CN210310919U - Unmanned aerial vehicle system with parachute safety arrangement - Google Patents
Unmanned aerial vehicle system with parachute safety arrangement Download PDFInfo
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- CN210310919U CN210310919U CN201921245250.6U CN201921245250U CN210310919U CN 210310919 U CN210310919 U CN 210310919U CN 201921245250 U CN201921245250 U CN 201921245250U CN 210310919 U CN210310919 U CN 210310919U
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Abstract
The utility model discloses an unmanned aerial vehicle system with parachute safety arrangement, include: unmanned aerial vehicle, microprocessor, laser radar, parachute safety arrangement, ground basic station and intelligent air park, microprocessor respectively with unmanned aerial vehicle, laser radar and parachute safety arrangement electric connection, the ground basic station is connected with unmanned aerial vehicle, intelligent air park communication respectively. The utility model discloses an unmanned aerial vehicle's environmental perception, the effectual barrier information of mastering around the unmanned aerial vehicle, the obstacle-avoiding effect of unmanned aerial vehicle system has been improved, the operation degree of difficulty has been reduced, improve unmanned aerial vehicle's control accuracy, can prevent that landing impact load from causing the damage to unmanned aerial vehicle fuselage structure and airborne equipment, extension unmanned aerial vehicle life, guarantee unmanned aerial vehicle system can used repeatedly, can provide the accurate descending of unmanned aerial vehicle, independently charge, reduce on-the-spot personnel's participation, improve product application efficiency by a wide margin, and can realize unmanned aerial vehicle cluster control, the unmanned aerial vehicle operation ability is greatly improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle system with a parachute safety protection device.
Background
An unmanned aircraft, referred to as "drone", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, and the application of the unmanned aerial vehicle is greatly expanded.
The automation of current unmanned aerial vehicle system charges, the cluster mode still is the difficult problem of the extensive operation of restriction unmanned aerial vehicle, can't exert its advantage effectively, and can't survey and avoid the barrier on the flight route, consequently cause the collision, the crash, because present unmanned aerial vehicle cost is very high, collision or crash accident can greatly increased user's cost, unmanned aerial vehicle's parachute protection device has obtained the application simultaneously, but the user must manual operation parachute control button or carry out other operations and just can open the parachute, parachute protect function has received the restriction.
Therefore, we propose an unmanned aerial vehicle system with parachute safety protection device.
Disclosure of Invention
The invention aims to solve the defects in the prior art, realize the environmental perception of an unmanned aerial vehicle, effectively master the obstacle information around the unmanned aerial vehicle, improve the obstacle avoidance effect of the unmanned aerial vehicle system, reduce the operation difficulty, improve the control precision of the unmanned aerial vehicle, prevent the landing impact load from damaging the fuselage structure and airborne equipment of the unmanned aerial vehicle, prolong the service life of the unmanned aerial vehicle, ensure the repeated use of the unmanned aerial vehicle system, provide the accurate landing and autonomous charging of the unmanned aerial vehicle, reduce the participation of field personnel, greatly improve the application efficiency of products, realize the cluster control of the unmanned aerial vehicle, and greatly improve the operation capacity of the unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle system with parachute safety protection device, comprising: the system comprises an unmanned aerial vehicle, a microprocessor, a laser radar, a parachute safety protection device, a ground base station and an intelligent parking apron, wherein the microprocessor is arranged inside the unmanned aerial vehicle, the laser radar is arranged on the unmanned aerial vehicle, the parachute safety protection device is arranged at the top of the unmanned aerial vehicle, the microprocessor is respectively electrically connected with the unmanned aerial vehicle, the laser radar and the parachute safety protection device, and the ground base station is respectively in communication connection with the unmanned aerial vehicle and the intelligent parking apron;
the microprocessor comprises a laser radar driving module, a three-dimensional model establishing module, an active obstacle avoidance module, a navigation module and a flight control module;
the laser radar driving module is internally provided with a laser radar driving program and is used for controlling a laser radar to scan the surrounding environment of the unmanned aerial vehicle by 360 degrees to obtain surrounding environment point cloud data of the unmanned aerial vehicle;
the three-dimensional model building module is internally provided with an environment modeling program and is used for subscribing point cloud data of surrounding environment, generating a digital three-dimensional model through a point cloud matching algorithm and wirelessly transmitting the digital three-dimensional model to a ground base station for real-time display;
the active obstacle avoidance module is internally provided with an obstacle avoidance program and is used for subscribing point cloud data of surrounding environment, calculating the distance and the angle between an obstacle and the unmanned aerial vehicle in a preset range and determining the current flight route according to the distance and the angle;
the navigation module is internally provided with a navigation program and is used for acquiring a current flight route and calculating current control parameters of the unmanned aerial vehicle;
the flight control module is internally provided with a flight control program and is used for acquiring current control parameters and generating a current control instruction so as to control the unmanned aerial vehicle to run according to a current flight route;
the parachute safety protection device comprises a sensor module, a parachute and a servo release module;
the sensor module is used for detecting the flight state of the unmanned aerial vehicle and sending the acquired flight state of the unmanned aerial vehicle to the microprocessor;
the servo release module is used for controlling the parachute to be opened when the unmanned aerial vehicle descends.
Preferably, the intelligent parking apron comprises a parking platform, an environment monitoring module, a remote control module and an automatic charging module, wherein the environment monitoring module and the automatic charging module are respectively in communication connection with a ground base station through the remote control module;
the environment monitoring module is used for detecting the environment of the landing position of the unmanned aerial vehicle;
the automatic charging module is used for automatically charging the unmanned aerial vehicle after the unmanned aerial vehicle is landed.
Preferably, the automatic charging module include battery balance protector and charging terminal, charging terminal and battery balance protector all are coupled with the remote control module, charging terminal and the last charging port phase-match of unmanned aerial vehicle.
Preferably, still include gasbag buffer, gasbag buffer is including aerifing module and gasbag, aerify module and microprocessor electric connection, it is linked together through pipeline and gasbag to aerify the module, the gasbag sets up in unmanned aerial vehicle's bottom.
Preferably, the inflation module adopts inert gas, and the air bag adopts a rubber bag body.
Preferably, the power supply device further comprises a power supply device, the power supply device comprises a storage battery module and a power supply circuit module, the storage battery module is electrically connected with the power supply circuit module, and the power supply circuit module is electrically connected with the microprocessor and used for supplying power to the whole system.
Preferably, the power supply device further comprises a solar power supply module, wherein the solar power supply module is electrically connected with the storage battery module and is used for converting solar energy into electric energy through a solar panel and storing the electric energy in the storage battery module.
Preferably, still be provided with GPS positioner on the unmanned aerial vehicle, GPS positioner electric connection is in microprocessor.
The invention has the technical effects and advantages that:
the invention provides an unmanned aerial vehicle system with a parachute safety protection device, which realizes the environmental perception of the unmanned aerial vehicle through the cooperation of a microprocessor and a laser radar, effectively masters the obstacle information around the unmanned aerial vehicle, improves the obstacle avoidance effect of the unmanned aerial vehicle system, reduces the operation difficulty, improves the control precision of the unmanned aerial vehicle, can automatically open the parachute when the unmanned aerial vehicle lands, protects the body of the unmanned aerial vehicle, prevents the body structure and airborne equipment of the unmanned aerial vehicle from being damaged by landing impact load, prolongs the service life of the unmanned aerial vehicle, ensures the reuse of the unmanned aerial vehicle system, provides the accurate landing and autonomous charging of the unmanned aerial vehicle through the cooperation of the microprocessor, an intelligent parking apron and a ground base station, reduces the participation of field personnel, greatly improves the product application efficiency, and can realize the cluster control of the unmanned aerial vehicle, improve unmanned aerial vehicle operation ability by a wide margin.
Drawings
Fig. 1 is a schematic block diagram of the communication connection of an unmanned aerial vehicle system with a parachute safety protection device according to the present invention;
fig. 2 is a schematic block diagram of electrical connections of an unmanned aerial vehicle system having a parachute safety device according to the present invention;
fig. 3 is a schematic view illustrating a process of opening a parachute safety protection device of an unmanned aerial vehicle system having the parachute safety protection device according to the present invention;
fig. 4 is a schematic diagram of an STM32F103C8T6 single chip microcomputer and peripheral circuits thereof of an unmanned aerial vehicle system with a parachute safety protection device of the present invention;
fig. 5 is a schematic diagram of a working principle model of a laser radar of the unmanned aerial vehicle system with the parachute safety protection device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides an unmanned aerial vehicle system with a parachute safety protection device, comprising: the system comprises an unmanned aerial vehicle, a microprocessor, a laser radar, a parachute safety protection device, a ground base station and an intelligent parking apron, wherein the microprocessor is arranged inside the unmanned aerial vehicle, the laser radar is arranged on the unmanned aerial vehicle, the parachute safety protection device is arranged at the top of the unmanned aerial vehicle, the microprocessor is respectively electrically connected with the unmanned aerial vehicle, the laser radar and the parachute safety protection device, and the ground base station is respectively in communication connection with the unmanned aerial vehicle and the intelligent parking apron;
the microprocessor comprises a laser radar driving module, a three-dimensional model establishing module, an active obstacle avoidance module, a navigation module and a flight control module;
the laser radar driving module is internally provided with a laser radar driving program and is used for controlling a laser radar to scan the surrounding environment of the unmanned aerial vehicle by 360 degrees to obtain surrounding environment point cloud data of the unmanned aerial vehicle;
the three-dimensional model building module is internally provided with an environment modeling program and is used for subscribing point cloud data of surrounding environment, generating a digital three-dimensional model through a point cloud matching algorithm and wirelessly transmitting the digital three-dimensional model to a ground base station for real-time display;
the active obstacle avoidance module is internally provided with an obstacle avoidance program and is used for subscribing point cloud data of surrounding environment, calculating the distance and the angle between an obstacle and the unmanned aerial vehicle in a preset range and determining the current flight route according to the distance and the angle;
the navigation module is internally provided with a navigation program and is used for acquiring a current flight route and calculating current control parameters of the unmanned aerial vehicle;
the flight control module is internally provided with a flight control program and is used for acquiring current control parameters and generating a current control instruction so as to control the unmanned aerial vehicle to run according to a current flight route;
the parachute safety protection device comprises a sensor module, a parachute and a servo release module;
the sensor module is used for detecting the flight state of the unmanned aerial vehicle and sending the acquired flight state of the unmanned aerial vehicle to the microprocessor;
the servo release module is used for controlling the parachute to be opened when the unmanned aerial vehicle descends.
Specifically, the intelligent parking apron comprises a parking platform, an environment monitoring module, a remote control module and an automatic charging module, wherein the environment monitoring module and the automatic charging module are respectively in communication connection with a ground base station through the remote control module;
the environment monitoring module is used for detecting the environment of the landing position of the unmanned aerial vehicle;
the automatic charging module is used for automatically charging the unmanned aerial vehicle after the unmanned aerial vehicle is landed.
Specifically, the automatic charging module include battery balance protector and charging terminal, charging terminal and battery balance protector all are coupled with the remote control module, charging terminal and the last charging port phase-match of unmanned aerial vehicle.
Specifically, still include gasbag buffer, gasbag buffer is including aerifing module and gasbag, aerify module and microprocessor electric connection, it is linked together through pipeline and gasbag to aerify the module, the gasbag sets up in unmanned aerial vehicle's bottom.
Specifically, the inflation module adopts inert gas, and the air bag adopts a rubber bag body.
The power supply device comprises a storage battery module and a power supply circuit module, wherein the storage battery module is electrically connected with the power supply circuit module, and the power supply circuit module is electrically connected with the microprocessor and used for supplying power to the whole system.
Specifically, power supply unit still includes solar energy power module, solar energy power module and battery module electric connection for turn into the electric energy storage through solar cell panel with solar energy and in the battery module.
Specifically, still be provided with GPS positioner on the unmanned aerial vehicle, GPS positioner electric connection is in microprocessor.
In summary, the following steps: the invention provides an unmanned aerial vehicle system with a parachute safety protection device, which realizes the environmental perception of the unmanned aerial vehicle through the cooperation of a microprocessor and a laser radar, effectively masters the obstacle information around the unmanned aerial vehicle, improves the obstacle avoidance effect of the unmanned aerial vehicle system, reduces the operation difficulty, improves the control precision of the unmanned aerial vehicle, can automatically open the parachute when the unmanned aerial vehicle lands, protects the body of the unmanned aerial vehicle, prevents the body structure and airborne equipment of the unmanned aerial vehicle from being damaged by landing impact load, prolongs the service life of the unmanned aerial vehicle, ensures the reuse of the unmanned aerial vehicle system, provides the accurate landing and autonomous charging of the unmanned aerial vehicle through the cooperation of the microprocessor, an intelligent parking apron and a ground base station, reduces the participation of field personnel, greatly improves the product application efficiency, and can realize the cluster control of the unmanned aerial vehicle, improve unmanned aerial vehicle operation ability by a wide margin.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (9)
1. An unmanned aerial vehicle system with parachute safety arrangement which characterized in that includes: the system comprises an unmanned aerial vehicle, a microprocessor, a laser radar, a parachute safety protection device, a ground base station and an intelligent parking apron, wherein the microprocessor is arranged inside the unmanned aerial vehicle, the laser radar is arranged on the unmanned aerial vehicle, the parachute safety protection device is arranged at the top of the unmanned aerial vehicle, the microprocessor is respectively electrically connected with the unmanned aerial vehicle, the laser radar and the parachute safety protection device, and the ground base station is respectively in communication connection with the unmanned aerial vehicle and the intelligent parking apron;
the microprocessor comprises a laser radar driving module, a three-dimensional model establishing module, an active obstacle avoidance module, a navigation module and a flight control module;
the laser radar driving module is internally provided with a laser radar driving program and is used for controlling a laser radar to scan the surrounding environment of the unmanned aerial vehicle by 360 degrees to obtain surrounding environment point cloud data of the unmanned aerial vehicle;
the three-dimensional model building module is internally provided with an environment modeling program and is used for subscribing point cloud data of surrounding environment, generating a digital three-dimensional model through a point cloud matching algorithm and wirelessly transmitting the digital three-dimensional model to a ground base station for real-time display;
the active obstacle avoidance module is internally provided with an obstacle avoidance program and is used for subscribing point cloud data of surrounding environment, calculating the distance and the angle between an obstacle and the unmanned aerial vehicle in a preset range and determining the current flight route according to the distance and the angle;
the navigation module is internally provided with a navigation program and is used for acquiring a current flight route and calculating current control parameters of the unmanned aerial vehicle;
the flight control module is internally provided with a flight control program and is used for acquiring current control parameters and generating a current control instruction so as to control the unmanned aerial vehicle to run according to a current flight route;
the parachute safety protection device comprises a sensor module, a parachute and a servo release module;
the sensor module is used for detecting the flight state of the unmanned aerial vehicle and sending the acquired flight state of the unmanned aerial vehicle to the microprocessor;
the servo release module is used for controlling the parachute to be opened when the unmanned aerial vehicle descends.
2. The unmanned aerial vehicle system with parachute safety arrangement of claim 1, wherein: the intelligent parking apron comprises a parking platform, an environment monitoring module, a remote control module and an automatic charging module, wherein the environment monitoring module and the automatic charging module are respectively in communication connection with a ground base station through the remote control module;
the environment monitoring module is used for detecting the environment of the landing position of the unmanned aerial vehicle;
the automatic charging module is used for automatically charging the unmanned aerial vehicle after the unmanned aerial vehicle is landed.
3. The unmanned aerial vehicle system with parachute safety arrangement of claim 2, wherein: the automatic charging module include battery balance protector and charging terminal, charging terminal and battery balance protector all are coupled with the remote control module, charging terminal and the last port phase-match that charges of unmanned aerial vehicle.
4. The unmanned aerial vehicle system with parachute safety arrangement of claim 1, wherein: still include gasbag buffer, gasbag buffer is including aerifing module and gasbag, aerify module and microprocessor electric connection, it is linked together through pipeline and gasbag to aerify the module, the gasbag sets up in unmanned aerial vehicle's bottom.
5. The unmanned aerial vehicle system with parachute safety arrangement of claim 4, wherein: the inflation module adopts inert gas, and the air bag adopts a rubber bag body.
6. The unmanned aerial vehicle system with parachute safety arrangement of claim 1, wherein: the power supply device comprises a storage battery module and a power supply circuit module, the power supply circuit module is electrically connected with the microprocessor, and the storage battery module is electrically connected with the power supply circuit module and is used for supplying power to the whole system.
7. The unmanned aerial vehicle system with parachute safety arrangement of claim 6, wherein: the power supply device further comprises a solar power supply module, wherein the solar power supply module is electrically connected with the storage battery module and used for converting solar energy into electric energy through the solar cell panel and storing the electric energy in the storage battery module.
8. The unmanned aerial vehicle system with parachute safety arrangement of claim 1, wherein: still be provided with GPS positioner on the unmanned aerial vehicle, GPS positioner electric connection is in microprocessor.
9. The unmanned aerial vehicle system with parachute safety arrangement of claim 1, wherein: the microprocessor adopts an STM32F103C8T6 singlechip.
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| CN201921245250.6U CN210310919U (en) | 2019-08-02 | 2019-08-02 | Unmanned aerial vehicle system with parachute safety arrangement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112764431A (en) * | 2021-04-08 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112764431A (en) * | 2021-04-08 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
| CN112764431B (en) * | 2021-04-08 | 2021-07-06 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, computer readable storage medium and unmanned aerial vehicle |
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