Automatic balancing unmanned aerial vehicle carried laser obstacle removing instrument and obstacle removing method

Abstract

The invention relates to the technical field of laser obstacle clearing, in particular to an automatic balancing unmanned aerial vehicle carried laser obstacle clearing instrument and an obstacle clearing method. The unmanned aerial vehicle comprises an unmanned aerial vehicle body and a bearing assembly. The laser obstacle removing instrument comprises a holder assembly, an adjusting assembly, a laser output head, a laser transmission line and a laser generation assembly. The bearing assembly is arranged on one side of the unmanned aerial vehicle body, a containing space is formed between the bearing assembly and the unmanned aerial vehicle body, the bearing assembly and the holder assembly are located in the containing space, the holder assembly is rotationally connected with the adjusting assembly, and a laser output head is arranged on the side, away from the holder assembly, of the adjusting assembly. The other end is connected with the laser generating assembly; when the holder assembly drives the adjusting assembly and the laser output head to perform pitching rotation relative to the holder assembly, the adjusting assembly is used for adjusting the gravity center position of the laser output head. The problem that an existing unmanned aerial vehicle carried laser obstacle removing instrument is poor in obstacle removing effect is solved.

Description

[Technical field]

[0001] The present invention relates to the technical field of laser obstacle removal, and in particular to an automatic balancing unmanned aerial vehicle equipped with a laser obstacle removal device and an obstacle removal method. [Background technology]

[0002] Traditional obstacle removers are usually mounted on the ground with a bracket, use a camera module to locate distant obstacles, and emit lasers to clear the obstacles. If the obstacle is farther away from the installation point of the obstacle remover, the obstacle removal effect of the traditional obstacle remover will also deteriorate. The existing solution is to place the obstacle remover on a drone, use the high maneuverability of the drone to first carry the obstacle remover to the vicinity of the obstacle, and then the drone will hover first and then emit lasers to clear the obstacle.

[0003] Laser obstacle removers are usually composed of interconnected laser generators, laser transmission lines, and laser output heads. First, the rotation of the drone's wings will cause the drone's fuselage to shake, which will further cause the laser transmission line to shake, or the laser transmission line to shake due to wind. The shaking of the laser transmission line will force the center of gravity of the laser output head to change continuously, causing the laser output head to shake together. The ensuing problem is that when the obstacle remover emits laser at a fixed point on an obstacle, the point where the laser hits the surface of the obstacle will continue to shift with the change of the center of gravity of the laser output head itself. In addition, a gimbal is usually added to control the rotation of the laser obstacle remover. Designers expect the center of gravity of the laser output head to always be directly above the gimbal. However, when the laser output head is pitched, its center of gravity will change. This makes it more difficult for the gimbal to control the laser output head, resulting in poor obstacle removal effects. [Summary of the invention]

[0004] In order to solve the problem that the existing unmanned aerial vehicle equipped with a laser obstacle clearer has a poor obstacle clearing effect, the present invention provides an automatic balancing unmanned aerial vehicle equipped with a laser obstacle clearer and an obstacle clearing method.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an automatic balancing unmanned aerial vehicle equipped with a laser obstacle clearer, applied to the unmanned aerial vehicle, the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a bearing assembly, the laser obstacle clearer comprises a pan-tilt assembly, an adjustment assembly, a laser output head, a laser transmission line and a laser generating assembly; the bearing assembly is arranged on one side of the unmanned aerial vehicle body, and a containing space is formed between the bearing assembly and the unmanned aerial vehicle body, the bearing assembly and the pan-tilt assembly are located in the containing space, the pan-tilt assembly is rotatably connected to the adjustment assembly, the laser output head is arranged on a side of the adjustment assembly away from the pan-tilt assembly, one end of the laser transmission line is connected to the laser output head, and the other end is connected to the laser generating assembly;

[0006] When the pan-tilt assembly drives the adjustment assembly and the laser output head to perform pitch rotation relative to the pan-tilt assembly, the adjustment assembly is used to adjust the center of gravity position of the laser output head.

[0007] Preferably, the gimbal assembly includes a gimbal base, a horizontal bracket and a pitch bracket, the gimbal base is arranged in the accommodating space, the horizontal bracket is arranged on the gimbal base, and the horizontal bracket can rotate circumferentially around the axis of the gimbal base; the adjustment assembly is arranged on a side of the horizontal bracket away from the gimbal base, one end of the pitch bracket is rotatably connected to the horizontal bracket, and the other end is detachably connected to the adjustment assembly, and the pitch bracket drives the adjustment assembly to rotate along the axial direction of the gimbal base relative to the horizontal bracket to implement the pitch rotation.

[0008] Preferably, the adjustment assembly includes a detection module, an adjustment frame, an adjustment motor, an adjustment rod and an adjustment ball;

[0009] The adjustment frame is arranged between the laser output head and the pitch bracket, and the adjustment frame is provided with a receiving channel, and the detection module and the adjustment motor are arranged in the receiving channel, and the detection module is electrically connected to the adjustment motor, and the adjustment motor is provided with the adjustment rod along the axial direction of the receiving channel, and the adjustment ball is arranged at one end of the adjustment rod away from the adjustment motor, and the adjustment motor drives the adjustment rod to drive the adjustment ball to perform telescopic movement, and the adjustment ball is used to adjust the center of gravity position of the laser output head.

[0010] Preferably, the adjustment frame is provided with a limit block corresponding to the adjustment ball, and a sliding channel is opened on the side of the limit block close to the adjustment ball. When the adjustment rod drives the adjustment ball to perform telescopic movement relative to the adjustment motor, the adjustment ball slides along the surface of the sliding channel.

[0011] Preferably, the laser generating assembly includes a shell, and a laser generator and a power supply arranged inside the shell and electrically connected to each other, the shell is provided with a connecting hole corresponding to the laser transmission line, the laser output head is provided with a connecting interface corresponding to the laser transmission line, one end of the laser transmission line passes through the connecting hole to be connected to the laser generator, and the other end is connected to the connecting interface.

[0012] Preferably, the length of the laser transmission line is greater than the distance from the connection interface to the connection hole.

[0013] Preferably, the supporting assembly includes a frame and a supporting platform, the frame is arranged on one side of the drone body, the supporting platform is arranged at an end of the frame away from the drone body, the supporting platform, the frame and the drone body together form the accommodating space, and the gimbal assembly and the laser generating assembly are arranged on a side of the supporting platform close to the drone body.

[0014] Preferably, the laser obstacle remover further comprises a positioning module, the positioning module is arranged in the accommodating space, and the positioning module is signal-connected to the laser output head.

[0015] In order to solve the above technical problems, the present invention provides another technical solution as follows: an obstacle removal method, using the above-mentioned automatic balancing drone equipped with a laser obstacle removal device, the obstacle removal method comprises:

[0016] Obtain the location of the obstacle, generate an operation point based on the location of the obstacle, and control the drone to fly within the preset range of the operation point;

[0017] Control the drone to hover and generate strike points on the obstacle surface;

[0018] Controlling the pan / tilt assembly to make the laser output head rotate horizontally and / or in elevation until the light outlet of the laser output head is aligned with the striking point;

[0019] The laser is output from the light outlet of the laser output head and acts on the striking point, and the center of gravity of the laser output head is continuously controlled by adjusting the components;

[0020] Control the laser output head to stop outputting laser and control the drone to return to complete the operation.

[0021] Preferably, controlling the center of gravity of the laser obstacle remover by adjusting the assembly includes:

[0022] Providing a detection module, and checking whether the center of gravity of the laser output head is offset based on the detection module;

[0023] If so, an adjustment instruction is generated, the adjustment instruction is transmitted to the adjustment component, and the adjustment component is controlled to perform telescopic movement to adjust the center of gravity of the laser output head.

[0024] Compared with the prior art, the automatic balancing drone equipped with a laser obstacle remover and the obstacle removal method provided by the present invention have the following beneficial effects:

[0025] 1. An embodiment of the present invention provides an automatic balancing unmanned aerial vehicle equipped with a laser obstacle clearer, the laser obstacle clearer includes an unmanned aerial vehicle body, a bearing assembly, a pan-tilt assembly and a laser obstacle clearer; the laser obstacle clearer includes an adjustment assembly, a laser output head, a laser transmission line and a laser generating assembly; the bearing assembly is arranged on one side of the unmanned aerial vehicle body, and a containing space is formed between the bearing assembly and the unmanned aerial vehicle body, the bearing assembly and the pan-tilt assembly are located in the containing space, the pan-tilt assembly is rotatably connected to the adjustment assembly, a laser output head is arranged on the side of the adjustment assembly away from the pan-tilt assembly, one end of the laser transmission line is connected to the laser output head, and the other end is connected to the laser generating assembly; when the pan-tilt assembly drives the adjustment assembly and the laser output head to perform pitch rotation relative to the pan-tilt assembly, the adjustment assembly is used to adjust the center of gravity position of the laser output head. The present invention innovatively combines the advantages of the pan-tilt assembly and the adjustment assembly, and rotates the laser obstacle clearer based on the pan-tilt assembly to align the light port with the obstacle, and stabilizes the center of gravity of the laser output head as a whole based on the adjustment assembly.

[0026] 2. The pan-tilt assembly of the present invention includes a pan-tilt base, a horizontal bracket and a pitch bracket. The pan-tilt base is arranged in the accommodation space, the horizontal bracket is arranged on the pan-tilt base, and the horizontal bracket can rotate circumferentially around the axis of the pan-tilt base; the adjustment assembly is arranged on the side of the horizontal bracket away from the pan-tilt base, one end of the pitch bracket is rotatably connected to the horizontal bracket, and the other end is detachably connected to the adjustment assembly, and the pitch bracket drives the adjustment assembly to rotate relative to the horizontal bracket along the axial direction of the pan-tilt base to implement pitch rotation. When the drone body carries the laser obstacle remover near an obstacle, the position of the laser output head can be adjusted through the pan-tilt assembly so that the light outlet of the laser output head is aligned with the obstacle.

[0027] 3. The adjustment assembly of the present invention comprises a detection module, an adjustment frame, an adjustment motor, an adjustment rod and an adjustment ball;

[0028] The adjustment frame is arranged between the laser output head and the pitch bracket, and the adjustment frame is provided with a receiving channel, and a detection module and an adjustment motor are arranged in the receiving channel, and the detection module is electrically connected with the adjustment motor, and an adjustment rod is arranged along the axial direction of the receiving channel for the adjustment motor, and an adjustment ball is arranged at one end of the adjustment rod away from the adjustment motor, and the adjustment motor drives the adjustment rod to drive the adjustment ball to perform telescopic movement, and the adjustment ball is used to adjust the center of gravity position of the laser output head. The center of gravity of the laser output head is always unchanged, and even if the laser transmission line shakes, the laser output head will not be driven to shake together.

[0029] 4. The adjustment frame of the present invention is provided with a limit block corresponding to the adjustment ball, and a sliding channel is opened on the side of the limit block close to the adjustment ball. When the adjustment rod drives the adjustment ball to perform telescopic movement relative to the adjustment motor, the adjustment ball slides along the surface of the sliding channel, forcing the adjustment ball to always move in the axial direction of the adjustment rod.

[0030] 5. The laser generating assembly of the present invention includes a shell, and a laser generator and a power supply disposed inside the shell and electrically connected to each other. The shell has a connection hole corresponding to the laser transmission line, and the laser output head has a connection interface corresponding to the laser transmission line. One end of the laser transmission line passes through the connection hole and is connected to the laser generator, and the other end is connected to the connection interface. There is no need to pull a power supply line from the ground to connect the drone, which improves the stability of the laser obstacle remover.

[0031] 6. The length of the laser transmission line of the present invention is greater than the distance from the connection interface to the connection hole, ensuring that the laser output head has sufficient space for pitch rotation and horizontal rotation relative to the pan / tilt base.

[0032] 7. The bearing assembly of the present invention includes a frame and a bearing platform, the frame is arranged on one side of the drone body, the bearing platform is arranged at one end of the frame away from the drone body, the bearing platform, the frame and the drone body together form a containing space, and the pan-tilt assembly and the laser generating assembly are arranged on the side of the bearing platform close to the drone body. The frame and the bearing platform can protect the laser obstacle remover.

[0033] 8. The embodiment of the present invention also provides an obstacle removal method, which has the same beneficial effects as the above-mentioned automatic balancing drone equipped with a laser obstacle remover, and will not be described in detail here.

Brief Description of the Drawings

[0034] Figure 1 It is a structural schematic diagram of an automatic balancing UAV equipped with a laser obstacle remover provided by the first embodiment of the present invention.

[0035] Figure 2 yes Figure 1 A magnified view of the structure in the middle.

[0036] Figure 3 This is a schematic diagram of the partial structure of the automatic balancing drone equipped with a laser obstacle remover provided in the first embodiment of the present invention. Figure 1 .

[0037] Figure 4 This is a schematic diagram of the partial structure of the automatic balancing drone equipped with a laser obstacle remover provided in the first embodiment of the present invention. Figure 2 .

[0038] Figure 5 yes Figure 4 A magnified view of the structure in the middle.

[0039] Figure 6a It is a schematic diagram of an adjustment structure of an automatic balancing UAV equipped with a laser obstacle remover provided by the first embodiment of the present invention.

[0040] Figure 6b It is a schematic diagram of another adjustment structure of the automatic balancing UAV equipped with a laser obstacle remover provided in the first embodiment of the present invention.

[0041] Figure 7 It is a flowchart of the obstacle removal method provided by the second embodiment of the present invention.

[0042] Description of the accompanying drawings:

[0043] 10. Drones;

[0044] 1. UAV body; 2. Carrying components; 3. Gimbal components; 4. Laser obstacle remover;

[0045] 21. Rack; 22. Carrying platform; 31. PTZ base; 32. Horizontal bracket; 33. Pitch bracket; 41. Adjustment component; 42. Laser output head; 43. Laser transmission line; 44. Laser generating component;

[0046] 411, adjustment frame; 412, adjustment motor; 413, adjustment rod; 414, adjustment ball; 415, accommodation channel; 416, limit block; 417, sliding channel; 441, housing; 442, connection hole; 431, connection interface. [Specific implementation method]

[0047] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0048] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0049] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present invention.

[0050] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the above-mentioned processes does not mean the necessary order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0051] The flow chart and block diagram in the accompanying drawings of the present invention illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which is determined based on the functions involved. It should be particularly noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs a specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0052] Traditional obstacle removers are usually mounted on the ground with a bracket, use a camera module to locate distant obstacles, and emit lasers to clear the obstacles. If the obstacle is farther away from the installation point of the obstacle remover, the obstacle removal effect of the traditional obstacle remover will also deteriorate. The existing solution is to place the obstacle remover on a drone, use the high maneuverability of the drone to first carry the obstacle remover to the vicinity of the obstacle, and then the drone will hover first and then emit lasers to clear the obstacle.

[0053] Laser obstacle removers are usually composed of interconnected laser generators, laser transmission lines, and laser output heads. The laser generator is used to generate lasers, which are transmitted to the laser output head through the laser transmission line. The laser output head has a lens for focusing the light beam. After focusing through the lens, the light is emitted from the light outlet of the laser output head. After the drone takes off, even if it enters the hovering mode, its fuselage cannot be absolutely stable. One reason is that it is easily disturbed by the environment in the air. For example, when the drone fuselage is affected by wind, the fuselage is prone to shaking. The shaking of the fuselage is transmitted to the laser transmission line, forcing the laser transmission line to shake. Another reason is that when the wing rotates, it will transmit weak vibrations to the fuselage, causing the fuselage to be forced to vibrate. The vibrations mentioned above will be transmitted to the laser transmission line and cause the laser transmission line to shake.

[0054] It should be noted that, ideally, when the laser obstacle remover is removing obstacles, it is expected to be as stable as possible. However, if the laser transmission line shakes, it will inevitably shake with the laser output head connected to it, resulting in the entire laser obstacle remover constantly changing its center of gravity during the obstacle removal process. The ensuing problem is that the change in the center of gravity of the laser obstacle remover will further cause the laser obstacle remover to shake. In particular, when the obstacle remover emits laser at a fixed point on an obstacle, the point where the laser hits the surface of the obstacle will continue to shift as the obstacle remover shakes itself, resulting in poor obstacle removal results.

[0055] To solve the above problems, please combine Figure 1 and Figure 2 The first embodiment of the present invention provides an automatic balancing drone equipped with a laser obstacle clearer 10, wherein the laser obstacle clearer 4 comprises a drone body 1 and a bearing assembly 2, the laser obstacle clearer 4 comprises a gimbal assembly 3 and an adjustment assembly 41, a laser output head 42, a laser transmission line 43 and a laser generating assembly 44; the bearing assembly 2 is arranged on one side of the drone body 1, and a containing space is formed between the bearing assembly 2 and the drone body 1, the bearing assembly 2 and the gimbal assembly 3 are located in the containing space, the gimbal assembly 3 is rotatably connected to the adjustment assembly 41, a laser output head 42 is arranged on a side of the adjustment assembly 41 away from the gimbal assembly 3, one end of the laser transmission line 43 is connected to the laser output head 42, and the other end is connected to the laser generating assembly 44.

[0056] It can be understood that the drone body 1 is provided with wings that drive the drone body 1 to take off. After the wings rotate, the laser obstacle remover 4 will follow the drone body 1 to the vicinity of the obstacle. It should be noted that whether it is the shaking of the laser transmission line 43 caused by the vibration of the drone wing or the shaking of the laser transmission line 43 caused by the influence of wind, the center of gravity of the laser output head 42 will change. This center of gravity change usually includes the center of gravity offset parallel to the horizontal plane and the center of gravity offset perpendicular to the horizontal plane. Usually due to the characteristics of the wing, the center of gravity offset of the drone 10 parallel to the horizontal plane is negligible when the drone 10 is in a hovering state. What urgently needs to be solved is the center of gravity offset of the drone 10 perpendicular to the horizontal plane. It should be understood that the center of gravity offset and shaking described in this embodiment refer to the center of gravity offset perpendicular to the horizontal plane and / or the shaking perpendicular to the horizontal plane, which will not be described in detail later.

[0057] Specifically, the pan-tilt assembly 3 is used to drive the laser output head 42 in the laser obstacle remover 4 to rotate horizontally and / or tilt, so that the light outlet of the laser output head 42 is aligned with the obstacle. When the center of gravity of the laser output head 42 changes, if the pan-tilt assembly 3 cannot respond to the center of gravity shift of the laser output head 42 in time, the consequence is that the center of gravity shift of the entire laser obstacle remover 4 forces the laser transmission line 43 to shake with the laser output head 42.

[0058] In addition, the laser output head 42 is roughly cylindrical, with one end of the lens for emitting light and the other end connected to the laser transmission line 43. When the laser output head 42 is pitched, the center of gravity of the laser output head 42 will also change continuously. The designer expects that the center of gravity of the laser output head 42 is always located on the axis of the pan-tilt assembly 3, so that when the pan-tilt assembly 3 controls the laser output head 42 to rotate, the stability of the laser output head 42 can be greatly improved.

[0059] It should be understood that in this embodiment, an adjustment component 41 is added between the pan-tilt assembly 3 and the laser output head 42. The function of the adjustment component 41 is to respond to the change of the center of gravity of the laser output head 42 itself. It should be noted that the change of the center of gravity of the laser output head 42 itself is the premise for the laser output head 42 to shake or move during the obstacle removal process. If the center of gravity of the laser output head 42 can be stabilized before the laser output head 42 shakes, the problem of shaking of the laser output head 42 will inevitably be solved. This embodiment innovatively combines the advantages of the pan-tilt assembly 3 and the adjustment component 41 to address the problem caused by the shaking of the laser transmission line 43. The laser obstacle remover 4 is rotated based on the pan-tilt assembly 3 to align the light port with the obstacle, and the center of gravity of the laser output head 42 as a whole is stabilized based on the adjustment component 41. Specifically, when the pan-tilt assembly 3 drives the adjustment assembly 41 and the laser output head 42 to perform pitch rotation relative to the pan-tilt assembly 3, the adjustment assembly 41 is used to adjust the center of gravity position of the laser output head 42, so that the laser output head 42 will not shake with the shaking of the laser transmission line 43. In addition, the center of gravity of the laser output head 42 is always on the axis of the pan-tilt assembly 3. When the pan-tilt assembly 3 controls the laser output head 42 to rotate, the stability of the laser output head 42 can also be greatly improved.

[0060] In one embodiment, the drone 10 has acquired the location information of the obstacle before taking off. Based on the location information of the obstacle, the drone 10 only needs to fly near the obstacle, and then adjust the laser obstacle remover 4 to aim at the obstacle to remove the obstacle. This method is suitable for removing static obstacles.

[0061] In another embodiment, the laser obstacle clearer 4 also includes a positioning module, which is arranged in the accommodating space, and the positioning module is connected to the laser output head 42 by signal. It should be understood that the positioning module can specifically be a module that integrates instruments such as a camera and a rangefinder. When the drone body 1 carries the laser obstacle clearer 4 to the vicinity of an obstacle, it will first hover, and then use the positioning module to accurately measure the distance between the drone 10 and the obstacle and obtain the location information of the obstacle. Based on the location information of the obstacle, the laser obstacle clearer 4 is adjusted to align with the obstacle and clear the obstacle. This method is suitable for clearing static or dynamic obstacles.

[0062] For further information, see Figure 4 The gimbal assembly 3 includes a gimbal base 31, a horizontal bracket 32 ​​and a pitch bracket 33. The gimbal base 31 is arranged in the accommodation space, and the horizontal bracket 32 ​​is arranged on the gimbal base 31, and the horizontal bracket 32 ​​can rotate circumferentially around the axis of the gimbal base 31; the adjustment assembly 41 is arranged on the side of the horizontal bracket 32 ​​away from the gimbal base 31, one end of the pitch bracket 33 is rotatably connected to the horizontal bracket 32, and the other end is detachably connected to the adjustment assembly 41, and the pitch bracket 33 drives the adjustment assembly 41 to rotate relative to the horizontal bracket 32 ​​along the axial direction of the gimbal base 31 to implement pitch rotation. It should be understood that the gimbal assembly 3 is responsible for controlling the laser output head 42 to implement two-dimensional rotation. That is, horizontal rotation parallel to the horizontal plane and pitch rotation perpendicular to the horizontal plane. When the drone body 1 carries the laser obstacle remover 4 to the vicinity of an obstacle, the position of the laser output head 42 can be adjusted by the gimbal assembly 3 so that the light outlet of the laser output head 42 is aligned with the obstacle.

[0063] Specifically, the pitch bracket 33 in this embodiment can be an "L"-shaped bracket, and the horizontal bracket 32 ​​is formed by connecting a column bracket and a disc, wherein the surface of the column bracket is composed of two planes and a curved surface, and a disc is arranged on the curved surface, and the disc is rotatably connected to the gimbal base 31, so that the disc can drive the column bracket to rotate circumferentially around the axis of the gimbal base 31. One end of the "L"-shaped pitch bracket 33 is rotatably connected to the plane of the column bracket, so that the pitch bracket 33 can rotate circumferentially around the axis of the column bracket, and the other end of the "L"-shaped pitch bracket 33 is detachably connected to the adjustment component 41. It should be understood that if the user wants to store the laser output head 42 separately, or repair it separately. The laser output head 42 and the laser transmission line 43 can be disassembled first, and then the adjustment component 41 and the pitch bracket 33 can be disassembled, and the laser output head 42 together with the adjustment component 41 can be disassembled from the drone body 1 and stored separately.

[0064] Furthermore, please combine Figure 5 , Figure 6a and Figure 6bThe adjustment component 41 includes a detection module, an adjustment frame 411, an adjustment motor 412, an adjustment rod 413 and an adjustment ball 414. The adjustment frame 411 is arranged between the laser output head 42 and the pitch bracket 33. An accommodating channel 415 is provided in the adjustment frame 411. The detection module and the adjustment motor 412 are arranged in the accommodating channel 415. The detection module is electrically connected to the adjustment motor 412. The adjustment motor 412 is provided with an adjustment rod 413 along the axial direction of the accommodating channel 415. An adjustment ball 414 is arranged at one end of the adjustment rod 413 away from the adjustment motor 412. The adjustment motor 412 drives the adjustment rod 413 to drive the adjustment ball 414 to perform telescopic movement. The adjustment ball 414 is used to adjust the center of gravity position of the laser output head 42.

[0065] It should be understood that the adjustment frame 411 serves as a bridge connecting the laser output head 42 and the pitch bracket 33, and can also protect the components in the accommodating channel 415. For example, when the drone 10 is clearing an obstacle, the shaking of the laser transmission line 43 will drive the laser output head 42 to shake, that is, the center of gravity of the entire laser obstacle remover 4 is forced to change continuously during the obstacle removal process. Specifically, at the beginning, the center of gravity of the laser output head 42 has just changed, and the change in the center of gravity is not enough to drive the laser output head 42 to move, that is, when the laser output head 42 outputs laser, the position of the laser strike will not be offset. As the laser transmission line 43 continues to shake, until the shaking forces the center of gravity of the laser output head 42 to change to a critical position, the laser output head 42 will shake with the laser transmission line 43, and the position of the laser strike will be offset.

[0066] It should be understood that the detection module in this embodiment can detect the change of the center of gravity of the laser output head 42 in real time. The detection module can be a combination module of an instrument such as a gyroscope or a center of gravity detector and a communication module. In the initial state, the laser output head 42 is at the initial center of gravity position. Specifically, the initial center of gravity of the laser output head 42 will coincide with the axis of the pan-tilt assembly 3. There is a certain distance between the adjustment ball 414 and the adjustment motor 412. When it is found that the center of gravity position of the laser output head 42 has changed, the adjustment rod 413 can be controlled by the adjustment motor 412, so that the adjustment rod 413 drives the adjustment ball 414 to perform telescopic movement, and then adjusts the center of gravity of the laser output head 42 to restore to the initial center of gravity position. At this time, since the center of gravity of the laser output head 42 has not changed compared to the initial center position, even if the laser transmission line 43 shakes, it will not drive the laser output head 42 to shake together.

[0067] In one possible implementation, please combine Figure 5 and Figure 6a, the number of the adjusting rods 413 and the adjusting balls 414 is at least two. Exemplarily, if the number of the adjusting rods 413 and the adjusting balls 414 is two, the two adjusting rods 413 will be arranged on the adjusting motor 412 at right angles, and the clamping surfaces of the two adjusting rods 413 are parallel to the horizontal plane. It should be understood that the ends of the two adjusting rods 413 away from the adjusting motor 412 are respectively provided with adjusting balls 414. Among them, the movement of the laser output head 42 mainly includes two directions, one is the direction perpendicular to the horizontal plane, also known as the pitch direction. The other is the direction parallel to the horizontal plane, also known as the horizontal direction. Specifically, one of the adjusting rods 413 is used to control the center of gravity of the laser output head 42 in the pitch direction, and the other adjusting rod 413 is used to control the center of gravity of the laser output head 42 in the horizontal direction. The two adjusting rods 413 act together to freely control the center of gravity position of the laser output head 42, avoid the deviation of the point where the laser strikes the surface of the obstacle, and improve the obstacle removal effect.

[0068] It should be noted that when the number of the adjusting rod 413 and the adjusting ball 414 is more than two, reference can be made to Figure 6a The layout of the middle adjustment rod 413 and the adjustment ball 414 can be distributed around the adjustment motor 412 accordingly.

[0069] In one possible implementation, please combine Figure 5 and Figure 6b , because the center of gravity offset of the drone 10 parallel to the horizontal plane is negligible. What needs to be solved urgently is the center of gravity offset of the drone 10 perpendicular to the horizontal plane. Therefore, the number of the adjusting rod 413 and the adjusting ball 414 is one. The adjusting frame 411 is provided with a receiving channel 415 along the light output direction parallel to the laser output head 42, and the adjusting motor 412 is provided with an adjusting rod 413 along the axial direction of the receiving channel 415, and the adjusting ball 414 is provided at one end of the adjusting rod 413 away from the adjusting motor 412. At this time, since the axial direction of the receiving channel 415 is parallel to the light output direction of the laser output head 42, when the adjusting motor 412 drives the adjusting rod 413 to drive the adjusting ball 414 to perform telescopic movement, the center of gravity position of the laser output head 42 in the pitch direction is mainly controlled. It should be understood that by reducing the offset of the center of gravity of the laser output head 42 perpendicular to the horizontal plane, the shaking of the laser output head 42 is weakened, the point where the laser strikes the obstacle surface is prevented from being offset, and the obstacle removal effect is improved.

[0070] Furthermore, the adjustment frame 411 is provided with a limit block 416 corresponding to the adjustment ball 414, and a sliding channel 417 is provided on the side of the limit block 416 close to the adjustment ball 414. When the adjustment rod 413 drives the adjustment ball 414 to perform telescopic movement relative to the adjustment motor 412, the adjustment ball 414 slides along the surface of the sliding channel 417. It should be understood that when the adjustment rod 413 drives the adjustment ball 414 to perform telescopic movement, the adjustment ball 414 may extend out of the accommodating channel 415. The limit block 416 can both support the adjustment ball 414 and limit the moving direction of the adjustment ball 414, forcing the adjustment ball 414 to always move in the axial direction of the adjustment rod 413.

[0071] For further information, see Figure 3 The laser generating assembly 44 includes a shell 441, and a laser generator and a power supply which are arranged inside the shell 441 and are electrically connected to each other. The shell 441 is provided with a connection hole 442 corresponding to the laser transmission line 43, and the laser output head 42 is provided with a connection interface 431 corresponding to the laser transmission line 43. One end of the laser transmission line 43 passes through the connection hole 442 to connect to the laser generator, and the other end is connected to the connection interface 431. It should be understood that the traditional way is to pull a power line from the ground to connect the drone 10 to power the drone body 1 or the laser obstacle remover 4. However, this kind of power supply method will make the fuselage of the drone 10 shake more violently when it is affected by wind because the power line itself has a volume. The drone 10 provided in this embodiment integrates the power supply and the laser generator, and there is no need to pull a power line from the ground to connect the drone 10 separately, thereby improving the stability of the laser obstacle remover 4.

[0072] Specifically, the length of the laser transmission line 43 is greater than the distance from the connection interface 431 to the connection hole 442. It should be understood that if the length of the laser transmission line 43 is less than the distance from the connection interface 431 to the connection hole 442. The gimbal assembly 3 can only drive the laser output head 42 to perform a small pitch rotation, and cannot perform horizontal rotation. When locating obstacles, it is necessary to adjust the fuselage of the drone 10 to align with the obstacles, which is extremely inconvenient. In this embodiment, the length of the laser transmission line 43 is greater than the distance from the connection interface 431 to the connection hole 442, ensuring that the laser output head 42 has sufficient space for pitch rotation and horizontal rotation relative to the gimbal base 31.

[0073] Furthermore, please combine Figure 1 and Figure 2The bearing assembly 2 includes a frame 21 and a bearing platform 22. The frame 21 is arranged on one side of the drone body 1, and the bearing platform 22 is arranged on the end of the frame 21 away from the drone body 1. The bearing platform 22, the frame 21 and the drone body 1 together form a storage space, and the gimbal assembly 3 and the laser generating assembly 44 are arranged on the side of the bearing platform 22 close to the drone body 1. It should be understood that the side of the frame 21 away from the drone body 1 can be used as a landing gear for landing, and the laser obstacle remover 4 and the gimbal assembly 3 are inside the storage space formed by the bearing platform 22, the frame 21 and the drone body 1. The frame 21 and the bearing platform 22 can protect the laser obstacle remover 4.

[0074] Please combine Figure 2 and Figure 7 The second embodiment of the present invention further provides an obstacle removal method, using the above-mentioned automatic balancing drone equipped with a laser obstacle remover, the obstacle removal method includes:

[0075] S1, obtain the location of the obstacle, generate an operation point based on the location of the obstacle, and control the drone to fly within the preset range of the operation point;

[0076] S2, controls the drone to hover and generates a strike point on the obstacle surface;

[0077] S3, controlling the pan / tilt assembly to make the laser output head rotate horizontally and / or in elevation until the light outlet of the laser output head is aligned with the striking point;

[0078] S4, the laser is output from the light outlet of the laser output head and acts on the striking point, and the center of gravity of the laser output head is continuously controlled by adjusting the components;

[0079] S 5, controls the laser output head to stop outputting laser and controls the drone to return to complete the operation.

[0080] Understandably, in order to improve the effect of drone obstacle removal. In this embodiment, the position of the obstacle is first obtained, and the operation point is generated based on the position of the obstacle. It should be understood that the drone should not be too close or too far from the obstacle. If it is too far from the obstacle, the laser energy output by the laser obstacle remover will be attenuated to a certain extent. If it is too close to the obstacle, the debris aroused by the laser laser on the surface of the obstacle may fall or be ejected onto the drone, causing damage to the drone. Therefore, it is only necessary to control the drone to fly within the preset range of the operation point to ensure that the obstacle removal work can be completed efficiently and safely. Further, when the drone is within the preset range of the operation point, it can enter the hovering mode, which means that the drone no longer moves and is in a relatively static state. At this time, a strike point can be generated on the surface of the obstacle based on the position of the obstacle. For example, the generation of this strike point can be that the laser obstacle remover uses a camera to identify the shape of the obstacle and simulates a strike point on the surface of the obstacle. The strike point also represents the point where the user expects the laser to be concentrated. Furthermore, the laser output head is rotated horizontally and / or tilted by controlling the pan / tilt assembly until the light outlet of the laser output head is aligned with the striking point. At this time, the laser output head can output laser light from the light outlet and act on the striking point.

[0081] Furthermore, when the laser acts on the striking point, if the laser transmission line shakes, the center of gravity of the laser output head can be continuously controlled by adjusting the component so that the center of gravity of the laser output head does not change or shift. Thus, when the laser strikes the striking point, it will not shift due to the shaking of the laser transmission line.

[0082] Further, controlling the center of gravity of the laser obstacle remover by adjusting the components includes:

[0083] Providing a detection module, and checking whether the center of gravity of the laser output head is offset based on the detection module;

[0084] If so, an adjustment instruction is generated, the adjustment instruction is transmitted to the adjustment component, and the adjustment component is controlled to perform telescopic movement to adjust the center of gravity of the laser output head.

[0085] It should be understood that the detection module can be a combination module of a device such as a gyroscope or a center of gravity detector and a communication module. When the center of gravity of the laser output head changes, the detection module generates an adjustment instruction accordingly. Specifically, the detection module is electrically connected or signal-connected to the adjustment component, and by transmitting the adjustment instruction to the adjustment component, the adjustment component performs a telescopic movement to adjust the center of gravity of the laser output head, which is simple and convenient.

[0086] The above is a detailed introduction to an automatic balancing drone equipped with a laser obstacle clearer and an obstacle clearing method disclosed in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention, and any modifications, equivalent substitutions and improvements made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic balancing drone equipped with a laser obstacle remover, applied to drones, characterized by: The UAV comprises a UAV body and a bearing assembly, and the laser obstacle remover comprises a pan-tilt assembly, an adjustment assembly, a laser output head, a laser transmission line and a laser generating assembly; the bearing assembly is arranged on one side of the UAV body, and a containing space is formed between the bearing assembly and the UAV body, the bearing assembly and the pan-tilt assembly are located in the containing space, the pan-tilt assembly is rotatably connected to the adjustment assembly, the laser output head is arranged on one side of the adjustment assembly away from the pan-tilt assembly, one end of the laser transmission line is connected to the laser output head, and the other end is connected to the laser generating assembly; When the pan-tilt assembly drives the adjustment assembly and the laser output head to perform pitch rotation relative to the pan-tilt assembly, the adjustment assembly is used to adjust the center of gravity position of the laser output head.

2. The automatic balancing drone equipped with a laser obstacle remover as claimed in claim 1, characterized in that: The gimbal assembly includes a gimbal base, a horizontal bracket and a pitch bracket, the gimbal base is arranged in the accommodating space, the horizontal bracket is arranged on the gimbal base, and the horizontal bracket can rotate circumferentially around the axis of the gimbal base; the adjustment assembly is arranged on a side of the horizontal bracket away from the gimbal base, one end of the pitch bracket is rotatably connected to the horizontal bracket, and the other end is detachably connected to the adjustment assembly, and the pitch bracket drives the adjustment assembly to rotate along the axial direction of the gimbal base relative to the horizontal bracket to implement the pitch rotation.

3. The automatic balancing drone equipped with a laser obstacle remover as claimed in claim 2, characterized in that: The adjustment assembly includes a detection module, an adjustment frame, an adjustment motor, an adjustment rod and an adjustment ball; The adjustment frame is arranged between the laser output head and the pitch bracket, and the adjustment frame is provided with a receiving channel, and the detection module and the adjustment motor are arranged in the receiving channel, and the detection module is electrically connected to the adjustment motor, and the adjustment motor is provided with the adjustment rod along the axial direction of the receiving channel, and the adjustment ball is arranged at one end of the adjustment rod away from the adjustment motor, and the adjustment motor drives the adjustment rod to drive the adjustment ball to perform telescopic movement, and the adjustment ball is used to adjust the center of gravity position of the laser output head.

4. The automatic balancing drone equipped with a laser obstacle remover as claimed in claim 3, characterized in that: The adjustment frame is provided with a limit block corresponding to the adjustment ball, and a sliding channel is opened on a side of the limit block close to the adjustment ball. When the adjustment rod drives the adjustment ball to perform telescopic movement relative to the adjustment motor, the adjustment ball slides along the surface of the sliding channel.

5. The automatic balancing drone equipped with a laser obstacle remover as claimed in claim 1, characterized in that: The laser generating assembly includes a shell, and a laser generator and a power supply which are arranged inside the shell and electrically connected to each other. The shell is provided with a connecting hole corresponding to the laser transmission line, and the laser output head is provided with a connecting interface corresponding to the laser transmission line. One end of the laser transmission line passes through the connecting hole and is connected to the laser generator, and the other end is connected to the connecting interface.

6. The automatic balancing drone equipped with a laser obstacle remover as claimed in claim 5, characterized in that: The length of the laser transmission line is greater than the distance from the connection interface to the connection hole.

7. The automatic balancing drone equipped with a laser obstacle remover as claimed in claim 1, characterized in that: The supporting component includes a frame and a supporting platform, the frame is arranged on one side of the drone body, the supporting platform is arranged on an end of the frame away from the drone body, the supporting platform, the frame and the drone body together form the accommodating space, and the gimbal component and the laser generating component are arranged on a side of the supporting platform close to the drone body.

8. The automatic balancing drone equipped with a laser obstacle remover as claimed in claim 1, characterized in that: The laser obstacle remover further includes a positioning module, which is disposed in the accommodating space and is signal-connected to the laser output head.

9. An obstacle removal method, using the self-balancing drone as claimed in any one of claims 1 to 8 equipped with a laser obstacle removal device, characterized in that: The obstacle removal method comprises: Obtain the location of the obstacle, generate an operation point based on the location of the obstacle, and control the drone to fly within the preset range of the operation point; Control the drone to hover and generate strike points on the obstacle surface; Controlling the pan / tilt assembly to make the laser output head rotate horizontally and / or in elevation until the light outlet of the laser output head is aligned with the striking point; The laser is output from the light outlet of the laser output head and acts on the striking point, and the center of gravity of the laser output head is continuously controlled by adjusting the components; Control the laser output head to stop outputting laser and control the drone to return to complete the operation.

10. The obstacle removal method according to claim 9, characterized in that: The center of gravity of the laser obstacle remover is controlled by adjusting the components including: Providing a detection module, and checking whether the center of gravity of the laser output head is offset based on the detection module; If so, an adjustment instruction is generated, the adjustment instruction is transmitted to the adjustment component, and the adjustment component is controlled to perform telescopic movement to adjust the center of gravity of the laser output head.

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