CN109362228B - Unmanned vehicles, unmanned vehicles base and unmanned vehicles system - Google Patents

Unmanned vehicles, unmanned vehicles base and unmanned vehicles system Download PDF

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Publication number
CN109362228B
CN109362228B CN201780026936.3A CN201780026936A CN109362228B CN 109362228 B CN109362228 B CN 109362228B CN 201780026936 A CN201780026936 A CN 201780026936A CN 109362228 B CN109362228 B CN 109362228B
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China
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unmanned aerial
aerial vehicle
base
module
external
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CN201780026936.3A
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Chinese (zh)
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CN109362228A (en
Inventor
周震昊
李阳
陶冶
林茂疆
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/16—Propulsion using means other than air displacement or combustion exhaust, e.g. water or magnetic levitation
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • B64U50/38—Charging when not in flight by wireless transmission
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention provides an unmanned aerial vehicle, an unmanned aerial vehicle base and an unmanned aerial vehicle system, wherein the unmanned aerial vehicle comprises: the camera is used for acquiring video image data; the processor is connected with the camera and used for processing the video image data, wherein the processing of the video image data comprises identifying a specific object in a video image according to a visual recognition algorithm and tracking the specific object; the wireless charging module is used for being connected with the external wireless charging base module in a matched mode; the magnetic suspension module is used for enabling the unmanned aerial vehicle to suspend on an external magnetic suspension base; and the first communication module is connected with the processor. The embodiment of the invention realizes that the unmanned aerial vehicle is used for video monitoring and realizes omnidirectional suspension monitoring and visual tracking, and improves the concealment and the interest of a monitoring system.

Description

Unmanned vehicles, unmanned vehicles base and unmanned vehicles system
Technical Field
The invention relates to the technical field of unmanned aerial vehicle application, in particular to an unmanned aerial vehicle, an unmanned aerial vehicle base and an unmanned aerial vehicle system.
Background
With the economic development and the improvement of the income and living standard of residents, the unmanned aerial vehicle is popularized among the public, and more people use the unmanned aerial vehicle to carry out entertainment activities such as aerial photography and the like. However, these unmanned aerial vehicles are left unused most of the time and are not used efficiently. On the other hand, due to the limitation of the endurance time of the unmanned aerial vehicle, the unmanned aerial vehicle is charged for a lot of time and cannot realize any function. Therefore, how to improve the practicability of the unmanned aerial vehicle when not in use becomes a problem in applying the unmanned aerial vehicle to more scenes.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle, an unmanned aerial vehicle base and an unmanned aerial vehicle system.
According to a first aspect of embodiments of the present invention, there is provided an unmanned aerial vehicle including:
the camera is used for acquiring video image data;
the processor is connected with the camera and used for processing the video image data, wherein the processing of the video image data comprises identifying a specific object in a video image according to a visual recognition algorithm and tracking the specific object;
the wireless charging module is used for being connected with the external wireless charging base module in a matched mode;
the magnetic suspension module is used for enabling the unmanned aerial vehicle to suspend on an external magnetic suspension base; and
a first communication module connected with the processor.
According to a second aspect of the embodiments of the present invention, there is provided an unmanned aerial vehicle base including:
the wireless charging base module is used for being connected with an external wireless charging module in a matched mode;
a magnetic suspension base;
the control module is used for controlling the magnetic suspension base; and
and the third communication module is connected with the control module.
According to a third aspect of the embodiments of the present invention, there is provided an unmanned aerial vehicle system comprising the unmanned aerial vehicle according to the first aspect of the embodiments and the unmanned aerial vehicle base according to the second aspect of the embodiments, the first communication module and the third communication module are connected through wireless communication, and the magnetic levitation module and the magnetic levitation base pair to suspend the unmanned aerial vehicle on the unmanned aerial vehicle base.
In the technical solutions provided by some embodiments of the present invention, since the magnetic suspension module of the unmanned aerial vehicle can suspend the unmanned aerial vehicle on the magnetic suspension base, the unmanned aerial vehicle can flexibly rotate to acquire video image data, and can also facilitate the realization of tracking of a specific object, thereby realizing the combination of the target tracking function while the unmanned aerial vehicle suspends on the base. And the wireless charging module that sets up then can conveniently charge to unmanned vehicles. Therefore, when the unmanned aerial vehicle is not used, various functions can be realized through the cooperation with the base. For example, in home monitoring, the unmanned aerial vehicle system can be displayed as an artwork on one hand, and can also realize a more effective omnidirectional monitoring function on the other hand, and does not influence indoor layout. For another example, in a video conference, the unmanned aerial vehicle system can track the conferees in real time, so that the conferees can be displayed more freely without being limited by the video range of the traditional camera, and a more intelligent conference function is realized.
Drawings
FIG. 1 illustrates a schematic structural diagram of an unmanned aerial vehicle according to one embodiment of the invention;
FIG. 2 illustrates a schematic structural view of an unmanned aerial vehicle chassis according to one embodiment of the present invention;
FIG. 3 illustrates a system block diagram of an unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 4 shows a schematic structural view of an unmanned aerial vehicle system according to a first embodiment of the invention;
FIG. 5 shows a schematic structural diagram of an unmanned aerial vehicle system according to a second embodiment of the invention;
fig. 6 shows a schematic structural view of an unmanned aerial vehicle system according to a third embodiment of the invention;
fig. 7 shows a schematic structural view of an unmanned aerial vehicle system according to a fourth embodiment of the invention;
fig. 8 shows a schematic structural view of an unmanned aerial vehicle system according to a fifth embodiment of the invention;
fig. 9 shows a schematic structural view of an unmanned aerial vehicle system according to a sixth embodiment of the invention;
fig. 10 shows a schematic structural diagram of an unmanned aerial vehicle system according to a seventh embodiment of the present invention.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments of the invention.
Fig. 1 schematically shows a structural schematic of an unmanned aerial vehicle according to an embodiment of the invention.
Referring to fig. 1, an unmanned aerial vehicle 10 according to an embodiment of the present invention includes: a camera 101, a wireless charging module 102, a magnetic levitation module 103, and a processor and a first communication module, which are not shown in fig. 1.
The camera 101 is used for acquiring video image data; the processor is connected to the camera 101, and is configured to process the video image data, optionally, the processing of the video image data includes identifying a specific object in the video image according to a visual recognition algorithm, and tracking the specific object; the wireless charging module 102 is used for being connected with an external wireless charging base module in a matching way; the magnetic suspension module 103 is used for suspending the unmanned aerial vehicle 10 on an external magnetic suspension base; the first communication module is connected with the processor.
It should be noted that, in the embodiment of the present invention, the wireless charging base module and the external magnetic suspension base may be designed integrally or separately.
Some details of the unmanned aerial vehicle 10 are set forth in detail below:
in an embodiment of the present invention, the processor in the unmanned aerial vehicle 10 is further configured to generate the first control instruction after processing the video image data. Optionally, the first control instruction may be an instruction for controlling an external device, and specifically, the first control instruction may be sent to the external device through the first communication module. For example, the first control command is a command for controlling the magnetic suspension base, and further may be sent to the external unmanned aerial vehicle base through the first communication module, so as to control the magnetic suspension base in the external unmanned aerial vehicle base to rotate the unmanned aerial vehicle 10, so as to track the specific object omnidirectionally.
In an embodiment of the present invention, the unmanned aerial vehicle 10 further includes a rechargeable battery, which is connected to the wireless charging module 102 and is charged by the wireless charging module 102.
In the embodiment of the present invention, the unmanned aerial vehicle 10 further includes a memory for storing the video image data acquired by the camera 101.
In an embodiment of the present invention, the unmanned aerial vehicle 10 further comprises a second communication module, which is connected to the processor and is further configured to wirelessly communicate with an external monitoring device. Alternatively, the external monitoring device may be a smartphone, tablet, computer, or the like. The unmanned aerial vehicle 10 may actively send the video image data to the external monitoring device, or the video image data may be actively acquired by the external monitoring device through the second communication module.
It should be noted that the first communication module and the second communication module may be two devices independent from each other, or the same device may implement two different communication functions.
In an embodiment of the present invention, the magnetic levitation module 103 includes at least one of a permanent magnet or an electromagnet.
Fig. 2 schematically shows a structural schematic view of an unmanned aerial vehicle base according to an embodiment of the invention.
Referring to fig. 2, an unmanned aerial vehicle chassis 20 according to an embodiment of the present invention includes: a wireless charging base module 201, a magnetic levitation base 202, and a control module and a third communication module not shown in fig. 2.
The wireless charging base module 201 is used for being connected with an external wireless charging module in a matching manner; the control module is used for controlling the magnetic suspension base 202; the third communication module is connected with the control module. In an embodiment of the present invention, the control module may control the magnetic levitation base 202 to rotate the unmanned aerial vehicle, thereby achieving omnidirectional tracking of a specific object.
In an embodiment of the present invention, the third communication module is further configured to perform a wireless communication connection with an external device. Alternatively, the external device may be an unmanned aerial vehicle or other device that serves as a control terminal.
In an embodiment of the present invention, the control module obtains the control instruction from the external device through the third communication module. Alternatively, the control command may be a command for controlling the magnetic levitation base 202.
In an embodiment of the present invention, the magnetic levitation base 202 includes an electromagnet.
In an embodiment of the invention, the control module is configured to control at least one of a current intensity and a center of mass position of the electromagnet. It should be noted that the control module controls the current intensity of the electromagnet to change the magnetic field intensity generated by the electromagnet, so that the suspension height of the unmanned aerial vehicle can be adjusted; and the offset between the mass center and the rotation center can be indirectly controlled by controlling the position of the mass center, so that the speed and the direction of rotation of the rotation speed are controlled.
It should be noted that fig. 2 only shows the structure of the unmanned aerial vehicle base 20 of one embodiment, and the unmanned aerial vehicle base 20 of other structures will be explained in the description of the unmanned aerial vehicle system of the embodiment of the present invention.
Having described the unmanned aerial vehicle and the unmanned aerial vehicle base of an embodiment of the present invention, respectively, an unmanned aerial vehicle system 30 of an embodiment of the present invention is described below.
Fig. 3 schematically shows a system block diagram of an unmanned aerial vehicle system according to an embodiment of the invention.
Referring to FIG. 3, an UAV system 30 according to an embodiment of the invention includes: unmanned aerial vehicle 10 and unmanned aerial vehicle base 20. Optionally, an external monitoring device 40 may also be included.
Among them, the unmanned aerial vehicle 10 may include: the device comprises a camera 101, a wireless charging module 102, a magnetic suspension module 103, a processor 104 and a first communication module 105. The camera 101 is used for acquiring video image data; the processor 104 is connected to the camera 101 and configured to process video image data acquired by the camera 101; the first communication module 105 is connected to the processor 104.
Optionally, the unmanned aerial vehicle 10 may further include a rechargeable battery 106 connected to the wireless charging module 102 for charging via the wireless charging module 102. In addition, the unmanned aerial vehicle 10 may further include a memory 107 for storing video image data acquired by the camera 101, and a second communication module 108 connected to the processor 104.
In an embodiment of the present invention, the second communication module 108 may be connected to the external monitoring device 40 through wireless communication, and then the external monitoring device 40 may send a corresponding control instruction to the second communication module 108, so as to implement corresponding operations, such as controlling the unmanned aerial vehicle 10 to transmit back the acquired video image data, controlling the wireless charging module 102 to turn on/off charging, and the like.
The unmanned aerial vehicle chassis 20 may include: a wireless charging base module 201, a magnetic suspension base 202, a control module 203 and a third communication module 204. The control module 203 is used for controlling the magnetic suspension base 202, and the third communication module 204 is connected with the control module 203. Optionally, the UAV base 20 may further include a fourth communication module 205 coupled to the control module 203.
It should be noted that the third communication module 204 and the fourth communication module 205 may be two devices independent from each other, or the same device may implement two different communication functions.
In the above-mentioned unmanned aerial vehicle system 30, the wireless charging module 102 is connected in pair with the wireless charging base module 201, so as to realize wireless charging. Alternatively, the wireless charging module 102 and the wireless charging base module 201 may be paired and connected through the Qi protocol or the A4WP protocol.
The magnetic levitation module 103 is used to interact with the magnetic levitation base 202 to levitate the unmanned aerial vehicle 10. The first communication module 105 is connected with the third communication module 204 through wireless communication, the processor 104 can process video image data acquired by the camera 101, then generate a first control instruction, and send the first control instruction to the third communication module 204 through the first communication module 105, and then the control module 203 can acquire the first control instruction to realize corresponding control operation according to the first control instruction.
Alternatively, in an embodiment of the present invention, the first control instruction may be an instruction for controlling the magnetic suspension base 202, for example, the processor 104 identifies a specific object therein through a visual recognition algorithm according to the video image data acquired by the camera 101, when the specific object moves, the processor 104 identifies a motion track of the specific object according to the video image data acquired by the camera 101, and then generates a first control instruction for the magnetic suspension base 202 and sends the first control instruction to the third communication module 204 through the first communication module 105, so that the control module 203 can acquire the first control instruction and control the magnetic suspension base 202 according to the first control instruction, so as to adjust the monitoring angle of the unmanned aerial vehicle through controlling the magnetic suspension base 202, thereby implementing omnidirectional tracking on the specific object.
Of course, in other embodiments of the present invention, the first control instruction may also be used to control the magnetic levitation base 202 to adjust the height of the unmanned aerial vehicle 10 by adjusting the magnetic field, rotate the unmanned aerial vehicle 10 by a certain angle, fix the viewing angle of the unmanned aerial vehicle 10, and so on.
In an embodiment of the present invention, the fourth communication module 205 may be connected with the external monitoring apparatus 40 through wireless communication. The external monitoring device 40 may be a control device of the unmanned aerial vehicle, or may be other control devices such as a smart phone, a tablet computer, a computer, and the like, where the external monitoring device 40 may send a second control instruction to the fourth communication module 205, and then the control module 203 may obtain the second control instruction, and control the unmanned aerial vehicle base 20 to perform corresponding operations according to the second control instruction, such as controlling the wireless charging base module 201 to turn on/off charging, controlling the magnetic suspension base 202 to adjust the magnetic field to adjust the height of the unmanned aerial vehicle 10, and rotating the unmanned aerial vehicle by a certain angle, and fixing the viewing angle.
In the above embodiment, it was described that the control module 203 in the unmanned aerial vehicle base 20 can perform a specific operation according to the first control instruction from the processor 104 and/or the second control instruction from the external monitoring device 40. How the control module 203 adjusts the altitude, the monitoring view angle, and the like of the unmanned aerial vehicle 10 according to the first control instruction and/or the second control instruction is described below:
adjustment of the height of the unmanned aerial vehicle 10:
in the embodiment of the present invention, the control module 203 in the unmanned aerial vehicle base 20 may control the current intensity of the electromagnet in the magnetic suspension base 202, and may further change the magnitude of the magnetic field generated by the electromagnet in the magnetic suspension base 202 to adjust the levitation height of the unmanned aerial vehicle 10, so as to adjust the monitoring height of the unmanned aerial vehicle 10.
And (3) adjusting a monitoring visual angle:
in the embodiment of the present invention, the control module 203 in the base 20 of the unmanned aerial vehicle may implement rotation control on the unmanned aerial vehicle 10 by means of magnetic field rotation or momentum conservation, so as to adjust the monitoring angle of view of the unmanned aerial vehicle 10.
Specifically, for the magnetic field rotation mode, the control module 203 in the unmanned aerial vehicle base 20 may control the electromagnet in the magnetic suspension base 202 to rotate, so as to control the magnetic field rotation, and further may drive the unmanned aerial vehicle 10 to rotate, thereby achieving the purpose of adjusting the monitoring viewing angle. Meanwhile, the control module 203 can also indirectly control the offset between the center of mass and the center of rotation by controlling the position of the center of mass, thereby realizing the control of the speed and the direction of rotation.
For the momentum conservation mode, an initial momentum is given to the system to maintain the rotation on the premise of ensuring the coincidence of the center of mass and the center of gravity. In an embodiment of the invention, this initial momentum may be obtained by the wind, in particular: an air jet port may be provided on the unmanned aerial vehicle base 20 for injecting air into the unmanned aerial vehicle 10 to acquire the initial momentum.
It should be noted that the control module 203 in the unmanned aerial vehicle base 20 may control the air injection timing of the air injection port according to the received first control instruction and/or the second control instruction, so that not only the initial momentum described above may be acquired to implement rotation, but also adjustment of any monitoring angle of the unmanned aerial vehicle 10 may be implemented.
In the embodiment of the present invention, the processor 104 in the unmanned aerial vehicle 10 can implement similar control, except that the control module 203 can control the unmanned aerial vehicle 10 to rotate and adjust the monitoring angle of view of the unmanned aerial vehicle 10 according to the first control instruction and/or the second control instruction. Specifically, an air jet port for jetting air to the outside may be provided on the unmanned aerial vehicle 10 to acquire an initial momentum at the time of rotation by interacting with the air. The processor 104 may control the air injection timing of the air injection port according to a control instruction sent by the external monitoring device 40, so as to not only obtain the initial momentum to realize rotation, but also adjust any monitoring view angle of the unmanned aerial vehicle 10.
In an embodiment of the present invention, the communication modules described above, such as the first communication module 105, the second communication module 108, the third communication module 204, and the fourth communication module 205, may be a combination of any one or more of the following: Wi-Fi Communication module, mobile Communication module (such as 4G Communication module, 5G Communication module, etc.), bluetooth Communication module, radio frequency Communication module, infrared Communication module, NFC (Near Field Communication ) Communication module.
Fig. 3 specifically shows a system block diagram of the unmanned aerial vehicle system according to the embodiment of the present invention, and an exemplary structure of the unmanned aerial vehicle system according to the embodiment of the present invention is described below with reference to fig. 4 to 10.
The first embodiment is as follows:
as shown in fig. 4, the magnetic suspension module 103 on the unmanned aerial vehicle interacts with the magnetic suspension base 202 on the base of the unmanned aerial vehicle to suspend the unmanned aerial vehicle on the base of the unmanned aerial vehicle, and the wireless charging module 102 on the unmanned aerial vehicle is connected in pair with the wireless charging base module 201 on the base of the unmanned aerial vehicle to realize wireless charging. In the structure shown in fig. 4, the unmanned aerial vehicle and the unmanned aerial vehicle base are suspended by the repulsive force between the magnetic fields.
Example two:
as shown in fig. 5, the unmanned aerial vehicle base is the opposite of the unmanned aerial vehicle base shown in fig. 4, in fig. 3, the magnetic suspension module 103 of the unmanned aerial vehicle and the magnetic suspension base 202 of the unmanned aerial vehicle base are suspended by repulsion force, while in the embodiment shown in fig. 5, the magnetic suspension module 103 of the unmanned aerial vehicle and the magnetic suspension base 202 of the unmanned aerial vehicle base are suspended by attraction force.
Example three:
as shown in fig. 6, the unmanned aerial vehicle chassis is a combination of the unmanned aerial vehicle chassis shown in fig. 4 and 5. In the embodiment shown in fig. 6, the unmanned aerial vehicle chassis has a first portion 401, a second portion 402, and a third portion 403. The magnetic levitation base 202 on the base of the unmanned aerial vehicle can be arranged on the first portion 401 shown in fig. 6, can be arranged on the third portion 403, and can be arranged on both the first portion 401 and the third portion 403.
Example four:
as shown in fig. 7, the unmanned aerial vehicle base is an arc-shaped base that partially surrounds the unmanned aerial vehicle. Furthermore, for better aesthetics, the unmanned aerial vehicle base may also surround the unmanned aerial vehicle more, as shown in fig. 8 and 9, although the unmanned aerial vehicle base 20 may also completely surround the unmanned aerial vehicle 10, as shown in fig. 10. For the configurations shown in fig. 8, 9 and 10, the magnetic levitation base 202 may be disposed on the top of the arc-shaped base, or the magnetic levitation base 202 may be disposed on both the top and bottom of the arc-shaped base.
It should be noted by those skilled in the art that the arcuate base may be replaced by other shapes, such as a square ring or a portion of a square ring, for the configurations shown in fig. 7-10.
In an application scenario of the present invention, the unmanned aerial vehicle may be an unmanned aerial vehicle. For example when needs use unmanned aerial vehicle to shoot image or video, can take off unmanned aerial vehicle from the base, when not using unmanned aerial vehicle, can place unmanned aerial vehicle on the base, and then realize the control through the mode of suspension to can realize the tracking to specific object.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (18)

1. An unmanned aerial vehicle, comprising:
the camera is used for acquiring video image data;
the processor is connected with the camera and used for processing the video image data, wherein the processing of the video image data comprises identifying a specific object in a video image according to a visual recognition algorithm and tracking the specific object;
the wireless charging module is used for being connected with the external wireless charging base module in a matched mode;
the magnetic suspension module is used for enabling the unmanned aerial vehicle to suspend on an external magnetic suspension base; and
a first communication module connected with the processor;
the processor is further used for generating a first control instruction after processing the video image data;
the external unmanned aerial vehicle base includes: the wireless charging base module, the external magnetic suspension base and the control module;
the control module is used for controlling the external magnetic suspension base according to a first control instruction to adjust the height and the monitoring visual angle of the unmanned aerial vehicle;
when the unmanned aerial vehicle is not in use, the unmanned aerial vehicle is placed on the external unmanned aerial vehicle base, and a specific object is tracked in a suspension mode.
2. The UAV of claim 1 wherein the first communication module is configured to transmit the first control command to an external device.
3. The UAV of claim 1, further comprising a rechargeable battery coupled to and recharged by the wireless charging module.
4. The UAV of claim 1 further comprising a memory for storing the video image data.
5. The UAV of claim 1 further comprising a second communication module coupled to the processor and configured to wirelessly communicate with an external monitoring device.
6. The UAV according to claim 5 wherein the external monitoring device is configured to obtain the video image data via the second communication module.
7. The UAV according to claim 6 wherein the external monitoring device comprises a display screen for displaying the video image data.
8. The UAV of claim 1 wherein the magnetic levitation modules comprise at least one of permanent magnets or electromagnets.
9. An unmanned aerial vehicle base, comprising:
the wireless charging base module is used for being connected with an external wireless charging module in a matched mode;
an external magnetic suspension base;
the control module is used for controlling the external magnetic suspension base according to a first control instruction to adjust the height and the monitoring visual angle of the unmanned aerial vehicle; and
the third communication module is connected with the control module;
when the unmanned aerial vehicle is not in use, the unmanned aerial vehicle is placed on an external unmanned aerial vehicle base, and a specific object is tracked in a suspension mode.
10. The UAV base of claim 9 wherein the third communication module is further configured to wirelessly communicate with an external device.
11. The UAV base of claim 10 wherein the control module obtains control commands from the external device via the third communication module.
12. The UAV base of claim 9 wherein the external magnetic levitation base comprises an electromagnet.
13. The UAV base of claim 12 wherein the control module is configured to control at least one of amperage, center of mass position, and the like of the electromagnet.
14. An unmanned aerial vehicle system comprising the unmanned aerial vehicle of any one of claims 1-8 and the unmanned aerial vehicle base of any one of claims 9-13, wherein the first communication module and the third communication module are connected by wireless communication, and the magnetic levitation module and the external magnetic levitation base pair act to levitate the unmanned aerial vehicle on the unmanned aerial vehicle base;
the control module acquires a first control instruction from the processor;
and the control module controls the external magnetic suspension base to enable the unmanned aerial vehicle to rotate according to the first control instruction, so that the specific object is tracked omnidirectionally.
15. The UAV system of claim 14, wherein the wireless charging module and the wireless charging base module are coupled in a pairing manner via a Qi protocol or an A4WP protocol.
16. The UAV system of claim 14 further comprising an external monitoring device, wherein the UAV chassis further comprises a fourth communication module, and wherein the external monitoring device is connected to the fourth communication module via wireless communication.
17. The UAV system of claim 16 wherein the external monitoring device is configured to send a second control command to the UAV base.
18. The UAV system of claim 17 wherein the control module receives the second control commands and controls the UAV base according to the second control commands.
CN201780026936.3A 2017-10-31 2017-10-31 Unmanned vehicles, unmanned vehicles base and unmanned vehicles system Expired - Fee Related CN109362228B (en)

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