Explosion-proof unmanned aerial vehicle and control system and control method thereof

Abstract

The application discloses an explosion-proof unmanned plane and a control system and a control method thereof, and relates to the technical field of unmanned planes.The explosion-proof unmanned plane comprises a body, a plurality of arms, a plurality of explosion-proof motors, a plurality of blades, an inflation valve and a pressure relief valve, a positive pressure cabin is defined in the body, the positive pressure cabin is filled with inert gas for explosion prevention, electrical elements are installed in the positive pressure cabin, and the electrical elements at least comprise a flight controller and a system power supply; one end of each arm is connected to the body, one explosion-proof motor is installed at the other end of each arm in a one-to-one correspondence, each blade is drivenly connected to an explosion-proof motor in a one-to-one correspondence, and the system power supply supplies power to the explosion-proof motors.The explosion-proof unmanned plane provided by the application is a positive pressure type explosion-proof unmanned plane, the cabin is filled with inert gas with a certain pressure, explosion caused by internal electrical short circuit and the like is prevented, a stable explosion prevention mechanism is formed, the explosion-proof unmanned plane has good explosion prevention effect, the explosion prevention problem of the unmanned plane when applied in a coal mine is solved, and the explosion-proof unmanned plane has the advantage of high safety factor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a blast-proof unmanned aerial vehicle and a control system and control method thereof. BACKGROUND

[0002] A rotor unmanned aerial vehicle is an unmanned rotor aircraft with three or more rotor shafts. Taking a quadrotor as an example, a battery provides power for four motors, and the motors rotate to drive the blades to rotate, thereby generating thrust. With the expansion of the application scenarios of unmanned aerial vehicles, autonomous navigation of unmanned aerial vehicles in complex and closed spaces of mines, working face inspection tasks, etc. begin to be widely studied. An unmanned aerial vehicle carries a laser radar to obtain point cloud information and a depth camera to form environmental depth information, and a three-dimensional space is constructed in real time. The unmanned aerial vehicle realizes real-time autonomous navigation flight according to the obstacle information in the obtained space and applies a path planning algorithm, and can be applied to complex and narrow space scenarios such as mines and tunnels. However, due to the presence of flammable and explosive gases in the mine working environment, the unmanned aerial vehicle needs to be designed for explosion prevention and meet the relevant explosion-proof standards. Related technologies have proposed unmanned aerial vehicles with explosion-proof functions, but in actual use, the explosion-proof effect of the unmanned aerial vehicle used in mines still has room for further improvement. SUMMARY

[0003] The present application aims to at least partially solve one of the technical problems in the related art. To this end, an embodiment of the present application proposes a blast-proof unmanned aerial vehicle with a stable explosion-proof mechanism.

[0004] The blast-proof unmanned aerial vehicle of the present application comprises: a body, wherein a positive pressure cabin is defined in the body, the positive pressure cabin is filled with inert gas for explosion prevention, and an electrical element is installed in the positive pressure cabin, the electrical element at least comprising a flight controller and a system power supply; a plurality of arms, a plurality of explosion-proof motors and a plurality of blades, one end of the arm is connected to the body, the explosion-proof motor is installed at the other end of the arm one by one, the blade is drivenly connected to the explosion-proof motor one by one, and the system power supply supplies power to the explosion-proof motor; a gas filling valve and a pressure relief valve, the gas filling valve is arranged at a gas filling port of the body, and the pressure relief valve is arranged at a pressure relief port of the body.

[0005] The blast-proof unmanned aerial vehicle provided by the present application is a positive pressure type blast-proof unmanned aerial vehicle, the body of which forms a positive pressure cabin, the cabin is filled with inert gas with a certain pressure, and the inert gas covers the electrical element in the body to prevent explosion caused by internal electrical short circuit, thereby forming a stable explosion-proof mechanism and having good explosion-proof effect. The blast-proof unmanned aerial vehicle solves the problem of explosion prevention when the unmanned aerial vehicle is applied in a coal mine, and has the advantage of high safety factor.

[0006] In some embodiments, the arm is a hollow structure, and the arm is filled with inert gas with positive pressure.

[0007] In some embodiments, the hollow inner cavity of the machine arm is in communication with the positive pressure cabin.

[0008] In some embodiments, the explosion-proof unmanned aerial vehicle further comprises: a pressure sensor for monitoring the pressure in the positive pressure cabin, and a temperature sensor for monitoring the temperature in the positive pressure cabin; an explosion-proof controller installed in the positive pressure cabin and in communication connection with the pressure sensor and the temperature sensor, the explosion-proof controller being configured to receive a detection signal and determine whether the pressure detection value / temperature detection value exceeds the corresponding threshold range, and send an alarm signal to the flight controller when it is determined that the pressure detection value / temperature detection value exceeds the corresponding threshold range.

[0009] In some embodiments, the explosion-proof unmanned aerial vehicle further comprises an automatic power breaker electrically connected to the system power supply for automatically cutting off the system power supply, and the flight controller is in communication connection with the automatic power breaker and configured to send a power-off signal to the automatic power breaker to control the automatic power breaker to cut off the system power supply.

[0010] In some embodiments, the machine body comprises a cabin body and a cabin door, the cabin door being connected to the cabin body to define the positive pressure cabin, and the cabin door having an open state and a locked state.

[0011] In another aspect, the control system of the explosion-proof unmanned aerial vehicle comprises: a flight control module for controlling the flight state of the explosion-proof unmanned aerial vehicle by controlling the explosion-proof motor; an explosion-proof control module for sending an alarm signal to the flight control module according to the pressure / temperature of the inert gas in the positive pressure cabin; and an automatic power-off module for cutting off the system power supply, the flight control module being configured to control the unmanned aerial vehicle to return, land or send a power-off signal to the automatic power-off module to cut off the system power supply after receiving the alarm signal.

[0012] In some embodiments, the flight control module is further configured to send a power-off signal to the automatic power-off module to cut off the system power supply after detecting that the unmanned aerial vehicle has landed.

[0013] In some embodiments, the control system further comprises a cabin door control module for controlling the cabin door to be in an open state or a locked state, comprising:

[0014] When the gas pressure in the positive pressure cabin is greater than the external pressure, and / or the system power supply is not disconnected, the cabin door control module controls the cabin door to be in a locked state.

[0015] When the gas pressure in the positive pressure cabin is consistent with the external pressure, and the system power is disconnected, the cabin door control module controls the cabin door to be in an open state.

[0016] The control method of the explosion-proof unmanned aerial vehicle provided by the embodiment of the present application comprises:

[0017] Detecting the pressure / temperature in the positive pressure cabin, when the gas pressure / temperature in the positive pressure cabin exceeds the corresponding threshold range, controlling the unmanned aerial vehicle to return, land or cut off the power supply;

[0018] Detecting the gas pressure of the positive pressure cabin and comparing it with the external pressure, detecting the system power supply, when the gas pressure in the positive pressure cabin is greater than the external pressure and / or the system power supply is not disconnected, the positive pressure cabin is locked and closed, when the gas pressure in the positive pressure cabin is consistent with the external pressure and the system power is disconnected, the positive pressure cabin can be opened;

[0019] Detecting whether the unmanned aerial vehicle lands, if the unmanned aerial vehicle lands, controlling the system power supply to be disconnected. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic diagram of the explosion-proof unmanned aerial vehicle provided by the embodiment of the present application.

[0021] Figure 2 is a control system of the explosion-proof unmanned aerial vehicle provided by the embodiment of the present application.

[0022] REFERENCE SIGNS:

[0023] Explosion-proof unmanned aerial vehicle 100, body 1, cabin body 11, cabin door 12, arm 2, explosion-proof motor 3, paddle 4, inflation valve 5, pressure relief valve 6, DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0025] The explosion-proof unmanned aerial vehicle 100 provided by the embodiment of the present application is described below. Figure 1 The explosion-proof unmanned aerial vehicle 100 provided by the embodiment of the present application is described below.

[0026] The body 1 defines a positive pressure cabin, and the positive pressure cabin is filled with inert gas for explosion prevention. When the explosion-proof unmanned aerial vehicle 100 is in use, the gas pressure of the inert gas in the positive pressure cabin is greater than the external pressure, so it is called "positive pressure". The positive pressure cabin is installed with electrical elements, and the electrical elements at least include a flight controller and a system power supply. The flight controller is used to control the flight state of the explosion-proof unmanned aerial vehicle 100. One end of the arm 2 is connected with the body 1, and the explosion-proof motor 3 is correspondingly installed at the other end of the arm 2. The propeller 4 is correspondingly drivenly connected with the explosion-proof motor 3. The system power supply supplies power to the explosion-proof motor 3, and the explosion-proof motor 3 operates to drive the propeller 4 to rotate, so that the explosion-proof unmanned aerial vehicle 100 has power take-off.

[0027] The body 1 has a gas filling port and a pressure relief port which are in communication with the internal positive pressure cabin. The gas filling port is used to fill the inert gas into the positive pressure cabin to increase the pressure in the positive pressure cabin, and the pressure relief port is used to discharge the inert gas from the positive pressure cabin to decrease the pressure in the positive pressure cabin. The gas filling valve 5 is arranged at the gas filling port of the body 1, and the pressure relief valve 6 is arranged at the pressure relief port of the body 1. The gas filling valve 5 and the pressure relief valve 6 cooperate to adjust the gas pressure in the positive pressure cabin, so that the gas pressure in the positive pressure cabin is kept within a reasonable range, and the explosion prevention purpose is better achieved.

[0028] The explosion-proof unmanned aerial vehicle provided by the embodiment of the application is a positive pressure type explosion-proof unmanned aerial vehicle. The body of the explosion-proof unmanned aerial vehicle forms a positive pressure cabin inside the body. The cabin is filled with inert gas with a certain pressure. The inert gas covers the electrical elements in the body, prevents explosion caused by internal electrical short circuit, forms a stable explosion prevention mechanism, has good explosion prevention effect, solves the explosion prevention problem of the unmanned aerial vehicle when it is applied in a coal mine, and makes the explosion-proof unmanned aerial vehicle have the advantage of high safety factor.

[0029] In some embodiments, the flight controller controls the flight of the explosion-proof unmanned aerial vehicle 100 by controlling the output rotating speed of the explosion-proof motor 3. As an example, the explosion-proof unmanned aerial vehicle 100 includes an electronic speed controller. The flight controller is signal connected with the electronic speed controller and sends a control signal to the electronic speed controller according to a remote controller instruction signal or the pressure / temperature in the positive pressure cabin. The electronic speed controller adjusts the rotating speed of the explosion-proof motor 3 according to the control signal.

[0030] In some embodiments, the pressure relief valve 6 can be communicatively connected with a remote guidance end. The pressure relief valve 6 is controlled to discharge gas by a remote end software, so that the pressure in the positive pressure cabin is consistent with the external pressure. After the gas is discharged, the body 1 can be opened to maintain and protect the electrical elements in the body 1. When it is necessary to fill the positive pressure cabin in the body 1 with inert gas, professional tools can be used to fill the inert gas into the positive pressure cabin through the gas filling valve 5 until the inert gas pressure in the positive pressure cabin reaches a preset value. When it is necessary to maintain the electrical elements in the body 1, the pressure relief valve 6 can be opened by using the remote end software, so that the inert gas in the positive pressure cabin is discharged through the pressure relief valve 6 until the gas pressure in the positive pressure cabin is consistent with the external pressure. Then, the positive pressure cabin is opened to maintain the electrical elements.

[0031] Of course, in other embodiments, both the pressure relief valve 6 and the inflation valve 5 can be opened or closed manually.

[0032] In some embodiments, in order to further improve the explosion-proof coefficient of the explosion-proof unmanned aerial vehicle 100, it is necessary to ensure that there is no oxygen or very little oxygen in the positive pressure cabin. Therefore, before inflating the positive pressure cabin, the air in the positive pressure cabin should be pumped out. Specifically, using a special tool on the ground, the positive pressure cabin is pumped through the opened pressure relief valve 6 to make the positive pressure cabin reach a near-vacuum state, and then the inert gas is filled into the positive pressure cabin through the inflation valve 5. Alternatively, while pumping, inert gas is filled into the positive pressure cabin through the inflation valve 5. In this way, the air content in the machine body 1 can be reduced, and the electrical components can be better wrapped in inert gas with explosion-proof function.

[0033] Optionally, the inert gas is a mixture of one or more of helium, neon, argon, nitrogen, and carbon dioxide.

[0034] The connecting wire of the explosion-proof motor 3 passes through the arm 2 and is electrically connected to the system power source in the machine body 1. In some embodiments, the arm 2 is a hollow structure, and the wire passes through the arm 2 to electrically connect the system power source and the explosion-proof motor 3, and the arm 2 is filled with inert gas under positive pressure.

[0035] Further, the hollow inner cavity of the arm 2 is in communication with the positive pressure cabin in the machine body 1, so that the inert gas in the positive pressure cabin can be introduced into the arm 2, and the arm 2 is filled with inert gas under positive pressure. The inert gas under positive pressure in the arm 2 makes the electrical connection part of the explosion-proof motor 3 and the wire wrapped in explosion-proof inert gas, thereby further improving the explosion-proof coefficient of the explosion-proof unmanned aerial vehicle 100, avoiding short circuit explosion at the electrical connection position of the explosion-proof motor 3, forming a complete explosion-proof system, solving the explosion-proof problem of the unmanned aerial vehicle in the coal mine, and making the explosion-proof unmanned aerial vehicle 100 better adapt to the explosion-proof operation scene in the coal mine.

[0036] Further, the electrical part connection of the explosion-proof unmanned aerial vehicle 100 provided by the embodiment of the present application is all adopted explosion-proof terminal.

[0037] In some embodiments, the explosion-proof UAV 100 provided by the embodiments of the present application further comprises a pressure sensor, a temperature sensor and an explosion-proof controller. The detection ends of the pressure sensor and the temperature sensor are located in the positive pressure cabin of the machine body 1. The pressure sensor is used to monitor the gas pressure in the positive pressure cabin, and the temperature sensor is used to monitor the temperature in the positive pressure cabin. The explosion-proof controller is installed in the positive pressure cabin and is in communication connection with each of the pressure sensor and the temperature sensor. The communication connection between the explosion-proof controller and the pressure sensor and the temperature sensor means that the explosion-proof controller can be connected by wires between the pressure sensor and the temperature sensor, or can be connected by wireless communication devices between the pressure sensor and the temperature sensor.

[0038] The pressure sensor and the temperature sensor transmit the detected detection signals to the explosion-proof controller. The explosion-proof controller receives the detection signals of the pressure sensor and the temperature sensor and judges whether the pressure detection value / temperature detection value in the positive pressure cabin exceeds the corresponding threshold range, that is, whether the pressure detection value exceeds the pressure set threshold range and whether the temperature detection value exceeds the temperature set threshold range. If it is judged that the pressure detection value exceeds the pressure set threshold range and / or the temperature detection value exceeds the temperature set threshold range, it means that the gas environment in the positive pressure cabin is abnormal at this time, and the explosion-proof controller sends an alarm signal to the flight controller. After receiving the alarm signal of the explosion-proof control, the flight controller takes safety measures to control the explosion-proof UAV 100 to land, return or cut off the power supply.

[0039] Specifically, the explosion-proof controller has a receiving module and a transmitting module. The receiving module of the explosion-proof controller is used to receive the detection signals transmitted by the pressure sensor and the temperature sensor, and the transmitting module of the explosion-proof control module is used to send an alarm signal to the flight controller.

[0040] Optionally, the explosion-proof controller and the flight controller can be connected by wires or wirelessly.

[0041] In some embodiments, the explosion-proof UAV 100 further comprises an automatic power-off device, which is electrically connected with the system power supply and is used to automatically cut off the system power supply. The flight controller is in communication connection with the automatic power-off device and is used to send a power-off signal to the automatic power-off device to control the automatic power-off device to cut off the system power supply, so as to further avoid the phenomenon of explosion of the electrical elements in the machine body 1.

[0042] It should be noted that the flight controller, the explosion-proof controller and the automatic power-off device can be a combination of hardware and software, or can be realized by hardware. Those skilled in the art can design and prepare a controller with corresponding control functions according to the relevant field knowledge, combined with the functional features and control logic proposed by the present application. The present application does not repeat the description.

[0043] In summary, the pressure sensor and the temperature sensor monitor the pressure and temperature inside the body positive pressure cabin, and when the explosion-proof controller detects that the pressure / temperature exceeds the standard threshold range or other abnormal states occur, an alarm signal is sent to the flight controller, the unmanned aerial vehicle takes safety measures such as returning home / landing in place, or the system power is cut off through the built-in automatic power-off device, thereby solving the problem of safe flight of the unmanned aerial vehicle in the coal mine, and the unmanned aerial vehicle can be better adapted to the explosion-proof operation scene in the coal mine.

[0044] In some embodiments, as shown in Figure 1 The body 1 includes a cabin body 11 and a cabin door 12, the cabin door 12 is connected with the cabin body 11 to define the positive pressure cabin, and the cabin door 12 has an open state and a locked state. In the open state, the cabin door 12 can be opened, and the electrical elements in the body 1 can be maintained through the cabin door 12; in the locked state, the cabin door 12 is not allowed to be opened, and the body 1 is in a sealed state, and inert gas is filled into the positive pressure cabin.

[0045] Further, the explosion-proof unmanned aerial vehicle 100 further includes a cabin door controller connected with the cabin door 12, for controlling the cabin door 12 to be in the open state or the locked state, and realizing the safety protection of the explosion-proof unmanned aerial vehicle 100. Optionally, the cabin door controller is installed at the door lock of the cabin door 12, in the locked state, the cabin door 12 cannot be normally opened from the outside, and in the open state, the operator can normally open the door lock and open the cabin door 12 to maintain the electrical elements inside the positive pressure cabin.

[0046] The embodiment of the application also provides a control system of the explosion-proof unmanned aerial vehicle, and the explosion-proof unmanned aerial vehicle 100 is the explosion-proof unmanned aerial vehicle 100 in any one of the above embodiments.

[0047] As shown in Figure 2 The control system of the explosion-proof unmanned aerial vehicle 100 includes a flight control module, an explosion-proof control module and an automatic power-off module, the flight control module is used for controlling the flight state of the explosion-proof unmanned aerial vehicle 100 by controlling the explosion-proof motor 3, the explosion-proof control module is used for emitting an alarm signal to the flight control module according to the pressure / temperature of the inert gas in the positive pressure cabin, the automatic power-off module is used for cutting off the system power, and the flight control module is used for controlling the unmanned aerial vehicle to return home, land or send a power-off signal to the automatic power-off module to cut off the system power after receiving the alarm signal.

[0048] The flight control module is the general term of programs and algorithms built in the flight controller. The explosion-proof control module is the general term of programs and algorithms built in the explosion-proof controller. The flight controller is the combination of the flight control module and corresponding hardware, the explosion-proof controller is the combination of the explosion-proof control module and corresponding hardware. The automatic power-off module is the general term of programs and algorithms built in the automatic power-off device.

[0049] The explosion-proof control module judges whether the pressure and temperature in the positive pressure cabin exceed the corresponding set values according to the pressure signal and the temperature signal. When the explosion-proof control module concludes that at least one of the pressure and the temperature in the positive pressure cabin is greater than the corresponding set value through comparison, an alarm signal will be generated and sent. After receiving the alarm signal, the flight control module judges that an abnormal condition may occur in the positive pressure cabin. According to the safety program set in advance, the flight control module generates a homeward flight instruction or a landing instruction, and sends a control signal to the electronic speed regulator according to the instruction to control the rotating speed of the explosion-proof motor 3, so as to make the explosion-proof unmanned aerial vehicle 100 return or land, or the flight control module cuts off the system power supply by controlling the automatic power-off module.

[0050] In some embodiments, the flight control module is also used to send a power-off signal to the automatic power-off module after detecting that the unmanned aerial vehicle lands. After receiving the power-off signal, the automatic power-off module sends a control signal to cut off the system power supply by using an algorithm or hardware.

[0051] In some embodiments, the control system of the explosion-proof unmanned aerial vehicle 100 further includes a cabin door control module. The cabin door control module is used to control the cabin door 12 to be in an open state or a locked state. The cabin door control module is a general term of programs and algorithms built in the cabin door controller. The specific functions of the cabin door control module include:

[0052] When the gas pressure in the positive pressure cabin is greater than the external pressure, and / or the system power supply is not disconnected, the cabin door control module controls the cabin door 12 to be in a locked state;

[0053] When the gas pressure in the positive pressure cabin is consistent with the external pressure, and the system power supply is disconnected, the cabin door control module controls the cabin door 12 to be in an open state.

[0054] The cabin door control module can selectively use an algorithm or hardware or a combination of an algorithm and hardware to control the cabin door 12. When it is detected that the positive pressure cabin has positive pressure and / or the system power supply is not disconnected, the cabin door 12 is locked and cannot be opened, which realizes safety protection and can be well adapted to the coal mine underground explosion-proof operation scene. If the cabin door 12 is to be opened, it must be ensured that the internal pressure of the positive pressure cabin in the machine body 1 is consistent with the external atmospheric pressure after the pressure is released, and at the same time the system power supply has been disconnected.

[0055] In some embodiments, as Figure 2As shown, the flight control module is configured to send instructions to the hatch control module to control the locking or opening of the hatch 12. Specifically, the flight control module determines the pressure difference between the pressure in the positive pressure cabin and the atmospheric pressure according to the pressure detection signal transmitted by the pressure sensor. If the gas pressure in the positive pressure cabin is greater than the atmospheric pressure, the flight control module sends instructions to the hatch control module to keep the hatch 12 in the locked state. The flight control module also detects whether the system power is disconnected. If the system power is not disconnected, the flight control module sends instructions to the hatch control module to keep the hatch 12 in the locked state. If the flight control module determines that the gas pressure in the positive pressure cabin is consistent with the atmospheric pressure and detects that the system power is disconnected, the flight control module sends instructions to the hatch control module to switch the hatch 12 to the open state.

[0056] The embodiment of the present application also provides a control method of the explosion-proof unmanned aerial vehicle 100. The control method of the explosion-proof unmanned aerial vehicle 100 is based on the control system of the explosion-proof unmanned aerial vehicle 100 in any one of the above embodiments. The control method comprises the following steps.

[0057] Detecting the pressure / temperature in the positive pressure cabin, and when the gas pressure / temperature in the positive pressure cabin exceeds the corresponding threshold range, controlling the unmanned aerial vehicle to return, land or cut off the power supply;

[0058] Detecting the gas pressure of the positive pressure cabin and comparing it with the external pressure, and detecting the system power supply. When the gas pressure in the positive pressure cabin is greater than the external pressure and / or the system power supply is not disconnected, the positive pressure cabin is locked and closed. When the gas pressure in the positive pressure cabin is consistent with the external pressure and the system power supply is disconnected, the positive pressure cabin can be opened.

[0059] Detecting whether the unmanned aerial vehicle lands. If the unmanned aerial vehicle lands, the system power supply is controlled to be disconnected.

[0060] The explosion-proof unmanned aerial vehicle 100 provided by the embodiment of the present application has a positive pressure cabin, which is filled with inert gas and wraps electrical components. The explosion-proof motor is installed on the arm to realize the explosion-proof design of the whole machine, which can better adapt to the operation scene with high explosion-proof requirement. The temperature / pressure monitoring of the sensor realizes the closed-loop control of the explosion-proof system, which can improve the safety of the unmanned aerial vehicle system in the coal mine. It is suitable for small unmanned aerial vehicles in complex and small spaces. Other sensor structures can be arranged according to specific flight tasks and flight environment requirements, which improves the universality of the unmanned aerial vehicle application.

[0061] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0062] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated thereby. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0063] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0064] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.

[0065] In this disclosure, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that a particular feature, structure, material, or characteristic is included in at least one embodiment or example of the present disclosure. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the terminology "comprising" is used in the disclosure as comprising but not limited to, that is, it is open-ended and does not exclude the presence of additional features, structures, materials, or characteristics.

[0066] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above-described embodiments are exemplary, and are not to be interpreted as limiting the present disclosure, and the ordinary skilled in the art can make changes, modifications, replacements, and variations to the above-described embodiments within the scope of the present disclosure.

Claims

1. An explosion-proof unmanned aerial vehicle, characterized in that, The application relates to an explosion-proof unmanned aerial vehicle. The explosion-proof unmanned aerial vehicle comprises a machine body, a plurality of machine arms, a plurality of explosion-proof motors and a plurality of blades, wherein one end of the machine arm is connected to the machine body, the explosion-proof motor is correspondingly arranged at the other end of the machine arm, and the blade is correspondingly driven connected to the explosion-proof motor; the system power supply supplies power to the explosion-proof motor; an inflation valve is arranged at an inflation port of the machine body; a pressure relief valve is arranged at a pressure relief port of the machine body; the machine arm is a hollow structure and is filled with inert gas under pressure; the hollow cavity of the machine arm is communicated with the positive pressure cabin; a pressure sensor is arranged for monitoring the pressure in the positive pressure cabin; a temperature sensor is arranged for monitoring the temperature in the positive pressure cabin; an electronic speed regulator is signal connected to the flight controller and sends a control signal to the electronic speed regulator according to a remote controller instruction signal or the pressure / temperature in the positive pressure cabin; the electronic speed regulator adjusts the rotating speed of the explosion-proof motor according to the control signal; an explosion-proof controller is installed in the positive pressure cabin and is in communication connection with the pressure sensor and the temperature sensor; the explosion-proof controller is used for receiving a detection signal and judging whether the pressure detection value / temperature detection value exceeds the corresponding threshold range; when the pressure detection value / temperature detection value exceeds the corresponding threshold range, the explosion-proof controller sends an alarm signal to the flight controller; after receiving the alarm signal of the explosion-proof controller, the flight controller controls the explosion-proof unmanned aerial vehicle to land, return or cut off the power supply. The explosion-proof unmanned aerial vehicle further comprises an automatic power breaker which is electrically connected to the system power supply and is used for automatically cutting off the system power supply; the flight controller is in communication connection with the automatic power breaker and is used for sending a power-off signal to the automatic power breaker to control the automatic power breaker to cut off the system power supply. The machine body comprises a cabin body and a cabin door; the cabin door is connected to the cabin body to define the positive pressure cabin; the cabin door has an open state and a locked state. The explosion-proof unmanned aerial vehicle is the explosion-proof unmanned aerial vehicle according to any one of claims 1-3; the control system comprises: a flight control module which is used for controlling the flight state of the explosion-proof unmanned aerial vehicle by controlling the explosion-proof motor; an explosion-proof control module and an automatic power-off module; the explosion-proof control module is used for sending an alarm signal to the flight control module according to the pressure / temperature of the inert gas in the positive pressure cabin; the automatic power-off module is used for cutting off the system power supply; the flight control module is used for controlling the unmanned aerial vehicle to return, land or send a power-off signal to the automatic power-off module to cut off the system power supply after receiving the alarm signal. The flight control module is further used for sending a power-off signal to the automatic power-off module to cut off the system power supply after detecting that the unmanned aerial vehicle lands. ​ 2. The explosion-proof drone of claim 1, wherein, ​ 3. The explosion-proof drone according to any one of claims 1-2, wherein, ​ 4. A control system for an explosion-proof drone, characterized in that, ​ ​ ​ 5. The control system of the anti-explosion drone according to claim 4, wherein, ​ 6. The control system of the anti-explosion drone according to claim 4, wherein, The explosion-proof unmanned aerial vehicle is the explosion-proof unmanned aerial vehicle according to claim 3, and the control system further comprises a hatch control module, the hatch control module is used for controlling the hatch to be in an open state or a locked state, comprising: When the gas pressure in the positive pressure cabin is greater than the external pressure, and / or the system power is not disconnected, the hatch control module controls the hatch to be in the locked state; When the gas pressure in the positive pressure cabin is consistent with the external pressure, and the system power is disconnected, the hatch control module controls the hatch to be in the open state. 7.A control method of an explosion-proof unmanned aerial vehicle, characterized by, The control method of the explosion-proof unmanned aerial vehicle is based on the control system of the explosion-proof unmanned aerial vehicle according to any one of claims 4-6, and the control method comprises: Detecting the pressure / temperature in the positive pressure cabin, when the gas pressure / temperature in the positive pressure cabin exceeds the corresponding threshold range, controlling the unmanned aerial vehicle to return, land or cut off the power supply; Detecting the gas pressure of the positive pressure cabin and comparing it with the external pressure, detecting the system power, when the gas pressure in the positive pressure cabin is greater than the external pressure and / or the system power is not disconnected, the positive pressure cabin is locked and closed, when the gas pressure in the positive pressure cabin is consistent with the external pressure and the system power is disconnected, the positive pressure cabin can be opened; Detecting whether the unmanned aerial vehicle lands, if the unmanned aerial vehicle lands, controlling the system power to be disconnected.

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