Automatic unhooking method and system for hoisting transportation of unmanned aerial vehicle

Abstract

The invention discloses an automatic unhooking method and system for unmanned aerial vehicle hoisting transportation. The automatic unhooking method comprises the steps that environment air pressure data of an unmanned aerial vehicle and environment air pressure data of goods are obtained; obtaining an absolute height difference value by comparing environment air pressure data of the unmanned aerial vehicle and the goods; and sending a corresponding control signal by comparing the absolute height difference value with a preset safety threshold value. After the unmanned aerial vehicle sends goods to a designated place, the unmanned aerial vehicle places the goods, during the goods placing period, the length of the steel wire rope is increased, the difference value between the measured values of the two air pressure sensors exceeds the preset safety threshold value, then the automatic unhooking function is triggered, the structure is simple, and rapidness and reliability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to an automatic uncoupling method and system for unmanned aerial vehicle hoisting and transportation. Background Art

[0002] In mountainous canyon areas, the terrain is undulating and the altitude difference is large, and there are fewer operators deployed. Using traditional slings to transport cargo requires additional personnel to remove the cargo from the hook device, which not only increases labor costs, but also increases the labor intensity of operators.

[0003] Among the existing spreaders with automatic unhooking function, the spreaders that use pure mechanical structure to achieve the automatic unhooking function account for a large proportion. In complex field environments, there may be situations where it is difficult to meet the conditions for triggering the automatic unhooking function of a spreader with a pure mechanical structure.

[0004] In the case that the existing remote controller does not support remote control of the hook, if an additional remote controller is configured, the economic cost will increase. Summary of the invention

[0005] In view of the above problems in the prior art, the present invention is proposed.

[0006] Therefore, the object of the present invention is to provide an automatic unhooking method for unmanned aerial vehicle hoisting and transportation.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic unhooking method for unmanned aerial vehicle hoisting transportation, comprising:

[0008] Obtain the ambient air pressure data of the drone and the ambient air pressure data of the cargo;

[0009] Obtaining the absolute height difference by comparing the ambient air pressure data of the drone and the cargo; and

[0010] The corresponding control signal is sent by comparing the absolute height difference with the preset safety threshold.

[0011] As a preferred solution of the automatic uncoupling method for UAV hoisting transportation of the present invention, wherein: the absolute height difference is obtained by comparing the environmental air pressure data of the UAV and the cargo, including:

[0012] Calculate the absolute altitude of the drone based on the drone's ambient air pressure data;

[0013] Calculate the absolute height value of the cargo based on the cargo's ambient air pressure data;

[0014] The absolute height difference is obtained by subtracting the absolute height of the cargo from the absolute height of the drone.

[0015] As a preferred solution of the automatic unhooking method for UAV hoisting transportation of the present invention, wherein: the sending of a corresponding control signal by comparing the absolute height difference with a preset safety threshold comprises:

[0016] Compare the absolute height difference with the preset safety threshold;

[0017] When the absolute height difference is less than the preset safety threshold, no control signal is sent;

[0018] When the absolute height difference is greater than the preset safety threshold, a control signal is sent to execute the uncoupling process.

[0019] The present invention also discloses an automatic unhooking system for unmanned aerial vehicle hoisting and transportation, which is applied to the above-mentioned automatic unhooking method for unmanned aerial vehicle hoisting and transportation; comprising:

[0020] A first signal control module, used for acquiring and calculating data;

[0021] A first Bluetooth communication module, used for sending a control signal from the first signal control module;

[0022] A second signal control module, used for calculating data and controlling the power control module;

[0023] A second Bluetooth communication module, used for receiving data from the first Bluetooth communication module and sending the data to the second signal control module;

[0024] A power control module, used to receive the control signal from the second signal control module and control the hook to release and close;

[0025] The power module is used to provide electrical energy to the above modules.

[0026] As a preferred solution of the automatic unhooking system for unmanned aerial vehicle hoisting transportation described in the present invention, the first signal control module and the second signal control module are respectively equipped with a first air pressure sensor and a second air pressure sensor.

[0027] As a preferred solution of the automatic unhooking system for unmanned aerial vehicle lifting and transportation described in the present invention, sponges are respectively covered on the first air pressure sensor and the second air pressure sensor, and the first air pressure sensor and the second air pressure sensor are filtered in the first signal control module and the second signal control module.

[0028] As a preferred solution of the automatic uncoupling system for unmanned aerial vehicle lifting and transportation described in the present invention, the first signal control module establishes a communication connection with the second Bluetooth communication module on the second signal control module through the first Bluetooth communication module; after the first signal control module calculates the absolute height value of the first air pressure sensor, it packages the data into a data frame in the format of "command + data + checksum" and sends it to the second Bluetooth communication module through the first Bluetooth communication module.

[0029] As a preferred solution of the automatic uncoupling system for unmanned aerial vehicle lifting and transportation described in the present invention, the first Bluetooth communication module is set to slave mode, the second Bluetooth communication module is set to master mode, and the first Bluetooth communication module and the second Bluetooth communication module are paired with each other.

[0030] As a preferred solution of the automatic uncoupling system for unmanned aerial vehicle lifting and transportation described in the present invention, wherein: in the second signal control module, a data frame is received from the second Bluetooth communication module, and after verification, the absolute height value of the received first air pressure sensor is subtracted from the absolute height value of the second air pressure sensor, and a corresponding control signal is issued according to whether the difference exceeds a preset safety threshold.

[0031] As a preferred solution of the automatic uncoupling system for unmanned aerial vehicle lifting and transportation described in the present invention, the connection key between the first Bluetooth communication module and the second Bluetooth communication module is set to the unique code of the unmanned aerial vehicle to avoid the Bluetooth communication module from being mistakenly connected to another adjacent automatic uncoupling system.

[0032] The beneficial effects of the present invention are as follows: after the drone delivers the cargo to the designated location, the drone will lower the cargo. During the lowering of the cargo, the length of the steel wire rope increases, and the difference between the measured values ​​of the two air pressure sensors exceeds the preset safety threshold, thereby triggering the automatic unhooking function. The structure is simple, fast and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0034] Figure 1 A schematic diagram of an automatic unhooking system for hoisting and transporting a drone provided by the present invention is shown;

[0035] Figure 2 A schematic diagram of another automatic unhooking system for hoisting and transporting a drone provided by the present invention is shown;

[0036] Figure 3 A flow chart of an automatic uncoupling method for unmanned aerial vehicle hoisting transportation provided by the present invention is shown. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0040] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0041] Example 1, reference Figure 1 , provides an automatic unhooking method for unmanned aerial vehicle hoisting transportation, comprising,

[0042] S1: Obtain the ambient air pressure data of the drone and the ambient air pressure data of the cargo;

[0043] The drone and the cargo are connected by a retractable structure, a steel wire rope, and a clamp. The ambient air pressure data of the drone and the cargo are obtained by respectively obtaining the air pressure data of the two positions through two sensors.

[0044] S2: Obtain the absolute height difference by comparing the ambient air pressure data of the drone and the cargo;

[0045] The method of obtaining the absolute height difference by comparing the ambient air pressure data of the drone and the cargo includes calculating the absolute height value of the drone based on the ambient air pressure data of the drone; calculating the absolute height value of the cargo based on the ambient air pressure data of the cargo; and obtaining the absolute height difference by subtracting the absolute height value of the cargo from the absolute height value of the drone.

[0046] S3: Send a corresponding control signal by comparing the absolute height difference with the preset safety threshold.

[0047] The sending of a corresponding control signal by comparing the absolute height difference with a preset safety threshold includes comparing the absolute height difference with a preset safety threshold; when the absolute height difference is less than the preset safety threshold, no control signal is sent; when the absolute height difference is greater than the preset safety threshold, a control signal is sent to execute a decoupling process.

[0048] After the drone delivers the cargo to the designated location, the drone will lower the cargo. During the lowering of the cargo, the length of the wire rope increases, and the difference between the measured values ​​of the two air pressure sensors exceeds the preset safety threshold, thereby triggering the automatic unhooking function. The structure is simple, fast and reliable.

[0049] Thanks to the fact that the trigger condition for automatic unhooking is that the drone performs a flight action simulating the weightlessness of the cargo, the hook can be controlled by simply integrating the signal controller and the power controller into the hook body. This method is suitable for various industrial fields, such as construction, logistics, etc., and can also be used for the transportation of goods such as building materials and heavy equipment.

[0050] Example 2, reference Figure 1 and Figure 2 , this embodiment is different from the first embodiment in that: the present invention also proposes an automatic unhooking system for unmanned aerial vehicle lifting and transportation, a first signal control module 100, a second signal control module 300, a first Bluetooth communication module 200, a second Bluetooth communication module 400, a power control module 500 and a power supply module 600; the first signal control module 100 is used to obtain and calculate data; the first Bluetooth communication module 200 is used to send the control signal of the first signal control module 100; the second signal control module 300 is used to calculate data and control the power control module 500; the second Bluetooth communication module 400 is used to receive the data of the first Bluetooth communication module 200 and send it to the second signal control module 300; the power control module 500 is used to receive the control signal of the second signal control module 300 and control the hook to make actions such as loosening and closing; the power supply module 600 is used to provide power to the above modules.

[0051] The first signal control module 100 and the second signal control module 300 are respectively equipped with a first air pressure sensor 101 and a second air pressure sensor 401 .

[0052] After calculation by the two signal control modules, the absolute height values ​​of the two positions can be obtained. The length of the wire rope connecting the drone and the hook can be obtained by subtracting the absolute height value of the second air pressure sensor 401 from the absolute height value of the first air pressure sensor 101. Since the first air pressure sensor 101 is located above the second air pressure sensor 401, the difference between the two absolute height values ​​is always positive.

[0053] To ensure the reliability of the measurement data of the first air pressure sensor 101 and the second air pressure sensor 401, black sponges are covered on the first air pressure sensor 101 and the second air pressure sensor 401 respectively, and the first air pressure sensor 101 and the second air pressure sensor 401 are filtered in the first signal control module 100 and the second signal control module 300.

[0054] The first signal control module 100 establishes a communication connection with the second Bluetooth communication module 400 on the second signal control module 300 through the first Bluetooth communication module 200. After the first signal control module 100 calculates the absolute height value of the first air pressure sensor 101, it packages the data into a data frame in the format of "command + data + checksum" and sends it to the second Bluetooth communication module 400 through the first Bluetooth communication module 200.

[0055] In the second signal control module 300, a data frame is received from the second Bluetooth communication module 400. After verification, the absolute height value of the received first air pressure sensor 101 is subtracted from the absolute height value of the second air pressure sensor 401, and a corresponding control signal is issued based on whether the difference exceeds a preset safety threshold.

[0056] The first Bluetooth communication module 200 is set to a slave mode, and the second Bluetooth communication module 400 is set to a master mode. The two Bluetooth communication modules in the same automatic unhooking system are paired with each other.

[0057] The connection key between the first Bluetooth communication module 200 and the second Bluetooth communication module 400 is set as a unique code of the drone to prevent the Bluetooth communication module from mistakenly connecting to another adjacent automatic decoupling system.

[0058] The two Bluetooth communication modules of the same automatic unhooking system communicate every 10ms to achieve real-time monitoring of the wire rope length.

[0059] The rest of the structure is the same as that of Example 1.

[0060] Example 3

[0061] This embodiment is different from the above embodiments in that the length of the wire rope is controlled by the wire drum carried by the drone.

[0062] Specifically, after the drone transports the cargo to the designated location, it controls the wire drum to rotate and lowers the cargo. When the length of the wire rope exceeds the preset safety threshold, the second signal control module 300 sends a control signal to the power control module 500, and the power controls the hook to open, thereby releasing the cargo.

[0063] The rest of the structure is the same as that of Example 2.

[0064] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​such as temperature, pressure, etc., installation arrangements, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0065] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0066] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0067] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic unhooking method for unmanned aerial vehicle hoisting and transportation, characterized in that: include, Obtain the ambient air pressure data of the drone and the ambient air pressure data of the cargo; Obtain the absolute height difference by comparing the ambient air pressure data of the drone and the cargo; as well as, The corresponding control signal is sent by comparing the absolute height difference with the preset safety threshold.

2. The automatic uncoupling method for unmanned aerial vehicle hoisting and transportation according to claim 1, characterized in that: The absolute height difference obtained by comparing the ambient air pressure data of the drone and the cargo includes: Calculate the absolute altitude of the drone based on the drone's ambient air pressure data; Calculate the absolute height value of the cargo based on the cargo's ambient air pressure data; The absolute height difference is obtained by subtracting the absolute height of the cargo from the absolute height of the drone.

3. The automatic uncoupling method for unmanned aerial vehicle hoisting and transportation according to claim 1 or 2, characterized in that: The sending of a corresponding control signal by comparing the absolute height difference with a preset safety threshold comprises: Compare the absolute height difference with the preset safety threshold; When the absolute height difference is less than the preset safety threshold, no control signal is sent; When the absolute height difference is greater than the preset safety threshold, a control signal is sent to execute the uncoupling process.

4. An automatic unhooking system for UAV hoisting and transportation, characterized by: The automatic unhooking method for unmanned aerial vehicle hoisting and transportation as applied to claim 1 or 3; include, A first signal control module (100), used for acquiring and calculating data; A first Bluetooth communication module (200), used for sending a control signal of the first signal control module (100); A second signal control module (300), used for calculating data and controlling a power control module (500); A second Bluetooth communication module (400), used for receiving data from the first Bluetooth communication module (200) and sending the data to the second signal control module (300); A power control module (500) is used to receive the control signal of the second signal control module (300) and control the hook to perform actions such as release and closing; The power module (600) is used to provide electrical energy.

5. The automatic unhooking system for unmanned aerial vehicle hoisting and transportation according to claim 4, characterized in that: The first signal control module (100) and the second signal control module (300) are respectively equipped with a first air pressure sensor (101) and a second air pressure sensor (401).

6. The automatic unhooking system for unmanned aerial vehicle hoisting and transportation according to claim 5, characterized in that: Sponges are respectively covered on the first air pressure sensor (101) and the second air pressure sensor (401), and filtering processing is performed on the first air pressure sensor (101) and the second air pressure sensor (401) in the first signal control module (100) and the second signal control module (300).

7. The automatic unhooking system for unmanned aerial vehicle hoisting and transportation according to claim 6, characterized in that: The first signal control module (100) establishes a communication connection with the second Bluetooth communication module (400) on the second signal control module (300) via the first Bluetooth communication module (200); after the first signal control module (100) calculates the absolute height value of the first air pressure sensor (101), it packages the data into a data frame in the format of "command+data+checksum" and sends it to the second Bluetooth communication module (400) via the first Bluetooth communication module (200).

8. The automatic unhooking system for unmanned aerial vehicle hoisting and transportation according to claim 7, characterized in that: The first Bluetooth communication module (200) is set to a slave mode, the second Bluetooth communication module (400) is set to a master mode, and the first Bluetooth communication module (200) and the second Bluetooth communication module (400) are paired with each other.

9. The automatic unhooking system for unmanned aerial vehicle hoisting and transportation according to claim 8, characterized in that: In the second signal control module (300), a data frame is received from the second Bluetooth communication module (400). After verification, the absolute height value of the first air pressure sensor (101) received is subtracted from the absolute height value of the second air pressure sensor (401), and a corresponding control signal is issued based on whether the difference exceeds a preset safety threshold.

10. The automatic unhooking system for unmanned aerial vehicle hoisting and transportation according to claim 9, characterized in that: The connection key between the first Bluetooth communication module (200) and the second Bluetooth communication module (400) is set as a unique code of the drone, so as to prevent the Bluetooth communication module from being mistakenly connected to another adjacent automatic decoupling system.

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