to the top of the body 201 of the drone 200, and may be provided at the side or bottom of the body 201 of the drone 200, depending on the height planning of the flying space of the drone 200.

Further, the flight field 100 further includes a preset flight area 30 having a length that is less than the distance from the cable path 11 to the edge of the preset flight area 30. The preset flight area 30 is a safe area, that is, an area where no personnel is active, so that the drone 200 can only fly in the preset flight area 30 under any circumstances, thereby ensuring the flight field 100. The safety of the personnel inside.

In an alternative embodiment, the flight site 100 may be a Robomasters (National College Robotics Competition) venue. The flight site 100 is also provided with a robot. The drone 200 tracks the robot shooting in the flight area of the corresponding indexing device 10. Of course, the flight space 100 of the present invention is not limited to the Robomasters competition venue, but may also be used for various sports venues.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. The terms "including", "comprising" or "comprising" or "comprising" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above. The principles and implementations of the present invention are described in the specific examples. The description of the above embodiments is only used to help understand the method of the present invention and At the same time, there will be changes in the specific embodiments and the scope of application according to the idea of the present invention, and the contents of the present specification should not be construed as limiting the present invention. .

The content disclosed in this patent document contains material that is protected by copyright. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Claims

A UAV protection device for use in a UAV flight site, characterized in that the UAV protection device comprises an index device and a traction device provided at the flight site; the traction device comprises a pulley and a rope telescopic Structure, the pulley is coupled to the indexing device, the rope telescopic structure includes a winding mechanism and a traction rope, one end of the traction rope is used to connect the drone, and the other end of the traction rope is wound around On the winding mechanism;

Wherein the winding mechanism has a pre-tightening force acting on the traction rope, and when the pre-tightening force is greater than a pulling force on the traction rope during flight of the drone, the winding mechanism automatically winds the winding Leash.
The drone guard of claim 1 wherein said indexing means includes a cableway disposed at the top of said flight site, said pulley being sleeved over said cableway and capable of sliding along said cableway.
The drone guard of claim 2, wherein said indexing device further comprises at least two brackets connected between said two brackets.
The UAV protection device according to claim 1, wherein the UAV protection device further comprises a support rod connected to the UAV, and the end of the traction rope connected to the UAV is fixed. Connected to the free end of the support rod.
The drone guard of claim 4, wherein the support rod is coupled to the top of the fuselage of the drone.
The drone guard of claim 5, wherein the length of the support rod is greater than the height of the wing of the drone relative to the fuselage.
A drone protection method, comprising:

Connected to the drone with a traction rope;

Adjusting the extension length of the traction rope so that the extension length of the traction rope is adapted to the flight distance of the drone;

Controlling a maximum flight distance of the drone by the traction rope to limit the drone In the preset flight area.
The unmanned aerial vehicle protection method according to claim 7, wherein the extension length of the traction rope is controlled by a traction device comprising a pulley and a rope telescopic structure, the pulley being connected to the index The device, the rope telescopic structure includes a winding mechanism and a traction rope, one end of the traction rope is used to connect the drone, and the other end of the traction rope is wound on the winding mechanism;

Wherein the winding mechanism has a pre-tightening force acting on the traction rope, and when the pre-tightening force is greater than a pulling force on the traction rope during flight of the drone, the winding mechanism automatically winds the winding Leash.
The drone protection method according to claim 8, wherein said pulley is coupled to an indexing device provided at a flight field, said indexing device comprising a cableway provided at a top of said flight field, said pulley sleeve It is disposed on the ropeway and is capable of sliding along the ropeway.
The drone protection method according to claim 9, wherein said indexing means further comprises at least two brackets connected between said two brackets.
The UAV protection method according to claim 7, wherein the UAV is connected to a support rod, and one end of the traction rope connected to the UAV is fixedly connected to the free end of the support rod. .
The drone protection method according to claim 11, wherein the support rod is coupled to a top of a fuselage of the drone.
The drone protection method according to claim 12, wherein the length of the support rod is greater than the height of the wing of the drone relative to the fuselage.
An unmanned aerial vehicle, comprising: a fuselage, and a connecting portion disposed on the fuselage; the connecting portion is configured to be connected with the support rod to connect the support rod to the traction rope to pass the traction rope Limit the flight area of the drone.
The drone according to claim 14, wherein said connecting portion is provided at a top of said body.
The drone according to claim 15, wherein said drone further comprises a wing, Wherein the length of the support rod is greater than the height of the wing relative to the fuselage.
A flight field, comprising: a drone and a drone guard; the drone guard includes an indexing device and a traction device disposed at the flight site; the traction device includes a pulley and a rope a telescopic structure, the pulley is coupled to the indexing device, the rope telescopic structure includes a winding mechanism and a traction rope, one end of the traction rope is used to connect the drone, and the other end of the traction rope is wound around On the winding mechanism;

Wherein the winding mechanism has a pre-tightening force acting on the traction rope, and when the pre-tightening force is greater than a pulling force on the traction rope during flight of the drone, the winding mechanism automatically winds the winding Leash.
The flight field according to claim 17, wherein said indexing means comprises a ropeway provided at the top of said flight field, said pulley being sleeved on said ropeway and capable of sliding along said ropeway.
The flightfield according to claim 18, wherein said indexing device further comprises at least two brackets connected between the two brackets.
The flight field according to claim 19, wherein said plurality of indexing means are disposed in said flight field to divide said flight field into a plurality of flight areas.
The flight field according to claim 17, wherein the UAV protection device further comprises a support rod connected to the UAV, and one end of the traction rope connected to the UAV is fixedly connected to the The free end of the support rod.
The flight field according to claim 21, wherein said support rod is coupled to a top of a fuselage of said drone.
The flight field according to claim 22, wherein the length of the support rod is greater than the height of the wing of the drone relative to the fuselage.
The flight field according to claim 18, wherein the flight field further comprises a preset flight area, the length of the traction rope being smaller than a distance of the ropeway to an edge of the preset flight area.
The flight space according to claim 24, wherein said flight field is further provided There is a robot that tracks the robot shot in a flight area corresponding to the indexing device.