Inspection unmanned aerial vehicle with identification and positioning device and identification and positioning method thereof

Abstract

The invention discloses an inspection unmanned aerial vehicle with an identifying and positioning device and an identifying and positioning method thereof, relates to the technical field of unmanned aerial vehicles, and aims to solve the problems that when an existing unmanned aerial vehicle works in the electric power aspect, bird nests on telegraph poles need to be identified, so that workers can conveniently clean the bird nests, and the working efficiency is high. According to the technical scheme, the unmanned aerial vehicle comprises an unmanned aerial vehicle body, the lower end of the unmanned aerial vehicle body is fixedly connected with a protection cover body, the interior of the protection cover body is fixedly connected with a motor, and the output end of the motor is fixedly connected with a rotating frame; a placement groove is formed in the rotating frame, a positioning device body used for positioning a bird nest is placed in the placement groove, and the lower end of the protective cover body is fixedly connected with an identification camera. And the effects of long-time non-dangerous monitoring, falling buffering and long-time positioning are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an inspection unmanned aerial vehicle with an identification and positioning device and an identification and positioning method thereof. Background Art

[0002] Unmanned aerial vehicle, abbreviated as "UAV", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device. UAV is actually a general term for unmanned aerial vehicles. From a technical point of view, it can be divided into several categories: unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned paragliders.

[0003] A pest and disease identification drone such as the application number CN202320806694.2, when the visual camera slides down and protrudes, it will drive the impact drive frame to slide downward, and the left and right vertical support rods of the impact drive frame correspond to the two drone ground contact bottom rods and are inserted and matched and protrude from the bottom of the two drone ground contact bottom rods. When the drone lands and touches the ground, the inertial gravity generated by the landing of the drone will reversely impact and drive the impact drive frame and the protruding parts of its left and right vertical support rods to slide upward, automatically triggering the extraction and positioning plug shaft, so that the visual camera of the drone can be automatically triggered to retract and hide when the drone lands, which has better timeliness in protecting the shooting component and can save the need to additionally configure an automatic retraction and sliding drive mechanism and an automatic control device for the shooting component, which helps to reduce the implementation cost of the automatic retraction protection function of the shooting component.

[0004] The above-mentioned existing technical solutions have the following defects: when the existing drones are working in the power sector, they need to identify the bird nests on the electric poles, so as to facilitate the staff to clean the bird nests. However, if they stay near the bird nests for a long time, they are easily attacked and damaged by birds, causing relatively large losses. At the same time, it is not convenient for one drone to locate the positions of multiple bird nests. Summary of the invention

[0005] The object of the present invention is to provide a tree barrier cutting device with an embracing climbing function and a control method thereof, which solves the problem that existing drones are inconvenient to hover in closed spaces and facilitates full scanning of closed spaces.

[0006] To achieve the above object, the present invention provides the following technical solutions: A patrol drone with an identification and positioning device comprises a drone body, a protective cover body fixedly connected to the lower end of the drone body, a motor fixedly connected to the inside of the protective cover body, a rotating frame fixedly connected to the output end of the motor, a placement groove provided inside the rotating frame, a positioning device body for locating a bird's nest placed inside the placement groove, the placement grooves and the positioning device body are distributed in a circular shape with equal intervals inside the rotating frame, a through groove for the positioning device body to fall into is provided on the lower wall of the protective cover body, and an identification camera is fixedly connected to the lower end of the protective cover body.

[0007] Furthermore, the positioning device body is an elliptical structure, the positioning device body includes a shell inside, and a shooting camera is fixedly connected to the upper end of the shell, and a GPS positioning device is fixedly connected to the upper end of the shell, and the GPS positioning device is located outside the shooting camera.

[0008] Furthermore, a mounting plate is fixedly connected inside the shell, a support column is fixedly connected to the upper end of the mounting plate, the upper end of the support column is fixedly connected to the upper end of the inner wall of the shell, and the support columns are distributed in a ring at equal intervals on the upper end of the mounting plate.

[0009] Furthermore, a positioning plate is fixedly connected to the inner wall of the shell, a connecting plate is hingedly connected to the outer side of the positioning plate, the connecting plate is an L-shaped structure with one side inclined, and a buffer plate for falling buffer is movably connected to the side wall of the shell, the buffer plate is hingedly connected to one end of the connecting plate, and the buffer plate is movably connected to the shell through the connecting plate.

[0010] Furthermore, a trigger cover is movably connected to the lower end of the shell, a trigger rod is fixedly connected to the upper end of the trigger cover, the upper end of the trigger rod passes through the mounting plate and extends to the upper end of the mounting plate, the upper end of the trigger rod is hingedly connected to a connecting rod, and one end of the connecting rod away from the trigger rod is hingedly connected to the shell.

[0011] Furthermore, the upper end of the trigger rod is fixedly connected to a limit block, a limit groove is provided inside the limit block for a small range of movement of the connecting rod, the limit block is hingedly connected to the connecting rod, and the connecting rod is hingedly connected to the connecting rod via the limit block.

[0012] Furthermore, the outer side of the trigger rod is fixedly connected to a limit frame, a return spring is arranged inside the limit frame, and the return spring is sleeved on the outer side of the trigger rod.

[0013] Furthermore, a through hole is provided inside the mounting plate for the trigger rod to pass through, the inner diameter of the through hole is smaller than the inner diameter of the reset spring, and the outer diameter of the reset spring is smaller than the inner diameter of the limit frame.

[0014] Furthermore, an electric telescopic rod for correcting the angle of the shell is fixedly connected to the lower end of the mounting plate, and four groups of the electric telescopic rods are distributed in a circular shape with equal intervals about the center line of the mounting plate.

[0015] Furthermore, a control method for an inspection drone with an identification and positioning device is provided, and the method is as follows: S1: Find the bird's nest. First, use the drone to bring the protective cover and the positioning device to the tree or pole, and find the bird's nest by taking pictures with the recognition camera. At the same time, the motor drives the rotating frame to rotate inside the protective cover. When the placement slot of the positioning device inside moves to the through slot, the positioning device can be ensured to fall into the bird's nest. S2: The positioning device falls. When the positioning device body falls, the reset spring drives the limit frame and the trigger rod to rebound, and causes the trigger cover and the trigger rod to fall, thereby driving the buffer plate to unfold, forming a buffer protection structure to prevent the positioning device body from being damaged during the falling process; S3: Falling positioning. When the positioning device body falls to the bird's nest, the trigger cover is squeezed and retracted, and the whole becomes the shape of a bird egg. A GPS positioning device is provided on the whole body to facilitate positioning, and a shooting camera is provided to take images, so as to facilitate the detection of the condition of the bird's nest. At the same time, an electric telescopic rod is provided inside the positioning device body for overall leveling, so that the whole can be placed in the bird's nest for a long time.

[0016] In summary, the beneficial technical effects of the present invention are: 1. The present invention drives the rotating frame to rotate inside the protective cover body through a motor. When the placement slot of the positioning device body is moved to the through slot, the positioning device body is ensured to fall into the bird's nest, so that multiple positioning devices can be placed in different bird's nests as a whole. The drone does not need to stay in the bird's nest for a long time for observation, which reduces the probability of birds attacking the drone and the overall loss, achieving the effect of long-term non-hazardous monitoring. 2. The present invention drives the limit frame and the trigger rod to rebound through the reset spring, and drives the buffer plate to expand, so as to form a buffer protection structure, which reduces the impact force generated by the falling type of the positioning device body, thereby ensuring that the positioning device body safely falls into the bird's nest for positioning and monitoring, and achieves the effect of buffering the fall; 3. The present invention uses an electric telescopic rod to level the positioning device body, which is convenient for the positioning device body to be placed in the bird's nest for a long time, and is convenient for the staff to quickly find the positioning device body and recover it, and also convenient for the staff to directly find the bird's nest and clean it, thereby achieving a long-term positioning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2This is a schematic diagram of the main distribution structure of the positioning device of the present invention; Figure 3 This is a schematic diagram of the back structure of the protective cover body of the present invention; Figure 4 This is a schematic diagram of the closed three-dimensional structure of the positioning device body of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the positioning device body of the present invention; Figure 6 This is a schematic diagram of the closed internal structure of the positioning device body of the present invention; Figure 7 This is a schematic diagram of the internal structure of the positioning device body of the present invention.

[0018] In the figure, 1. drone body; 2. protective cover; 3. motor; 4. rotating frame; 5. placement slot; 6. positioning device body; 7. through slot; 8. identification camera; 61. shell; 62. shooting camera; 63. GPS positioning device; 64. mounting plate; 65. support column; 66. positioning plate; 67. connecting plate; 68. buffer plate; 69. trigger cover; 610. trigger rod; 611. connecting rod; 612. limit block; 613. limit slot; 614. reset spring; 615. through hole; 616. electric telescopic rod; 617. limit frame. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0020] Reference Figure 1 and Figure 3 A patrol drone with an identification and positioning device includes a drone body 1, a protective cover body 2 is fixedly connected to the lower end of the drone body 1, a motor 3 is fixedly connected inside the protective cover body 2, a rotating frame 4 is fixedly connected to the output end of the motor 3, a placement slot 5 is opened inside the rotating frame 4, a positioning device body 6 for locating a bird's nest is placed inside the placement slot 5, the placement slot 5 and the positioning device body 6 are distributed in a circular manner inside the rotating frame 4 at equal intervals, a through slot 7 for the positioning device body 6 to fall into is opened on the lower wall of the protective cover body 2, and an identification camera 8 is fixedly connected to the lower end of the protective cover body 2. The identification camera 8 can identify the bird's nest, which is an existing and common technology, but it is not the focus of this design, so the identification technology is not described in detail.

[0021] Reference Figure 2 and Figure 4The positioning device body 6 is an elliptical structure. The positioning device body 6 includes a shell 61 inside, and a shooting camera 62 is fixedly connected to the upper end of the shell 61. A GPS positioning device 63 is fixedly connected to the upper end of the shell 61. The GPS positioning device 63 is located outside the shooting camera 62. The GPS positioning device 63 is specifically a device that can send overall location information. It is an existing and common technology, but it is not the focus of this design, so the identification technology is not described in detail. An electric telescopic rod 616 for correcting the angle of the shell 61 is fixedly connected to the lower end of the mounting plate 64. There are four groups of electric telescopic rods 616 distributed in a ring with equal spacing about the center line of the mounting plate 64. The electric telescopic rod 616 can level the whole, which is convenient for the storage of the whole and the adjustment of the angle of the camera, which is convenient for shooting.

[0022] Reference Figure 5 The shell 61 is fixedly connected with a mounting plate 64 inside, and a support column 65 is fixedly connected to the upper end of the mounting plate 64. The upper end of the support column 65 is fixedly connected to the upper end of the inner wall of the shell 61. The support columns 65 are distributed in a ring at equal intervals on the upper end of the mounting plate 64. The support columns 65 can fully support the mounting plate 64 and the shell 61, thereby increasing the overall support stability. A positioning plate 66 is fixedly connected to the inner wall of the shell 61, and a connecting plate 67 is hingedly connected to the outer side of the positioning plate 66. The connecting plate 67 is an L-shaped structure with one side tilted. A buffer plate 68 for falling buffer is movably connected to the side wall of the shell 61, and the buffer plate 68 is hingedly connected to one end of the connecting plate 67. Then, the buffer plate 68 is movably connected to the shell body 61 through the connecting plate 67. The buffer plate 68 is unfolded to form a parachute shape, thereby ensuring an overall good falling buffering effect and reducing the damage caused during the overall falling process. The lower end of the shell body 61 is movably connected with a trigger cover 69, and the upper end of the trigger cover 69 is fixedly connected with a trigger rod 610. The upper end of the trigger rod 610 extends through the mounting plate 64 to the upper end of the mounting plate 64. The upper end of the trigger rod 610 is hingedly connected to a connecting rod 611. The end of the connecting rod 611 away from the trigger rod 610 is hingedly connected to the shell body 61, so that the trigger rod 610 is easily triggered, thereby ensuring the opening and closing of the buffer plate 68.

[0023] Reference Figure 6 and Figure 7The upper end of the trigger rod 610 is fixedly connected to the limit block 612, and a limit groove 613 is provided inside the limit block 612 for the connecting rod 611 to move in a small range. The limit block 612 is hingedly connected to the connecting rod 611, and the connecting rod 611 is hingedly connected to the connecting rod 611 through the limit block 612. The connecting rod 611 can move in a small range, reserving space for the overall movement to ensure the normal opening and closing of the buffer plate 68. The outer side of the trigger rod 610 is fixedly connected to the limit frame 617, and a return spring 614 is arranged inside the limit frame 617. The return spring 614 is sleeved on the outer side of the trigger rod 610, and the return spring 614 does not have to be connected with the limit The frame 617 and the mounting plate 64 are fixed, and do not need to be set too long. It is only necessary to ensure that there is a rebound force after the whole is compressed to ensure the normal opening of the buffer plate 68. It is also convenient to directly store the whole by gravity at the back. The whole can operate normally. The specific size is not limited. A through hole 615 is opened inside the mounting plate 64 for the trigger rod 610 to pass through. The inner diameter of the through hole 615 is smaller than the inner diameter of the reset spring 614. The outer diameter of the reset spring 614 is smaller than the inner diameter of the limit frame 617. The reset spring 614 can drive the buffer plate 68 to open normally, reduce the impact force of the overall fall, and thus increase the overall fall protection effect.

[0024] Working principle: First, use the drone body 1 to bring the protective cover body 2 and the positioning device body 6 to the tree or telephone pole, and find the bird's nest by shooting with the identification camera 8, and at the same time drive the rotating frame 4 to rotate inside the protective cover body 2 through the motor 3, when the placement slot 5 in which the positioning device body 6 is placed moves to the through slot 7 to ensure that the positioning device body 6 falls into the bird's nest, when the positioning device body 6 falls, the reset spring 614 drives the limit frame 617 and the trigger rod 610 to rebound, and makes the trigger cover 69 and the trigger rod 610 fall, thereby driving the buffer plate 68 to unfold, forming a buffer protection structure to prevent the positioning device body 6 from being damaged during the falling process, when the positioning device body 6 falls to the bird's nest, the trigger cover 69 is squeezed and recovered, and the whole becomes the shape of a bird's egg, and the whole is provided with a GPS positioning device 63 for easy positioning, and a shooting camera 62 is provided for shooting images, which is convenient for detecting the situation of the bird's nest, and at the same time, an electric telescopic rod 616 is provided inside the positioning device body 6 for overall leveling, so that the whole can be placed in the bird's nest for a long time.

[0025] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An inspection drone with an identification and positioning device, comprising a drone body (1), characterized in that: The lower end of the drone body (1) is fixedly connected to a protective cover body (2), the interior of the protective cover body (2) is fixedly connected to a motor (3), the output end of the motor (3) is fixedly connected to a rotating frame (4), a placement groove (5) is provided inside the rotating frame (4), a positioning device body (6) for locating a bird's nest is placed inside the placement groove (5), the placement groove (5) and the positioning device body (6) are arranged in a circular manner at equal intervals inside the rotating frame (4), the lower wall of the protective cover body (2) is provided with a through groove (7) for the positioning device body (6) to fall into, and the lower end of the protective cover body (2) is fixedly connected to an identification camera (8).

2. The inspection drone with identification and positioning device according to claim 1, characterized in that: The positioning device body (6) is an elliptical structure, the positioning device body (6) comprises a shell (61) inside, and a shooting camera (62) is fixedly connected to the upper end of the shell (61), and a GPS positioning device (63) is fixedly connected to the upper end of the shell (61), and the GPS positioning device (63) is located outside the shooting camera (62).

3. The inspection drone with identification and positioning device according to claim 2, characterized in that: A mounting plate (64) is fixedly connected inside the shell (61), a support column (65) is fixedly connected to the upper end of the mounting plate (64), the upper end of the support column (65) is fixedly connected to the upper end of the inner wall of the shell (61), and the support columns (65) are distributed in a circular manner at equal intervals on the upper end of the mounting plate (64).

4. The inspection drone with identification and positioning device according to claim 3, characterized in that: A positioning plate (66) is fixedly connected to the inner wall of the shell (61); a connecting plate (67) is hingedly connected to the outer side of the positioning plate (66); the connecting plate (67) is an L-shaped structure with one side inclined; a buffer plate (68) for falling buffer is movably connected to the side wall of the shell (61); the buffer plate (68) is hingedly connected to one end of the connecting plate (67); and the buffer plate (68) is movably connected to the shell (61) via the connecting plate (67).

5. The inspection drone with identification and positioning device according to claim 4, characterized in that: The lower end of the shell (61) is movably connected to a trigger cover (69), the upper end of the trigger cover (69) is fixedly connected to a trigger rod (610), the upper end of the trigger rod (610) passes through the mounting plate (64) and extends to the upper end of the mounting plate (64), the upper end of the trigger rod (610) is hingedly connected to a connecting rod (611), and one end of the connecting rod (611) away from the trigger rod (610) is hingedly connected to the shell (61).

6. The inspection drone with identification and positioning device according to claim 5, characterized in that: The upper end of the trigger rod (610) is fixedly connected to a limit block (612), a limit slot (613) is provided inside the limit block (612) for the connecting rod (611) to move within a small range, the limit block (612) is hingedly connected to the connecting rod (611), and the connecting rod (611) is hingedly connected to the connecting rod (611) via the limit block (612).

7. The inspection drone with identification and positioning device according to claim 6, characterized in that: The outside of the trigger rod (610) is fixedly connected to a limit frame (617), a return spring (614) is arranged inside the limit frame (617), and the return spring (614) is sleeved on the outside of the trigger rod (610).

8. The inspection drone with identification and positioning device according to claim 7, characterized in that: A through hole (615) is provided inside the mounting plate (64) for the trigger rod (610) to pass through, the inner diameter of the through hole (615) is smaller than the inner diameter of the return spring (614), and the outer diameter of the return spring (614) is smaller than the inner diameter of the limit frame (617).

9. The inspection drone with identification and positioning device according to claim 8, characterized in that: The lower end of the mounting plate (64) is fixedly connected to an electric telescopic rod (616) for correcting the angle of the housing (61), and four groups of the electric telescopic rods (616) are distributed in a circular manner at equal intervals about the center line of the mounting plate (64).

10. A control method for an inspection drone with an identification and positioning device as claimed in claims 1 to 9, characterized in that: The method is as follows: S1: Finding a bird's nest, first use the drone body (1) to bring the protective cover body (2) and the positioning device body (6) to a tree or a pole, and use the identification camera (8) to take pictures to find the bird's nest, and at the same time use the motor (3) to drive the rotating frame (4) to rotate inside the protective cover body (2), when the placement slot (5) in which the positioning device body (6) is placed moves to the through slot (7), so as to ensure that the positioning device body (6) falls into the bird's nest; S2: the positioning device falls. When the positioning device body (6) falls, the return spring (614) drives the limit frame (617) and the trigger rod (610) to rebound, and causes the trigger cover (69) and the trigger rod (610) to fall, thereby driving the buffer plate (68) to unfold, forming a buffer protection structure to prevent the positioning device body (6) from being damaged during the falling process; S3: Falling and positioning. When the positioning device body (6) falls to the bird's nest, the trigger cover (69) is squeezed and retracted, and the whole body becomes the shape of a bird's egg. A GPS positioning device (63) is provided on the whole body to facilitate positioning. A shooting camera (62) is provided to take pictures to facilitate detection of the condition of the bird's nest. At the same time, an electric telescopic rod (616) is provided inside the positioning device body (6) for leveling the whole body, so that the whole body can be placed in the bird's nest for a long time.

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