Unmanned aerial vehicle system with multiple auxiliary functions in parachute landing process

Abstract

The invention discloses an unmanned aerial vehicle system with multiple auxiliary functions in a parachute landing process, which comprises an unmanned aerial vehicle system which is arranged in a package at the back of a parachute seat and realizes back-type automatic opening of a bin gate and a pop-up / slide-down type unfolding starting mode in the parachute landing process and simultaneously performs follow-up shooting around the parachute. The unmanned aerial vehicle system comprises an unmanned aerial vehicle host which is internally provided with a control system. The control system comprises a high-definition camera, a distance sensor, an electronic meteorological instrument, a barometer, a satellite positioning device, a 5G / satellite signal amplifier, an inertial measurement unit, a wind speed sensor, a temperature sensor, a Bluetooth (star flash) transmission device, a laser radar, a battery, a wireless height sensor, an infrared sensor and a CPU. The garment achieves multiple functions.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles in the low-altitude economy, and specifically to an unmanned aerial vehicle system with multiple auxiliary functions such as taking videos during the parachute landing process and assisting in rescue. Background Technique

[0002] In scenarios such as transportation, travel and play, rescue, drills, and aviation sports in the low-altitude economy field, with the development of the low-altitude economy, parachutes are used more frequently. Accurately photographing and recording the parachute landing process is of great significance. For example, in a rescue scenario, the captured images help to understand the on-site situation, analyze the rescue process, and assess risks; in drills, it can be used for data analysis; in aviation sports, it can be used to produce exciting videos, etc.

[0003] However, in existing skydiving activities, such as a low-altitude safety skydiving equipment system disclosed in Patent Application No. 201610221527.6, which includes a control cabinet, a winch controlled by the control cabinet, a safety rope wound around the winch is connected to the ground wheel, fixed under an air-filled helium balloon in the air with multiple ropes connected to the ground, a fixed pulley connected by a pull rope, the safety rope passes vertically through the central hole of the low-altitude rescue parachute through the fixed pulley, and is connected to a steel ring hanging a safety belt at the bottom of the rescue parachute; in the standby state, the trainer enters the balloon with a door, and the safety belt is connected to the steel ring at the bottom of the rescue parachute outside the balloon and buckled. The present invention can solve the problem of smooth self-rescue in case of disasters in high-rise buildings, but this system requires the simultaneous allocation of a special person for shooting, and current unmanned aerial vehicles have many deficiencies in shooting the parachute landing process, such as the lack of optimized design specifically for parachute shooting and incomplete functions. The present invention aims to solve these problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an unmanned aerial vehicle system with multiple auxiliary functions during the parachute landing process to solve the problems of incomplete functions and the need for a special person for shooting in the existing unmanned aerial vehicle system mentioned in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An unmanned aerial vehicle system with multiple auxiliary functions during the parachute landing process, including being built in a package on the back of a parachute seat, and realizing a back-mounted automatic opening of the hatch and a pop-up / sliding deployment start mode during the parachute landing process while surrounding the parachute for follow-up shooting. The unmanned aerial vehicle system includes an unmanned aerial vehicle main body; a control system is arranged in the unmanned aerial vehicle main body, and the control system includes the following components: A high-definition camera for detecting the 360-degree environment around the parachute, and the high-definition camera can automatically adjust the focal length, aperture, and sensitivity according to the shooting environment for shooting parameters; A distance sensor for detecting the distance of the parachute from the ground; An electronic weather instrument for detecting the surrounding environmental conditions; A barometer for detecting the air pressure in space; A satellite positioning device for detecting the position information of the UAV itself; A 5G / satellite signal amplifier for relaying and amplifying mobile phone / satellite signals; An inertial measurement unit for detecting the inertial measurement of the UAV; A wind speed sensor for detecting the wind speed; A temperature sensor for detecting the environmental temperature; A Bluetooth (SparkLink) transmission device for realizing data transmission; A lidar; A battery; A wireless altitude sensor; An infrared sensor; A CPU serving as the core processor of the device; Wherein, the CPU is electrically connected to the wireless altitude sensor, infrared sensor, battery, Bluetooth (SparkLink) transmission device, temperature sensor, wind speed sensor, lidar, inertial measurement unit, 5G / satellite signal amplifier, barometer, electronic weather instrument, distance sensor and high-definition camera, and one or more flexible folding arms are provided on the UAV main body, and flexible propellers are provided at one ends of each flexible folding arm away from the UAV main body, and an arc-shaped flexible protective wing is provided outside the flexible propellers.

[0006] Preferably, two connecting rods are provided between the flexible propeller and the flexible protective wing, the two connecting rods are arranged at an angle, an arc-shaped positioning rod is provided between the two connecting rods, and a reinforcing rod is connected to the clamping parts of the two connecting rods and the arc-shaped positioning rod.

[0007] Preferably, the inertial measurement unit includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis geomagnetic sensor.

[0008] Preferably, a vision sensor and an optical flow sensor are connected to the CPU.

[0009] Preferably, an assistance rescue function module is also connected to the CPU. The assistance rescue function module includes an automatic warning unit, a flash reminder unit, and a lighting unit. The automatic warning unit is used to issue a warning signal when detecting abnormal conditions of the parachute. The flash reminder unit is used to emit a flash signal to transmit information in a low-light environment. The lighting unit is used to illuminate the landing area of the parachute. In the assistance rescue step, the automatic warning unit determines whether to give a warning according to whether parameters such as the position, speed, and attitude of the parachute exceed the preset range.

[0010] Preferably, an intelligent image processing system is also connected to the CPU. The intelligent image processing system is used to perform one-key processing to generate high-quality videos from the captured materials.

[0011] Preferably, the flash reminder unit can emit flash signals with different frequencies and colors according to a preset mode.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By adopting a soft design and folding technology, the portability and anti-damage ability of the drone are improved, which is convenient for rapid deployment in various complex environments. 2. The 360-degree surround shooting and one-key processing to generate high-quality videos provide comprehensive and high-quality video records for the parachute landing process and can be widely applied in various fields. 3. In the later stage, the back-mounted automatic opening of the hatch and the pop-up / sliding deployment start mode are adopted to achieve the rapid start of the drone, meeting the requirements of scenarios with high timeliness requirements. 4. The built-in satellite positioning and 5G communication technologies ensure the precise positioning of the drone and the high-speed and stable transmission of real-time images, helping to timely grasp the parachute landing situation. 5. The functions of the mobile phone / satellite signal relay station and amplifier solve the problem of weak mobile phone / satellite signals in rescue and other scenarios, ensuring smooth communication. 6. The functions of automatic warning, flash reminder, and lighting for assistance rescue improve the safety and efficiency of rescue and other operations. 7. Moreover, it does not require professional operation and can be operated by itself, which is relatively convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front structural schematic diagram of the drone system with multiple auxiliary functions during the parachute landing process disclosed in Embodiment 1; Figure 2 It is a structural reference diagram when the drone system with multiple auxiliary functions during the parachute landing process disclosed in Embodiment 1 is installed on the parachute; Figure 3Structural reference diagram of the 360-degree rotation of the UAV system of the present invention around the parachute machine during the descent of the parachute disclosed in Embodiment 1; Figure 4 Schematic connection diagram of the control system disclosed in Embodiment 1; Figure 5 Schematic connection diagram of the control system disclosed in Embodiment 2.

[0014] In the figure: visual sensor 1, lidar 2, distance sensor 3, inertial measurement unit 4, high-definition camera 5, electronic weather meter 6, barometer 7, 5G / satellite signal amplifier 8, optical flow sensor 9, battery 10, Bluetooth (StarFlash) transmission device 11, wireless altitude sensor 12, infrared sensor 13, wind speed sensor 14, temperature sensor 15, satellite positioning device 16, CPU 17, assistance rescue function module 18, UAV host 19, flexible folding arm 20, flexible propeller 21, flexible protective wing 22, connecting rod 23, arc positioning rod 24, strengthening rod 25, three-axis gyroscope 401, three-axis accelerometer 402, three-axis geomagnetic sensor 403, automatic warning unit 181, flash reminder unit 182, lighting unit 183. Specific embodiments

[0015] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative work shall fall within the protection scope of the present invention.

[0016] Embodiment 1: Please refer to Figures 1 - 4 , this embodiment provides a UAV system with multiple auxiliary functions during the parachute descent process, including being built in the package on the back of the parachute seat, and realizing the automatic opening of the back door and the pop-up / sliding deployment start mode during the parachute descent process, and simultaneously surrounding the parachute for follow-up shooting. The UAV system includes a UAV host 19; a control system is provided in the UAV host 19, and the control system includes the following components: A high-definition camera 5 for detecting the 360-degree environment around the parachute, and the high-definition camera 5 can automatically adjust the focal length, aperture, and sensitivity according to the shooting environment for shooting parameters; A distance sensor 3 for detecting the distance between the parachute and the ground; An electronic weather meter 6 for detecting the surrounding environmental conditions; A barometer 7 for detecting the spatial air pressure; A satellite positioning device 16 for detecting the position information of the drone itself; A 5G / satellite signal amplifier 8 for relaying and amplifying mobile phone / satellite signals; An inertial measurement unit 4 for detecting the inertial measurement of the drone; A wind speed sensor 14 for detecting wind speed; A temperature sensor 15 for detecting ambient temperature; A Bluetooth (StarFlash) transmission device 11 for realizing data transmission; A lidar 2; A battery 10; A wireless altitude sensor 12; An infrared sensor 13; A CPU 17 serving as the core processor of the device; Wherein, the CPU 17 is electrically connected to the wireless altitude sensor 12, infrared sensor 13, battery 10, Bluetooth (StarFlash) transmission device 11, temperature sensor 15, wind speed sensor 14, lidar 2, inertial measurement unit 4, 5G / satellite signal amplifier 8, barometer 7, electronic weather station 6, distance sensor 3 and high-definition camera 5. And on the drone host 19, there are one or more flexible folding arms 20. At one end of each flexible folding arm 20 away from the drone host 19, there is a flexible propeller 21. Outside the flexible propeller 21, there is an arc-shaped flexible protective wing 22.

[0017] In this embodiment, there are four flexible folding arms 20 provided on the drone host 19.

[0018] Preferably, between the flexible propeller 21 and the flexible protective wing 22, there are two connecting rods 23. The two connecting rods 23 are arranged at an angle. Between the two connecting rods 23, there is an arc-shaped positioning rod 24. The arc-shaped positioning rod 24 is connected to the clamping fixtures of the two connecting rods 23 by a reinforcing rod 25.

[0019] Preferably, the inertial measurement unit 4 includes a three-axis gyroscope 401, a three-axis accelerometer 402, and a three-axis geomagnetic sensor 403.

[0020] Preferably, a vision sensor 1 and an optical flow sensor 9 are connected to the CPU 17.

[0021] Preferably, an assistance rescue function module 18 is also connected to the CPU 17. The assistance rescue function module 18 includes an automatic warning unit 181, a flash reminder unit 182, and a lighting irradiation unit 183. The automatic warning unit 181 is used to issue a warning signal when detecting abnormal situations of the parachute. The flash reminder unit 182 is used to emit a flash signal to transmit information in a low-light environment. The lighting irradiation unit 183 is used to illuminate the parachute landing area. In the assistance rescue step, the automatic warning unit 181 of the assistance rescue function module 18 determines whether to give a warning according to whether parameters such as the position, speed, and attitude of the parachute exceed the preset range.

[0022] Preferably, the flash reminder unit 182 can emit flash signals with different frequencies and colors according to a preset mode.

[0023] The flexible folding arm 20 and the flexible protective wing 22 on the drone system of the present invention are both made of flexible materials, so that when the drone is slightly collided or extruded by an external force, it can effectively buffer and reduce the risk of component damage. At the same time, it can be conveniently folded. The wings, arms and other components of the drone can be folded so that it can be completely stored in a special parachute box. This storage method is convenient for combination with the parachute pack and is user-friendly; The drone system in the later stage adopts a design of an automatically opened back door with an automatic pop-up / sliding-out type. When receiving the start instruction from the parachute controller, the back door located on the back of the drone will quickly open automatically. At the same time, the drone starts in a pop-up / sliding-out type deployment manner. This start-up method can convert the drone from the storage state to the flight state in an extremely short time, greatly improving the emergency response ability of the drone; The drone system of the present invention has the following functions: 1. 360-degree surround shooting Due to the equipped high-definition camera 5, 360-degree shooting of the whole process of the parachute landing is realized through surrounding. During the shooting process, the camera can automatically adjust shooting parameters such as focal length, aperture, and sensitivity according to environmental factors such as the position and light of the parachute to ensure that the captured pictures are clear, stable and comprehensive; 2. Communication and positioning functions Due to the built-in 5G satellite positioning device 16, high-precision satellite positioning is achieved, and the accurate position information of itself can be obtained in real time. At the same time, using 5G communication technology, the drone can transmit the captured real-time pictures to a specified receiving device at a high speed and stably, such as the large screen of the ground command center, the mobile terminal of the rescue personnel, etc. The high speed and low latency characteristics of 5G communication ensure the smoothness and real-time nature of the picture transmission, providing strong support for timely grasping the parachute landing situation.

[0024] 3. Mobile phone / satellite signal relay station and amplifier function; Due to the built-in 5G / satellite signal amplifier 8, in some remote areas or environments with poor signal coverage, when a mobile phone / satellite signal passes through the drone, it can relay and amplify the signal, expanding the coverage area of the mobile phone / satellite signal. This function is particularly important in rescue scenarios, ensuring smooth communication between rescue personnel and with the outside world.

[0025] 4. Rescue assistance function Due to the addition of various sensors, during the process of photographing and tracking the parachute, these sensors can monitor the state of the parachute in real time. When abnormal situations of the parachute are detected, such as deviation from the predetermined landing track, abnormal descent speed (too fast or too slow), interference by strong winds, etc., the automatic warning function of the drone will be immediately activated. The warning signal can be sent in various ways, such as sending a radio signal to a preset rescue command center, and at the same time emitting a sound and light warning signal around the drone to alert nearby rescue personnel.

[0026] 5. Flashing reminder function In a dim environment, such as during night rescue or rescue operations in low-light mountainous areas, the flashing reminder function of the drone can play an important role. The drone can emit flashing signals according to a preset mode, such as flashing different colors of light at a specific frequency. These flashing signals can be used to convey information to the people under the parachute, such as indicating the safe landing direction (green flash), or marking dangerous areas (red flash), etc.

[0027] 6. Lighting function High-brightness lighting equipment is installed on the drone. When the light in the parachute landing area is insufficient, the drone can turn on the lighting function to illuminate the landing area. This helps the people under the parachute better observe the surrounding environment and choose a suitable landing location. At the same time, it also facilitates the rescue personnel to quickly locate the position of the parachute in the dark, improving the rescue efficiency. The specific working principle of the present invention is as follows: In a scenario where a drone is needed to photograph a parachute, such as before the start of skydiving, make full preparations for the parachute equipped with a storage box drone before skydiving.

[0028] During the descent of the parachute, the automatic control device sends a start command. After receiving the command, the back door of the drone automatically opens, and then it unfolds in a pop / slide manner and starts the motor to take off.

[0029] After taking off, the drone determines its own position and the position of the parachute according to the built-in satellite positioning system, and flies towards the area of the parachute along the preset flight path for circular photography.

[0030] Shooting and video transmission operation steps: When the drone approaches the parachute, the camera is activated simultaneously and starts to take a 360-degree surround shot of the parachute. During the shooting process, the camera automatically adjusts the shooting parameters according to factors such as the ambient light detected in real time and the distance of the parachute.

[0031] The captured video is transmitted in real time to the designated receiving device through the 5G communication module. During the transmission process, the video data is encrypted to ensure the security and privacy of the data.

[0032] After the parachute lands, the intelligent image processing system inside the drone generates a blockbuster video in one click based on the captured footage. The generated video can be stored locally on the drone or transmitted to other devices according to user needs.

[0033] Implementation steps of the assistance and rescue function: Automatic alarm During the flight of the drone, the sensors continuously monitor the state of the parachute, including parameters such as position, speed, and attitude. When these parameters exceed the pre-set normal range, for example, the horizontal position of the parachute deviates from the predetermined landing point by more than a certain distance, or the vertical descent speed is not within the normal speed range, the automatic alarm function is triggered.

[0034] The drone sends an alarm signal containing detailed abnormal information to the pre-set rescue command center through the radio communication module. At the same time, an audible and visual alarm device is activated on the drone itself to emit sound and flashing light signals to alert the surrounding rescue personnel.

[0035] Flashing reminder In the night or low-light environment, the rescue personnel can set the flashing reminder mode of the drone through the remote control device. For example, according to the actual rescue needs, set the green flash to blink at a fixed frequency to indicate the safe landing direction, or set the red flash to blink at a faster frequency to mark dangerous areas such as obstacles and water areas.

[0036] Light irradiation When the light in the parachute landing area is dim, the rescue personnel can remotely control the drone to turn on the light irradiation function. The drone adjusts the irradiation angle of the light according to its own positioning system and the position information of the parachute, so that the light accurately irradiates the landing area. Moreover, the brightness of the light can be automatically adjusted according to the intensity of the ambient light to avoid being too bright or too dark and affecting the visual judgment of the rescue personnel.

[0037] Use of mobile phone / satellite signal relay station and amplifier function If it is found that the mobile phone / satellite signal is weak, the mobile phone / satellite signal relay station and amplifier function of the drone can be used.

[0038] After receiving the command, the drone adjusts its own signal transmission power and frequency, relays and amplifies the passing mobile phone / satellite signals, and thus expands the coverage of mobile phone / satellite signals. After the rescuer's mobile device is connected to the drone, it can communicate with the outside world through the drone, ensuring smooth communication during the rescue process.

[0039] Embodiment 2: See also Figure 5 This embodiment provides a UAV system with multiple auxiliary functions based on the parachute landing process. Preferably, the CPU 17 is also connected to an intelligent image processing system 26, which is used to generate a blockbuster from the captured material with one click. The present invention realizes the function of generating a blockbuster with one click, and the UAV is integrated with an intelligent image processing system. After completing the shooting of the parachute landing process, the user only needs to perform simple operations, such as pressing a specific button, and the system can automatically edit the captured material, add special effects, adjust the color, etc., and quickly generate a video blockbuster with high ornamental and professional quality.

[0040] Therefore, the advantages of the drone system of the present invention are as follows: 1. The soft design and folding technology improve the portability and damage resistance of the drone, making it easy to deploy quickly in various complex environments; 2. The 360-degree surround shooting and one-click blockbuster generation functions provide comprehensive and high-quality video records of the parachute landing process, which can be widely used in various fields; 3. In the later stage, the back-mounted automatic door opening and pop-up / sliding deployment start-up methods were adopted to achieve the rapid start-up of the drone, meeting the needs of scenarios with high timeliness requirements; 4. Built-in satellite positioning and 5G communication technology ensure the precise positioning of the drone and the high-speed and stable transmission of real-time images, which helps to grasp the parachute landing situation in time; 5. The mobile phone / satellite signal relay station and amplifier function solves the problem of weak mobile phone signals / satellite signals in rescue and other scenarios, ensuring smooth communication; 6. Automatic alarm, flashing reminder and lighting functions to assist rescue improve the safety and efficiency of rescue operations; 7. It does not require professional personnel to operate, it can be operated by yourself, and the operation is relatively convenient.

[0041] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A drone system with multiple auxiliary functions during parachute landing, including a drone system built into a package on the back of a parachute seat, which can automatically open the cabin door and pop-up / slide-down deployment during parachute landing, and can also follow the parachute for shooting, characterized in that: The drone system comprises a drone host (19); a control system is arranged in the drone host (19), and the control system comprises the following components: A high-definition camera (5) for detecting the 360-degree environment around the parachute, wherein the high-definition camera (5) can automatically adjust the focal length, aperture, and sensitivity to perform shooting parameters according to the shooting environment; A distance sensor (3) for detecting the distance of the parachute from the ground; An electronic weather meter (6) for detecting surrounding environmental conditions; A barometer (7) for detecting air pressure in a space; A satellite positioning device (16) for detecting the position information of the drone itself; 5G / satellite signal amplifiers for relaying and amplifying mobile phone / satellite signals (8); An inertial measurement unit (4) for detecting inertial measurements of the drone; A wind speed sensor (14) for detecting wind speed; A temperature sensor (15) for detecting the ambient temperature; A Bluetooth (Star Flash) transmission device (11) for realizing data transmission; a LiDAR (2); a battery to power the device (10); a wireless height sensor (12); an infrared sensor (13); A CPU (17) serving as the core processor of the device; The CPU (17) is electrically connected to a battery (10), a wireless height sensor (12), an infrared sensor (13), a Bluetooth (Star Flash) transmission device (11), a temperature sensor (15), a wind speed sensor (14), a laser radar (2), an inertial measurement unit (4), a 5G / satellite signal amplifier (8), a barometer (7), an electronic weather instrument (6), a distance sensor (3) and a high-definition camera (5), and the drone host (19) is provided with one or more flexible folding arms (20), and a flexible propeller (21) is provided at one end of each flexible folding arm (20) away from the drone host (19), and an arc-shaped flexible protective wing (22) is provided on the outer side of the flexible propeller (21).

2. The UAV system with multiple auxiliary functions during parachute landing according to claim 1 is characterized in that: Two connecting rods (23) are arranged between the flexible propeller (21) and the flexible protective wing (22); the two connecting rods (23) are arranged at an angle; an arc-shaped positioning rod (24) is arranged between the two connecting rods (23); and a reinforcing rod (25) is connected to the clamp between the arc-shaped positioning rod (24) and the two connecting rods (23).

3. The UAV system with multiple auxiliary functions during parachute landing according to claim 1 is characterized in that: The inertial measurement unit (4) comprises a three-axis gyroscope (401), a three-axis accelerometer (402), and a three-axis geomagnetic sensor (403).

4. The UAV system with multiple auxiliary functions during parachute landing according to claim 1 is characterized in that: The CPU (17) is connected to a visual sensor (1) and an optical flow sensor (9).

5. The UAV system with multiple auxiliary functions during parachute landing according to claim 1 is characterized in that: The CPU (17) is also connected to a rescue assistance function module (18), the rescue assistance function module (18) comprising an automatic alarm unit (181), a flash reminder unit (182) and a light irradiation unit (183), the automatic alarm unit (181) being used to send out an alarm signal when an abnormality of the parachute is detected, the flash reminder unit (182) being used to send out a flash signal to transmit information in a low-light environment, and the light irradiation unit (183) being used to illuminate the parachute landing area, and in the rescue assistance step of the rescue assistance function module (18), the automatic alarm unit (181) determines whether to issue an alarm according to whether parameters such as the position, speed, and posture of the parachute exceed a preset range.

6. The UAV system with multiple auxiliary functions during parachute landing according to claim 1, characterized in that: The CPU (17) is also connected to an intelligent image processing system (26), and the intelligent image processing system (26) is used to generate a large film by one-click processing of the shot material.

7. The UAV system with multiple auxiliary functions during parachute landing according to claim 5 is characterized in that: The flash reminder unit (182) can emit flash signals of different frequencies and colors according to a preset mode.

8. The UAV system with multiple auxiliary functions during parachute landing according to claim 5 is characterized in that: The light irradiation unit (183) can automatically adjust the light brightness according to the ambient light intensity.

9. The UAV system with multiple auxiliary functions during parachute landing according to claim 5, characterized in that: The drone mainframe (19) is provided with four flexible folding arms (20).

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