CN106598074A - Method for improving stability of unmanned aerial vehicle, and aerial photography based area dynamic patrol system - Google Patents
Method for improving stability of unmanned aerial vehicle, and aerial photography based area dynamic patrol system Download PDFInfo
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- CN106598074A CN106598074A CN201710016542.1A CN201710016542A CN106598074A CN 106598074 A CN106598074 A CN 106598074A CN 201710016542 A CN201710016542 A CN 201710016542A CN 106598074 A CN106598074 A CN 106598074A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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Abstract
The invention discloses a method for improving stability of an unmanned aerial vehicle, and an aerial photography based area dynamic patrol system and relates to the technical field of an unmanned aerial vehicle. The method for improving the stability of the unmanned aerial vehicle comprises the following steps: 1, determining an electrically controlled input voltage value and a corresponding throttle value when the unmanned aerial vehicle executes various flying motion and maintains a flight stable state; step 2, connecting a voltage adjustable voltage-stabilizing unit between a battery of the unmanned aerial vehicle and an electronic speed controller; and step 3, according to flight motion currently executed by the unmanned aerial vehicle, controlling the voltage-stabilizing unit to output voltages to the electronic speed controller, enabling the input voltage value of the electronic speed controller to be consistent with the measured electrically controlled input voltage value when the unmanned aerial vehicle executes the flight motion and maintains the flight stable state in the first step, and at the same time, enabling flight control of the unmanned aerial vehicle to control the electronic speed controller by reference to the throttle value when the unmanned aerial vehicle executes the flight motion and maintains the flight stable state in the first step.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of method for improving unmanned plane stability and based on taking photo by plane
Regional dynamics patrol system.
Background technology
Traditional multi-rotor unmanned aerial vehicle is typically controlled using manual remote control mode.In order to smoothly fly, unmanned plane is needed
Steady take-off process is wanted, this needs manipulator to have certain driving professional skill, does not much possess the general of professional driving efficiency
Logical crowd can not left-hand seat quickly, it is impossible to which safety operation multi-rotor unmanned aerial vehicle is taken off.The middle promulgated by the State Council of Application No. 2015102434546
Bright patent discloses a kind of unmanned plane automatic lifting stick method and system, and its solution is to allow multi-rotor unmanned aerial vehicle automatic steady to rise
Fly to certain safe distance height（By surely high unit, such as ultrasonic distance-measuring sensor or baroceptor are determining
Take off height）Afterwards, fuselage program just authorizes straighforward operation personnel using remote control mode come straighforward operation unmanned plane, so as to reduce
Winged difficulty.But in the autonomous take-off process of unmanned plane, with increasing for number of flights, cell voltage declines, and electricity is adjusted to electricity
The driving force of machine declines, and the rotating speed of motor has declined so that lift deficiency, control effect occurs in take-off process in unmanned plane
It is really poor, it is impossible to steadily to take off（Particularly evident in the case that particularly wind-force is larger in surrounding environment, voltage is reduced in flight course
It is also possible to the unstable situation of unmanned plane occur）, or even the phenomenon that fuselage is up and down, if there is artificial prison in take-off process
Control, operator can be to be adjusted, but for whole flight course according to actual conditions（Including taking off and descent）
The autonomous unmanned plane of no manual intervention would be possible to occur to take off unsuccessfully, unmanned plane situation about crashing.
Current consumption level multi-rotor unmanned aerial vehicle is used primarily in that video is taken photo by plane, device for electric power line patrol, Traffic monitoring and information are adopted
Collection and police tracking aspect, in above-mentioned application scenario, unmanned plane generally using GPS and digital map navigation, calculate by unmanned aerial vehicle (UAV) control
Method is relative complex and requirement of to endurance is higher, when flight path is longer, in addition it is also necessary to it is artificial in terminal to unmanned plane
Reclaimed.Additionally, for the multi-rotor unmanned aerial vehicle flown between urban compact building, because GPS location precision is typically 5
Rice or so（Positioning precision is related with the number of satellite for communicating）If being blocked by building, precision can be lower, therefore necessarily requires map
Precision disclosure satisfy that precision navigation requirement, the error of current commonly used Baidu/high moral map typically at 3 meters or so, and
For some new buildings, trees and some small buildings in map navigation system it could even be possible to do not mark
（Certainly existing Baidu on current market/high moral map can also be unfavorable in the case, and is adopted and painted map certainly, but from
Paint map workload larger and have certain technical difficulty for some small enterprise/individuals）, this is accomplished by nobody and takes
Carry CAS（For example on the indoor unmanned plane of big boundary just it is equipped with barrier automatic identification system）To avoid it from knocking building
Thing or trees, thus the control algolithm of unmanned plane will be more complicated, and manufacturing cost also becomes higher, so as in certain journey
Application of the unmanned plane in the complicated ground environment such as Big Residential District, campus, large scale industry garden and plant area is limited on degree.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of method of raising multi-rotor unmanned aerial vehicle stability.The opposing party
Face, the present invention also provides the unmanned plane after a kind of utilization said method is improved in FX（Can be Big Residential District, institution of higher education
Garden, large scale industry garden or plant area）The interior regional dynamics patrol system gone on patrol based on the mode of taking photo by plane.
In order to solve above-mentioned technical problem, the present invention is adopted the following technical scheme that：A kind of side for improving unmanned plane stability
Method, including：
The electricity of step one, the measure unmanned plane when performing various flare maneuvers and keeping flight stability state adjusts input voltage
Value and corresponding throttle value
Step 2, the unmanned plane battery and electricity adjust between connect adjustable voltage voltage regulation unit；
Step 3, the flare maneuver currently performed according to unmanned plane, control the voltage regulation unit and export the voltage adjusted to electricity so that
The unmanned plane measured in the input voltage value and step one of the electricity tune is performing the flare maneuver and is keeping flight stability state
When electricity adjust input voltage value it is consistent, while allow the unmanned plane winged control with reference to measure in step one execution the flight
Action and throttle value when keeping flight stability state is controlled to electricity tune.
Wherein, the voltage regulation unit includes Sepic chopper circuits, optically coupled circuit and sample circuit；
The battery of the Sepic chopper circuits connection optically coupled circuit, sample circuit and unmanned plane and electricity tune, the optical coupling
The winged control of circuit connection unmanned plane and Sepic chopper circuits, sample circuit connection Sepic chopper circuits and unmanned plane fly
Control；
The unmanned plane is performed into various flare maneuvers and keeps the electricity corresponding to flight stability state to adjust input voltage value to preset
In the winged control of unmanned plane, the sample circuit Sepic chopper circuits is exported the magnitude of voltage adjusted to electricity and feeds back to winged control, described
Fly control to compare it with the preset voltage value corresponding to current flight action and according to comparative result controlled output corresponding PWM controls
Signal processed, the pwm control signal is switched off and on Jing after optically coupled circuit improves amplitude to Sepic chopper circuit switching tubes
It is controlled, exports to electricity tune so as to realize that the flare maneuver currently performed according to unmanned plane controls the Sepic chopper circuits
Voltage so that input voltage value and the default unmanned plane that the electricity is adjusted is performing the flare maneuver and is keeping flight stability shape
Electricity during state adjusts input voltage value consistent.
Or, the voltage regulation unit includes single-chip microcomputer, Sepic chopper circuits, optically coupled circuit and sample circuit；
The battery of the Sepic chopper circuits connection optically coupled circuit, sample circuit and unmanned plane and electricity tune, the optical coupling
Circuit connects single-chip microcomputer and Sepic chopper circuits, the sample circuit connection Sepic chopper circuits and single-chip microcomputer, the monolithic
Machine is powered by the system power supply circuit of unmanned plane and is connected to the winged control of unmanned plane to obtain current flight action message；
The unmanned plane is performed into various flare maneuvers and keeps the electricity corresponding to flight stability state to adjust input voltage value to preset
In single-chip microcomputer, the sample circuit Sepic chopper circuits is exported the magnitude of voltage adjusted to electricity and feeds back to single-chip microcomputer, the monolithic
Machine compares it with the preset voltage value corresponding to current flight action and according to comparative result controlled output corresponding PWM controls
Signal, the pwm control signal Jing optically coupled circuit improve amplitude after to Sepic chopper circuit switching tubes be switched off and on into
Row control, exports to electricity tune so as to realize that the flare maneuver currently performed according to unmanned plane controls the Sepic chopper circuits
Voltage so that the input voltage value that the electricity is adjusted is performing the flare maneuver and keeping flight stability state with default unmanned plane
When electricity adjust input voltage value it is consistent.
Based on above-mentioned design, the present invention also provides a kind of based on the regional dynamics patrol system taken photo by plane, including patrol monitoring
The unmanned plane cluster stand, being made up of multi rack multi-rotor unmanned aerial vehicle and the landing platform of the multi-rotor unmanned aerial vehicle equal number, use
In to the multi-rotor unmanned aerial vehicle provide navigation land marking and be arranged on the landing platform and with patrol monitoring station
The wireless receiver of communication connection；
The multi-rotor unmanned aerial vehicle improves its autonomous flight stability using said method, and the landing platform can stop many rotors
Unmanned plane simultaneously provides charging to it, and each landing platform stops a frame multi-rotor unmanned aerial vehicle；
The land marking marks on the ground patrol route, and the patrol route is in end to end closed figure, described
Landing platform is disposed on patrol route；
The multi-rotor unmanned aerial vehicle includes take photo by plane image unit, mark recognition unit and wireless communication module, the mark identification
Unit identification land marking ensures that multi-rotor unmanned aerial vehicle along patrol route autonomous flight and can drop after taking off from current landing platform
Drop down onto next landing platform；
During patrol, the patrol monitoring station is sent by wireless receiver to the wireless communication module in multi-rotor unmanned aerial vehicle
Take off instruction, all multi-rotor unmanned aerial vehicles are taken off from its place landing platform simultaneously, in flight course, the image unit of taking photo by plane
The video image of correspondence beat is shot, the wireless communication module in real time sends the video information of shooting to corresponding nothing
The video information of reception is sent to patrol monitoring station by line data collector, the wireless receiver, many rotors without
It is man-machine to fly to next landing platform from a landing platform successively along patrol route in a manner described, so as to realize in FX
Interior patrol.
Wherein, the land marking includes being applied over the road surface identification lines of road surface and is applied on landing platform
Landing label symbol；
The mark recognition unit includes the first shooting for obtaining positioned at multi-rotor unmanned aerial vehicle front lower place land marking image
Head and the second camera for being located at land marking image immediately below multi-rotor unmanned aerial vehicle for acquisition；
The image that first camera is obtained isolates route ahead signal, the figure that the second camera is obtained Jing after processing
Shape isolates current position signal Jing after processing, and the winged control unit of the multi-rotor unmanned aerial vehicle combines route ahead signal and current
The change correspondence of position signalling controls the multi-rotor unmanned aerial vehicle and flies forward along patrol route or turn or down drop to landing
Platform.
Preferably, the road surface identification lines are the yellow/White traffic graticule for being applied over road surface, the yellow/white
The surface of traffic marking and landing label symbol is coated with one layer of reflectorized material, is provided with the multi-rotor unmanned aerial vehicle for shining
The LED spotlight on front lower place and underface road surface is penetrated, the landing platform is connected to the street lamp of road both sides by a fixed support
On bar.
It is furthermore preferred that the wireless receiver on the wireless communication module of the multi-rotor unmanned aerial vehicle and landing platform it
Between radio communication is carried out using OFDM transmission technology, adopt cable modem between the wireless receiver and patrol monitoring station
Letter, along patrol route flight course, the wireless communication module is automatically in each wireless data transceiving for the multi-rotor unmanned aerial vehicle
Soft handover is carried out between device, so as to ensure the video information real-time Transmission of the image unit shooting of taking photo by plane to going on patrol monitoring station.
In above-mentioned unmanned plane patrol system, the landing platform also includes that one is used to carry out electromagnetism to multi-rotor unmanned aerial vehicle
The wireless charging base of inductive charging, the bottom of the multi-rotor unmanned aerial vehicle is provided with electricity reception coil, and the wireless charging base includes
What controller, power transmission coil, coil mounting seat, electric resistance touch-control panel and the driving coil mounting seat were all around moved
Driving means, the power transmission coil is fixedly installed in coil mounting seat, and the coil mounting seat and power transmission coil are located at electricity
The lower section of resistive contact panel, the landing label symbol is printed on electric resistance touch-control panel, in the multi-rotor unmanned aerial vehicle
The supporting leg of more than three is provided with, the position of the electricity reception coil is fixed and its position between supporting leg relative to supporting leg
Relation is previously written in the control program of wireless charging base, after the multi-rotor unmanned aerial vehicle is dropped on landing platform, described
The bottom of support leg is pressed on electric resistance touch-control panel, and the controller is first according to the change of electric resistance touch-control panel pressure spot resistance value
Change calculates accurate location of each supporting leg on electric resistance touch-control panel, further according between the electricity reception coil and supporting leg
Position relationship calculates the accurate location of electricity reception coil, then controls the driving means driving coil mounting seat movement so that
The power transmission coil is accurately moved to the underface of electricity reception coil, and before charging starts, the controller sends instruction cut-out to electricity
The power supply of resistive contact panel, after charging complete, the controller sends power supply of the instruction cut-out to power transmission coil.
Further, the landing platform also includes that a top is provided with the closed cabin of electrically operated gate and for driving the electricity
The motor of dynamic door folding, the motor is controlled by the controller of the wireless charging base, and the wireless charging base integrally sets
In closed cabin, landing label symbol is also printed in the electrically operated gate, a radio receiver, institute are additionally provided with the electrically operated gate
State multi-rotor unmanned aerial vehicle and be provided with remote control module, the remote control module to radio receiver sends opening-closing door signal, the control
The positive/negative rotation of device controlled motor processed, so as to drive the electrically operated gate upset to beat opening/closing.
Further, outside closed cabin, the patrol monitoring station is by without line number for the wireless receiver
Control mode switch instruction is sent to the wireless communication module in multi-rotor unmanned aerial vehicle according to transceiver, the multi-rotor unmanned aerial vehicle exists
Switch between automatic control mode and artificial control model, under the artificial control model, the mark recognition unit
Quit work.
After the method provided by the present invention is improved to existing unmanned plane, even if cell voltage is with the working time
When increasing and declining, the Voltage Cortrol that voltage regulation unit also correspondingly can adjust output to electricity according to current flight action is to most preferably
Value, is flying the pwm signal pulsewidth that control is supplied to electricity to adjust（Throttle value）It is with preset value consistent it is constant in the case of, effective guarantee electricity
Adjust the driving force to motor, it is ensured that the stability of motor speed, unmanned plane is steadily flown so as to solve cell voltage decline
The impact that row is caused.For example in flight course the single-unit battery core of lithium battery is damaged suddenly, and now cell voltage drastically drops moment
Low, the acute variation of voltage will cause the unexpected lift of unmanned plane not enough, and quick tenesmus very likely produces fall in such cases
Machine/aircraft bombing event, after the method provided using the present invention is improved, even if occurring such situation suddenly, if now battery
Remaining total electricity remain to maintain unmanned plane normal flight, then voltage regulation unit quickly will be imparted to electricity tune magnitude of voltage be raised to this fly
Action is made after adaptable preset voltage value, so that it may ensure the steady of rotor rotating speed, it is to avoid pendant caused by unexpected lift deficiency institute
Machine situation.
Used as another aspect of the present invention, the unmanned plane patrol system that the present invention is provided is by recognizing that land marking is led
Boat, patrol route is marked by land marking, and without the need for GPS and storing map navigation during unmanned plane patrol, therefore it is controlled
Mode is relatively easy and be not in cause positioning precision to reduce because building is blocked, drift off the course in flight way or knock building
The situation of thing, be more importantly, due to precisely being navigated using land marking, as long as land marking is arranged on relatively spacious
Place, unmanned plane is not needed by CAS come collision free.What is particularly worth mentioning is that, provide in the present invention
In unmanned plane patrol system, multi rack multi-rotor unmanned aerial vehicle（It is at present more typical for four rotor wing unmanned aerial vehicles）The unmanned plane cluster of composition
Each take off simultaneously from different landing platforms, the patrol work to whole patrol route can be completed within the extremely short time.
Such as whole 70 kilometers of patrol route overall length, a landing platform is arranged per 5 kilometers, and 14 landing platforms are arranged altogether, each
Stop the rotor wing unmanned aerial vehicle of a frame four on landing platform, constitute the cluster of a 14 frame unmanned planes, it is assumed that four rotor wing unmanned aerial vehicles it is flat
Flying speed is 10m/s, then the time that unmanned plane flies to next landing platform from landing platform less than 9 minutes, by
Take off simultaneously in unmanned plane cluster and start patrol, then can just complete the patrol work of whole patrol route in 9 minutes in theory
Make.Charge on landing platform after unmanned plane landing landing platform, it is continuous by the unmanned machine battery of consumer level common on the market at present
Boat 20-25 minutes, charging take 120 minutes to calculate from 0% to 100%, and the electricity consumed in the flight time of above-mentioned 9 minutes is about
40% or so, therefore landing platform only needs that the charging to unmanned plane can be completed in 60 minutes or so, that is to say, that the unmanned plane patrol system
System can complete to go on patrol once 70 kilometers of circuits per 69 minutes, and its patrol efficiency and frequency compare existing artificial patrol
To be increased dramatically（Citing above is only used for illustrating beneficial effects of the present invention, and those skilled in the art should be bright
In vain, the quantity of unmanned plane and landing platform can be entered according to conditions such as patrol frequency, unmanned plane cruising time during practical application
Row is corresponding to be changed）, in personnel's wage higher and higher today, obviously can be greatly reduced using above-mentioned unmanned plane patrol system
Large-scale infrastructure management company, the human cost of AnBao Co., Ltd.
Description of the drawings
Fig. 1 is a kind of structured flowchart of voltage regulation unit in embodiment 1.
Fig. 2 is the entire block diagram of unmanned plane patrol system in embodiment 2.
Fig. 3 is the positive structure schematic of landing platform in embodiment 2.
Fig. 4 is the overlooking the structure diagram of landing platform in embodiment 2.
Fig. 5 is the internal structure schematic diagram of wireless charging base in embodiment 2.
Fig. 6 is the overlooking the structure diagram of wireless charging base in embodiment 2.
Specific embodiment
In describing the invention, the implication of " multiple " refers to two and two or more.Need to illustrate in advance is, although
The present invention is not to being to ensure gyroscope, height sensor, accelerometer, electronic compass necessary to its normal flight in unmanned plane
And electricity adjust etc. unit be specifically described, but it will be appreciated by those skilled in the art that, in unmanned plane involved in the present invention
In, equally comprising these requisite parts.For ease of skilled artisan understands that the present invention is relative to prior art
Improvements, illustrate below to the basic conception of the present invention.
The method that unmanned plane stability is improved in the present invention is based primarily upon following design：1st, using the unmanned plane being completed
（Now the voltage of the battery system of unmanned plane is nominal voltage）By multiple test flight is manually carried out to it, artificial behaviour is obtained
Electricity of the unmanned plane when performing various flare maneuvers and keeping flight stability state adjusts input voltage value and throttle value during control.
2nd, voltage regulation unit is set between battery and electricity are adjusted.3rd, the flare maneuver currently performed according to unmanned plane, control voltage regulation unit is defeated
Go out the voltage adjusted to electricity so that the unmanned plane measured in input voltage value and step one that electricity is adjusted is in the execution flare maneuver and protects
Electricity when holding flight stability state adjusts input voltage value consistent, while allowing the winged control of the unmanned plane to measure with reference in step one
Electricity tune is controlled in the throttle value for performing the flare maneuver and when keeping flight stability state.
The unmanned plane patrol system that the present invention is provided is based primarily upon following design：1st, with multiple UAVs set up one nobody
Machine cluster, goes on patrol monitoring station by the wireless receiver on each landing platform and UAV Communication to realize to the unmanned plane
Cluster is uniformly controlled.The 2nd, land marking is set, and land marking marks patrol route, it is single by the mark identification on unmanned plane
Unit's identification land marking, realizes patrol navigation, and navigation procedure is not based on GPS and storing map, therefore can avoid because positioning precision is missed
Difference causes the situation of aircraft impact building.3rd, each point being dispersed in the unmanned plane cluster on patrol route, it is all nobody
Machine takes off patrol simultaneously, and all unmanned plane Autonomous landings are charged to landing platform after the completion of single patrol, so as to reduce list
Secondary patrol time and the amount of battery consumption of single patrol, improve patrol efficiency and frequency.
For the ease of the understanding of those skilled in the art, with reference to 2 specific embodiments and accompanying drawing the present invention is made into
The explanation of one step.
Embodiment 1：
A kind of method for improving unmanned plane stability, including：
Step one, determine electricity of the unmanned plane when performing various flare maneuvers and keeping flight stability state adjust input voltage value with
And corresponding throttle value.By taking the special lithium battery of a kind of aircraft on the market as an example（The battery non-present unmanned plane field main flow
Battery, is only used as in the present invention test）, its fully charged rear virtual voltage probably in 12.7V or so, with the use of lithium battery
Electric discharge, cell voltage can be gradually reduced, and drop to 11.3V or so to stop power supply a little, be now protection lithium battery service life
And terminating its power supply, Jing adopts the multiple flight test of above-mentioned lithium battery, determines its voltage and throttle value after stably taking off（Voltage
Value about 12V）.
Step 2, unmanned plane battery and electricity adjust between connect adjustable voltage voltage regulation unit；
It should be noted that it will be appreciated by those skilled in the art that, voltage regulation unit can adopt other structures of the prior art,
It including but not limited to adopts following two structures：As shown in Figure 1, it includes single-chip microcomputer, Sepic to a kind of structure of voltage regulation unit
Chopper circuit, optically coupled circuit and sample circuit；Sepic chopper circuits connection optically coupled circuit, sample circuit and unmanned plane
Battery and electricity tune, optically coupled circuit connection single-chip microcomputer and Sepic chopper circuits, sample circuit connection Sepic chopper circuits and
Single-chip microcomputer, single-chip microcomputer is powered by the system power supply circuit of unmanned plane and is connected to the winged control of unmanned plane to obtain current flight action
Information；Unmanned plane is performed into various flare maneuvers and keeps the electricity corresponding to flight stability state to adjust input voltage value to be preset in list
In piece machine, sample circuit Sepic chopper circuits is exported the magnitude of voltage adjusted to electricity and feeds back to single-chip microcomputer, single-chip microcomputer by its with it is current
Preset voltage value corresponding to flare maneuver compares and according to the corresponding pwm control signal of comparative result controlled output, the PWM
Control signal Jing optically coupled circuit improve amplitude after to Sepic chopper circuit switching tubes be switched off and on be controlled, so as to
Realize that the flare maneuver currently performed according to unmanned plane controls Sepic chopper circuits and exports the voltage adjusted to electricity, you can so that electricity
Electricity of the input voltage value of tune with default unmanned plane when performing the flare maneuver and keeping flight stability state adjusts input electricity
Pressure value is consistent.
Another kind of structure of voltage regulation unit is：Including Sepic chopper circuits, optically coupled circuit and sample circuit；Sepic cuts
The battery of wave circuit connection optically coupled circuit, sample circuit and unmanned plane and electricity tune, optically coupled circuit connects flying for unmanned plane
Control and Sepic chopper circuits, the winged control of sample circuit connection Sepic chopper circuits and unmanned plane；Unmanned plane is performed into various flying
Action is made and keeps the electricity corresponding to flight stability state to adjust input voltage value to be preset in the winged control of unmanned plane, and sample circuit will
Sepic chopper circuits export the magnitude of voltage adjusted to electricity and feed back to winged control, fly control by itself and presetting corresponding to current flight action
Magnitude of voltage compares and according to the corresponding pwm control signal of comparative result controlled output, the pwm control signal Jing optically coupled circuits
Improve amplitude after to Sepic chopper circuit switching tubes be switched off and on be controlled, so as to realize currently holding according to unmanned plane
Capable flare maneuver control Sepic chopper circuits export the voltage adjusted to electricity, you can so that the input voltage value adjusted of electricity with it is default
Unmanned plane adjust input voltage value consistent in the electricity for performing the flare maneuver and when keeping flight stability state.
The main distinction of above two structure essentially consists in and a single-chip microcomputer has been separately provided in the first structure to Sepic
Chopper circuit exports the magnitude of voltage adjusted to electricity（Sample circuit feeds back to single-chip microcomputer, single-chip microcomputer output pwm control signal regulation and control electricity
Pressure, the pwm signal for flying control output is throttle value）It is controlled, and second structure is directly using the processor flown in control, output
Controlled by winged control to the magnitude of voltage that electricity is adjusted（Fly control two groups of pwm control signals of output, one group is opened for controlling Sepic chopper circuits
Being switched off and on for pipe is closed, one group is throttle value, is sent to electric tune）.The benefit of the first structure can mainly mitigate winged control
Data processing pressure, the benefit of second structure can mainly reduce electrical equipment, advantageously reduce cost.
Step 3, the flare maneuver currently performed according to unmanned plane, control voltage regulation unit and export the voltage adjusted to electricity so that
The unmanned plane measured in input voltage value and step one that electricity is adjusted is when performing the flare maneuver and keep flight stability state
Electricity adjusts input voltage value consistent, while allowing the winged control of unmanned plane the flare maneuver and to protect in execution with reference to measuring in step one
Throttle value when holding flight stability state is controlled to electricity tune.Specifically, in the present embodiment, after repeatedly flight, lithium electricity
The voltage in pond is reduced to 11.6V, if at this moment keeping throttle value（Fly the PWM value that control output is adjusted to electricity）Constant, unmanned plane cannot be complete
Into independently steadily taking off, after setting voltage regulation unit, throttle value keeps preset value constant, and voltage regulation unit will be exported to electricity tune
Voltage stabilization is in 12V, it is achieved thereby that unmanned plane independently steadily takes off.
In the present embodiment, after by the way that increase voltage regulation unit is improved to existing unmanned plane between battery and electricity tune, i.e.,
Just when cell voltage declines with the increase of working time, voltage regulation unit also can correspondingly will be defeated according to current flight action
Go out the Voltage Cortrol adjusted to electricity to optimum value, in winged control the pwm signal pulsewidth of electricity tune is supplied to（Throttle value）It is consistent with preset value
In the case of constant, driving force of the electric tune of effective guarantee to motor, it is ensured that the stability of motor speed, so as to solving electricity
Cell voltage declines the impact caused to unmanned plane smooth flight.For example when the single-unit battery core of lithium battery in flight course is damaged suddenly
When, cell voltage will be drastically reduced moment, and the acute variation of voltage will cause the unexpected lift of unmanned plane not enough, quick tenesmus, this
Very likely produce in the case of kind and fall machine/aircraft bombing event, after being improved using said method, even if occurring such feelings suddenly
Condition, if now remaining battery total electricity remains to maintain unmanned plane normal flight, voltage regulation unit quickly to will be imparted to the electricity of electricity tune
Pressure value is raised to after the preset voltage value being adapted with the flare maneuver, so that it may ensure the steady of rotor rotating speed, it is to avoid unexpected lift
Air crash situation caused by not enough institute.
Embodiment 2：
As shown in Fig. 2 the unmanned plane after being improved based on the method in embodiment 1, the present embodiment provides a kind of based on the area for taking photo by plane
Domain dynamic patrol system, it includes going on patrol monitoring station（Patrol monitoring station is by artificial on duty）, be made up of the rotor wing unmanned aerial vehicle of multi rack four
Unmanned plane cluster and four rotor wing unmanned aerial vehicle equal numbers landing platform, for four rotor wing unmanned aerial vehicles provide navigation ground
The wireless receiver that face identifies and is arranged on landing platform and communicates to connect with patrol monitoring station（Do not show in Fig. 2
Go out）；Landing platform can stop four rotor wing unmanned aerial vehicles and give its provide charging, each landing platform stop the rotor of a frame four nobody
Machine；Land marking marks on the ground patrol route, and patrol route is in end to end closed figure, and all landing platforms are equal
It is disposed on patrol route；Four rotor wing unmanned aerial vehicles include take photo by plane image unit, mark recognition unit and wireless communication module
（The concrete structure of four rotor wing unmanned aerial vehicles is not shown in the accompanying drawings）, mark recognition unit identification land marking ensure four rotors nobody
Machine along patrol route autonomous flight and can drop to next landing platform after taking off from current landing platform；During patrol, patrol prison
Control station sends instruction of taking off by wireless receiver to the wireless communication module on four rotor wing unmanned aerial vehicles, all four rotors without
It is man-machine while take off from its place landing platform, in flight course, mark recognition unit identification land marking realizes patrol route
Navigation, image unit of taking photo by plane shoots the video image of correspondence beat, and wireless communication module is real-time by the video information for shooting
Send to wireless receiver, the video information of reception is sent to patrol monitoring station, each four rotor by wireless receiver
Unmanned plane flies to next landing platform successively in a manner described along patrol route from a landing platform, so as to realize patrolling in diagram
Patrol in region and go on patrol.
In the above-described embodiments, by recognizing that land marking is navigated, patrol route is by ground for unmanned plane patrol system
Mark is marked, and without the need for GPS and storing map navigation during unmanned plane patrol, therefore its control mode is relatively easy and will not
Occur because building blocks the situation for causing that building is drifted off the course or knocked in positioning precision reduction, flight on the way, it is more important
, due to precisely being navigated using land marking, as long as land marking is arranged on where spaciousness relatively, unmanned plane is at all
Need not be by CAS come collision free.What is particularly worth mentioning is that, in the unmanned plane patrol system that above-described embodiment is provided
In system, the unmanned plane cluster of the rotor wing unmanned aerial vehicle of multi rack four composition each takes off simultaneously from different landing platforms, can be extremely short
Time in complete the patrol work to whole patrol route.For example shown in Fig. 2,70 kilometers of whole patrol route overall length is public per 5
In arrange a landing platform, altogether arrange 14 landing platforms, the rotor wing unmanned aerial vehicle of a frame four, group are stopped on each landing platform
Into the cluster of a 14 frame unmanned planes, it is assumed that the flying speed of four rotor wing unmanned aerial vehicles is 10m/s, then unmanned plane is put down from a landing
The time that platform flies to next landing platform, less than 9 minutes, because unmanned plane cluster takes off simultaneously patrol is started, then in theory may be used
Just to complete the patrol work of whole patrol route in 9 minutes.Charge on landing platform after unmanned plane landing landing platform,
By consumer level unmanned plane battery durable 20-25 minute common on the market at present, charge from 0% to 100% with coming for time-consuming 120 minutes
Calculate, the electricity consumed in flight time of above-mentioned 9 minutes is about 40% or so, thus landing platform only need 60 minutes or so can be complete
The charging of unmanned plane in pairs, that is to say, that the unmanned plane patrol system can be completed to 70 kilometers of circuit patrols one per 69 minutes
Secondary, it goes on patrol efficiency and frequency is compared existing artificial patrol and can be increased dramatically, higher and higher in personnel's wage
Today, using above-mentioned unmanned plane patrol system obviously can be greatly reduced large-scale infrastructure management company, AnBao Co., Ltd manpower into
This.
It should be noted that in the above-described embodiments, landing platform provides the mode that charges to four rotor wing unmanned aerial vehicles can be with
Have various, for example, can adopt wireless charging（Induction or magnetic resonance type wireless charging）, magnetic contact charge etc.,
In description below, emphasis is elaborated to the specific embodiment of induction wireless charging.
Additionally need, it is emphasized that in the present embodiment, land marking can adopt sightless Infrared ID, if adopting
With Infrared ID, then identify recognition unit correspondence and adopt infrared ray sensor, naturally it is also possible to using in two neighboring landing
The flexible LED lamp bar of power supply independently of one another is set between platform（Flexible LED lamp bar includes multiple spaced LEDs, preferably with red
Colored lights, is easy to recognize daytime）To be formed, single led lamp is lighted successively along patrol route, when next LED is lighted, previous LED
Lamp extinguishes, and so as to form light navigation track, identifies the movement that recognition unit follows the trail of luminous point using visual identity tracer technique, from
And ensure that four rotor wing unmanned aerial vehicles can fly to next landing platform (landing platform along above-mentioned smooth light track from a landing platform
On the bright LED of landing label symbol or stroboscopic/often can be set used as landing mark).
In the present embodiment, it is preferred that land marking mainly include be applied over road surface road surface identification lines and
The landing label symbol being applied on landing platform, accordingly, mark recognition unit include for obtain be located at four rotors nobody
First camera of machine front lower place land marking image and for obtain be located at four rotor wing unmanned aerial vehicles immediately below land marking figure
The second camera of picture, the image that the first camera is obtained isolates route ahead signal Jing after processing, and second camera is obtained
Figure isolate current position signal Jing after processing, the winged control unit of four rotor wing unmanned aerial vehicles combines route ahead signal and current
The change correspondence of position signalling controls four rotor wing unmanned aerial vehicle and flies forward along patrol route or turn or down drop to landing
Platform.It is above-mentioned to apply lines mark and the land marking building mode phase of label symbol of landing using in beat road surface
Than other schemes（Such as LED lamp bar, Infrared ID etc.）Simple, the lower-cost advantage with construction, corresponding to above-mentioned
Face identifies building mode, and the flight control of unmanned plane can adopt below scheme：When the first camera and second camera are obtained
Land marking image be mark lines, then unmanned plane continue fly forward；When the first camera gets landing marker character
Number, and the land marking image that second camera is obtained is still mark lines, then unmanned plane reduces speed now but continues to fly forward
OK；With the continuation of flight, when the land marking image that the first camera is obtained is mark lines, and second camera gets
During landing label symbol, unmanned plane stops flying and starting landing forward；When the first camera monitors that identifying lines curves, and
The land marking image that second camera is obtained is when being straight mark lines, then unmanned plane reduce speed now flight forward and it is corresponding with
Turn with front mark lines.In short, if when second camera obtain land marking for landing label symbol when, nothing
Man-machine just to stop flying forward and starting landing, unmanned plane all keeps flying forward in the case of other（Supervised according to the first camera
The front mark change for measuring correspondingly is adjusted to flying speed and direction）.Front road is monitored by above-mentioned two camera
Line changes and current location change, it is ensured that unmanned plane more accurately lands and turn in flying speed in the case of faster
（Actually in using LED lamp bar as the scheme of land marking, it would however also be possible to employ above-mentioned dual camera is single as mark identification
Unit, the first camera is used to follow the trail of mobile luminous point, and second camera is used to obtain the land marking immediately below unmanned plane, when the
One camera gets landing mark and second camera when not getting landing mark, and unmanned plane reduces speed now, and takes the photograph when second
When getting landing mark as head, unmanned plane stops flying and starting landing forward）.
In the above-described embodiment, road surface identification lines can adopt yellow/white that road surface has existed originally
Traffic marking, and landing platform is connected on the light pole of road both sides by a fixed support.It is former using road surface
The traffic marking of this presence can save tag line bar application work as land marking, shorten the establishment of unmanned plane patrol system
Time, while advantageously reducing construction cost.Further, can be with yellow/White traffic graticule and landing label symbol
Surface coat one layer of reflectorized material, the LED for below pre-irradiation and underface road surface is installed in multi-rotor unmanned aerial vehicle and is penetrated
Lamp, under the irradiation of LED spotlight, the reflective material layer reflection light on traffic marking surface can allow graticule and landing mark clear
Clear visible, this is highly useful to the accuracy for improving unmanned plane mark recognition unit night identification.
Additionally, in above-mentioned unmanned plane patrol system, it is preferred that the wireless communication module of four rotor wing unmanned aerial vehicles is put down with landing
Radio communication, wireless receiver and patrol monitoring are carried out using OFDM transmission technology between wireless receiver on platform
Wire communication is adopted between standing, along patrol route flight course, wireless communication module is automatically each wireless for four rotor wing unmanned aerial vehicles
Soft handover is carried out between data collector, so as to ensure the video information real-time Transmission of the image unit shooting of taking photo by plane to patrol
Monitoring station.
Further, in above-mentioned unmanned plane patrol system, it is preferred that as it can be seen in figures 5 and 6, landing platform also includes one
For carrying out the wireless charging base of induction charging to four rotor wing unmanned aerial vehicles, the bottom of four rotor wing unmanned aerial vehicles is provided with by electric wire
Circle, wireless charging base includes controller, power transmission coil, coil mounting seat, electric resistance touch-control panel（The knot of electric resistance touch-control panel
Structure with and the driving means that all around move of driving coil mounting seat（Driving means are not shown in the accompanying drawings）, power transmission coil
It is fixedly installed in coil mounting seat, coil mounting seat and power transmission coil are located at the lower section of electric resistance touch-control panel, landing mark
Note symbol is printed on electric resistance touch-control panel, and four rotor wing unmanned aerial vehicles are provided with the supporting leg of more than three, the position of electricity reception coil
Fix relative to supporting leg and its position relationship between supporting leg is previously written in the control program of wireless charging base, when four
After rotor wing unmanned aerial vehicle is dropped on landing platform, the bottom of supporting leg is pressed on electric resistance touch-control panel, and controller is first according to electricity
The change calculations of resistive contact panel pressure spot resistance value go out accurate location of each supporting leg on electric resistance touch-control panel, then root
The accurate location of electricity reception coil is calculated according to the position relationship between electricity reception coil and supporting leg, driving means is then controlled and is driven
Coil mounting seat is moved so that power transmission coil is accurately moved to the underface of electricity reception coil, and before charging starts, controller sends finger
Power supply of the order cut-out to electric resistance touch-control panel, after charging complete, controller sends power supply of the instruction cut-out to power transmission coil.It is many
Well known, the charge efficiency of induction wireless charging is closely related with the contraposition accuracy of coil, although in prior art
Have some to move to realize the technical scheme of accurate contraposition by power transmission coil, but it is mostly by constantly comparing and calculating
It is faradic in power transmission coil moving process to change to find the position of electricity reception coil, it is finally completed contraposition.For example millet is public
The Chinese invention patent of the Application No. " 2016102524424 " of department's application is exactly to adopt such scheme, and such coil is automatic
Alignment mode there are in fact certain blindness, and the process for completing to align is time-consuming longer, and the present invention using resistance-type by being touched
, used as the supporting plate of cradle, when the supporting leg of unmanned plane is pressed onto on electric resistance touch-control panel, controller can be accurate for control panel
Determine the position of supporting leg, then the position of electricity reception coil can be accurately calculated by the position relationship of electricity reception coil and supporting leg, most
Only power transmission coil correspondence need to be moved to immediately below electricity reception coil by driving means afterwards and be aligned, power transmission coil pair
Bit rate is fast and accurate.
Further, as shown in Fig. 3 and 4, above-mentioned landing platform also include one top be provided with electrically operated gate closed cabin and
For driving the motor of electrically operated gate folding, the motor is controlled by the controller of wireless charging base（Motor does not show in the accompanying drawings
Go out）, wireless charging base integrally in the closed cabin, is also printed on landing label symbol, a nothing is additionally provided with electrically operated gate in electrically operated gate
Line electricity receiver, on four rotor wing unmanned aerial vehicles remote control module is provided with, and opening-closing door is sent to radio receiver by remote control module
Signal, the positive/negative rotation of controller controlled motor, so that it may realize that opening/closing is beaten in electrically operated gate upset.When unmanned plane lands, first pass through
Remote control module sends enabling signal and opens electrically operated gate, and then down in closed cabin, stable landing is touched unmanned plane in resistance-type
On control panel, now signal of closing the door is sent by remote control module, close electrically operated gate；Before taking off, unmanned plane passes through again remote control module
Enabling signal is sent, electrically operated gate is opened, takeoff maneuver is just performed afterwards, after completing to take off, unmanned plane is sent out again by remote control module
Electrically operated gate is closed by sending signal of closing the door.Cradle there is into following benefit in closed cabin：1st, electrically operated gate can be closed at ordinary times,
Prevent electric resistance touch-control panel surface contaminated.2nd, the closed cabin can be as the stop storehouse of unmanned plane, when not going on patrol, nobody
Machine is parked in closed cabin can be avoided being exposed to the sun and rain.
Finally, above-mentioned wireless receiver is outside the closed cabin, patrol monitoring station by wireless receiver to
Wireless communication module on four rotor wing unmanned aerial vehicles send control mode switch instruction, four rotor wing unmanned aerial vehicles automatic control mode with
Switch between artificial control model, under artificial control model, mark recognition unit quits work.Setting is switchable certainly
Dynamic control model can be realized in emergency circumstances carrying out manual intervention to unmanned plane at some with artificial control model, it is to avoid unexpected
Occur, and working as needs to change battery to all unmanned planes（Or other regular maintenances）When, it is also possible to by manually controlling nobody
Machine is dropped to one by one on the ground of patrol route by it or flown to patrol monitoring station, such that it is able to mitigate nothing to a certain extent
Man-machine maintenance workload, improves line service efficiency.
In order to allow those of ordinary skill in the art more easily to understand improvements of the present invention relative to prior art, this
Some accompanying drawings of invention and description have been simplified, and for the sake of clarity, present specification is omitted some other units
Element, those of ordinary skill in the art should be aware that these elements for omitting also may make up present disclosure.
Claims (10)
1. the method for improving unmanned plane stability, it is characterised in that include：
The electricity of step one, the measure unmanned plane when performing various flare maneuvers and keeping flight stability state adjusts input voltage
Value and corresponding throttle value；
Step 2, the unmanned plane battery and electricity adjust between connect adjustable voltage voltage regulation unit；
Step 3, the flare maneuver currently performed according to unmanned plane, control the voltage regulation unit and export the voltage adjusted to electricity so that
The unmanned plane measured in the input voltage value and step one of the electricity tune is performing the flare maneuver and is keeping flight stability state
When electricity adjust input voltage value it is consistent, while allow the unmanned plane winged control with reference to measure in step one execution the flight
Action and throttle value when keeping flight stability state is controlled to electricity tune.
2. it is according to claim 1 improve unmanned plane stability method, it is characterised in that：
The voltage regulation unit includes Sepic chopper circuits, optically coupled circuit and sample circuit；
The battery of the Sepic chopper circuits connection optically coupled circuit, sample circuit and unmanned plane and electricity tune, the optical coupling
The winged control of circuit connection unmanned plane and Sepic chopper circuits, sample circuit connection Sepic chopper circuits and unmanned plane fly
Control；
The unmanned plane is performed into various flare maneuvers and keeps the electricity corresponding to flight stability state to adjust input voltage value to preset
In the winged control of unmanned plane, the sample circuit Sepic chopper circuits is exported the magnitude of voltage adjusted to electricity and feeds back to winged control, described
Fly control to compare it with the preset voltage value corresponding to current flight action and according to comparative result controlled output corresponding PWM controls
Signal processed, the pwm control signal is switched off and on Jing after optically coupled circuit improves amplitude to Sepic chopper circuit switching tubes
It is controlled, exports to electricity tune so as to realize that the flare maneuver currently performed according to unmanned plane controls the Sepic chopper circuits
Voltage so that input voltage value and the default unmanned plane that the electricity is adjusted is performing the flare maneuver and is keeping flight stability shape
Electricity during state adjusts input voltage value consistent.
3. it is according to claim 1 improve unmanned plane stability method, it is characterised in that：
The voltage regulation unit includes single-chip microcomputer, Sepic chopper circuits, optically coupled circuit and sample circuit；
The battery of the Sepic chopper circuits connection optically coupled circuit, sample circuit and unmanned plane and electricity tune, the optical coupling
Circuit connects single-chip microcomputer and Sepic chopper circuits, the sample circuit connection Sepic chopper circuits and single-chip microcomputer, the monolithic
Machine is powered by the system power supply circuit of unmanned plane and is connected to the winged control of unmanned plane to obtain current flight action message；
The unmanned plane is performed into various flare maneuvers and keeps the electricity corresponding to flight stability state to adjust input voltage value to preset
In single-chip microcomputer, the sample circuit Sepic chopper circuits is exported the magnitude of voltage adjusted to electricity and feeds back to single-chip microcomputer, the monolithic
Machine compares it with the preset voltage value corresponding to current flight action and according to comparative result controlled output corresponding PWM controls
Signal, the pwm control signal Jing optically coupled circuit improve amplitude after to Sepic chopper circuit switching tubes be switched off and on into
Row control, exports to electricity tune so as to realize that the flare maneuver currently performed according to unmanned plane controls the Sepic chopper circuits
Voltage so that the input voltage value that the electricity is adjusted is performing the flare maneuver and keeping flight stability state with default unmanned plane
When electricity adjust input voltage value it is consistent.
4. a kind of based on the regional dynamics patrol system taken photo by plane, it is characterised in that：
It is identical with the multi-rotor unmanned aerial vehicle including patrol monitoring station, the unmanned plane cluster being made up of multi rack multi-rotor unmanned aerial vehicle
The landing platform of quantity, for the multi-rotor unmanned aerial vehicle provide navigation land marking and be arranged on the landing platform
Wireless receiver that is upper and communicating to connect with patrol monitoring station；
The multi-rotor unmanned aerial vehicle improves its stability, the landing using the method described in any one in claim 1-3
Platform can stop multi-rotor unmanned aerial vehicle and provide charging to it, and each landing platform stops a frame multi-rotor unmanned aerial vehicle；
The land marking marks on the ground patrol route, and the patrol route is in end to end closed figure, described
Landing platform is disposed on patrol route；
The multi-rotor unmanned aerial vehicle includes take photo by plane image unit, mark recognition unit and wireless communication module, the mark identification
Unit identification land marking ensures that multi-rotor unmanned aerial vehicle along patrol route autonomous flight and can drop after taking off from current landing platform
Drop down onto next landing platform；
During patrol, the patrol monitoring station is sent by wireless receiver to the wireless communication module in multi-rotor unmanned aerial vehicle
Take off instruction, all multi-rotor unmanned aerial vehicles are taken off from its place landing platform simultaneously, in flight course, the image unit of taking photo by plane
The video image of correspondence beat is shot, the wireless communication module in real time sends the video information of shooting to wireless data
The video information of reception is sent to patrol monitoring station by transceiver, the wireless receiver, and the multi-rotor unmanned aerial vehicle is pressed
Aforesaid way flies to next landing platform successively along patrol route from a landing platform, so as to realize being gone on patrol in FX
。
5. according to claim 4 based on the regional dynamics patrol system taken photo by plane, it is characterised in that：
The land marking includes the road surface identification lines for being applied over road surface and the landing mark being applied on landing platform
Note symbol；
The mark recognition unit includes the first shooting for obtaining positioned at multi-rotor unmanned aerial vehicle front lower place land marking image
Head and the second camera for being located at land marking image immediately below multi-rotor unmanned aerial vehicle for acquisition；
The image that first camera is obtained isolates route ahead signal, the figure that the second camera is obtained Jing after processing
Shape isolates current position signal Jing after processing, and the winged control unit of the multi-rotor unmanned aerial vehicle combines route ahead signal and current
The change correspondence of position signalling controls the multi-rotor unmanned aerial vehicle and flies forward along patrol route or turn or down drop to landing
Platform.
6. according to claim 5 based on the regional dynamics patrol system taken photo by plane, it is characterised in that：The road surface identification line
Bar is that the surface of the yellow/White traffic graticule for being applied over road surface, the yellow/White traffic graticule and landing label symbol applies
One layer of reflectorized material is covered with, the LED spotlight for pre-irradiation lower section and underface road surface is installed in the multi-rotor unmanned aerial vehicle,
The landing platform is connected on the light pole of road both sides by a fixed support.
7. according to any one in claim 4-6 based on the regional dynamics patrol system taken photo by plane, it is characterised in that：Institute
Stating OFDM transmission technology of adopt between the wireless receiver on the wireless communication module and landing platform of multi-rotor unmanned aerial vehicle
Radio communication is carried out, between the wireless receiver and patrol monitoring station wire communication, the multi-rotor unmanned aerial vehicle are adopted
Along patrol route flight course, the wireless communication module carries out soft handover between each wireless receiver automatically, from
And ensure video information real-time Transmission that the image unit of taking photo by plane shoots to going on patrol monitoring station.
8. according to claim 4 based on the regional dynamics patrol system taken photo by plane, it is characterised in that：The landing platform is also
It is used to carry out the wireless charging base of induction charging, the bottom of the multi-rotor unmanned aerial vehicle to multi-rotor unmanned aerial vehicle including one
Be provided with electricity reception coil, the wireless charging base include controller, power transmission coil, coil mounting seat, electric resistance touch-control panel and
The driving means for driving the coil mounting seat all around to move, the power transmission coil is fixedly installed in coil mounting seat,
, located at the lower section of electric resistance touch-control panel, the landing label symbol is printed on resistance for the coil mounting seat and power transmission coil
On formula contact panel, the multi-rotor unmanned aerial vehicle is provided with the supporting leg of more than three, the position of the electricity reception coil relative to
Supporting leg is fixed and its position relationship between supporting leg is previously written in the control program of wireless charging base, many rotors
After unmanned plane is dropped on landing platform, the bottom of the supporting leg is pressed on electric resistance touch-control panel, controller elder generation root
Go out accurate location of each supporting leg on electric resistance touch-control panel according to the change calculations of electric resistance touch-control panel pressure spot resistance value,
The accurate location of electricity reception coil is calculated further according to the position relationship between the electricity reception coil and supporting leg, is then controlled described
Driving means driving coil mounting seat is moved so that the power transmission coil is accurately moved to the underface of electricity reception coil, and charging is opened
Before beginning, the controller sends power supply of the instruction cut-out to electric resistance touch-control panel, and after charging complete, the controller sends finger
Power supply of the order cut-out to power transmission coil.
9. according to claim 8 based on the regional dynamics patrol system taken photo by plane, it is characterised in that：The landing platform is also
The closed cabin and motor for driving the electrically operated gate folding of electrically operated gate are provided with including a top, the motor is by the nothing
The controller of line cradle is controlled, and the wireless charging base integrally in closed cabin, is also printed on drop in the electrically operated gate
Drop marker symbol, is additionally provided with a radio receiver in the electrically operated gate, the multi-rotor unmanned aerial vehicle is provided with remote control module, institute
State remote control module and send opening-closing door signal, the positive/negative rotation of the controller controlled motor, so as to drive to radio receiver
Opening/closing is beaten in the electrically operated gate upset.
10. according to claim 9 based on the regional dynamics patrol system taken photo by plane, it is characterised in that：The wireless data
Outside closed cabin, the patrol monitoring station is by wireless receiver to the channel radio in multi-rotor unmanned aerial vehicle for transceiver
Letter module sends control mode switch instruction, and the multi-rotor unmanned aerial vehicle is entered between automatic control mode and artificial control model
Row switching, under the artificial control model, the mark recognition unit quits work.
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| CN111628677A (en) * | 2020-07-28 | 2020-09-04 | 浙江大学 | Wide-working-domain brushless motor efficient control system and control method |
| CN113156366A (en) * | 2021-03-03 | 2021-07-23 | 上海凌苇智能科技合伙企业(有限合伙) | Space positioning method for cluster unmanned aerial vehicle in noisy electromagnetic environment |
| CN112596453A (en) * | 2021-03-04 | 2021-04-02 | 南京纬多科技有限公司 | Standardized unmanned aerial vehicle electric power control system |
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