Automatic intelligent traction unmanned aerial vehicle

Abstract

The invention provides an automatic intelligent traction unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle blind guiding. The traction unmanned aerial vehicle comprises an unmanned aerial vehicle body, a camera, a loudspeaker, a central processing unit and a traction ring, the central processing unit and the loudspeaker are both arranged on the traction ring, an induction groove is formed in the traction ring, a balancing weight is movably arranged in the induction groove, and a gravity sensor is arranged at the position, located at the bottom of the balancing weight, of the induction groove. The balancing weight is connected with a traction rope, the other end of the traction rope is connected with a take-up and pay-off mechanism arranged at the bottom of the unmanned aerial vehicle body, and the gravity sensor and the loudspeaker are both electrically connected to the central processing unit. The invention aims to provide the automatic intelligent traction unmanned aerial vehicle which can assist people with vision disability in safely walking in a familiar environment, has a traction function to a certain extent, and can achieve a reminding effect when an emergency occurs.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) guiding the blind, and in particular to an automated intelligent traction UAV. Background Art

[0002] The blind are a vulnerable group in society. Due to their physiological defects, they cannot take care of themselves in many aspects of life, which seriously affects their quality of life, including difficulty in daily self-care, travel, social interaction, information reception, and serious lack of entertainment. The country has always paid great attention to and attached great importance to improving the living conditions of the visually impaired group. From the formulation of laws and regulations to the specific measures taken by cities, huge manpower and material resources have been invested to improve their living conditions and improve their quality of life. Almost all visually impaired people hope to have an auxiliary navigation facility that can make them the same as normal people and ensure that they feel convenient and safe on the road. Although the current travel trajectories of the blind are mostly fixed routes, they will always encounter various emergencies during the route, which makes the blind caught off guard and very inconvenient. With the development of electronic technology and information technology, various smart products are constantly launched on the market, involving all aspects of life, including smart homes, various service robots, etc. How to improve the working efficiency of guide robots is a social problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the present invention is to provide an automated intelligent traction drone, which can assist visually impaired people to walk safely in a familiar environment, play a certain degree of traction function, and can serve as a reminder when an emergency occurs.

[0004] The embodiment of the present invention is implemented as follows: an automated intelligent traction drone, comprising a drone body, a camera, a speaker, a central processor and a traction ring, wherein the camera is arranged at the front end of the drone, the central processor and the speaker are both arranged at the traction ring, the traction ring is provided with a sensing slot, a counterweight block is movably arranged in the sensing slot, the sensing slot is located at the bottom of the counterweight block and a gravity sensor is arranged, the counterweight block is connected with a traction rope, the other end of the traction rope is connected with a retractable mechanism for retracting the traction rope, the retractable mechanism is arranged at the bottom of the drone body, and the gravity sensor and the speaker are both electrically connected to the central processor. The drone is towed on the wrist of a visually impaired person at a flexible distance using the traction rope and the retractable mechanism, and the actual situation on the observed route is displayed to the visually impaired person in cooperation with the camera and the speaker, so that the person can understand the real-time situation ahead of the route more timely and clearly; at the same time, a gravity sensor and a traction rope are arranged on the traction ring, which can detect whether the length of the traction rope matches the flight height of the drone, and can give a reminder to the person when the traction rope is hung on a tree or other obstacles.

[0005] In some embodiments of the present invention, the number of the above-mentioned cameras is multiple, and the multiple cameras are all connected to the above-mentioned central processor. The setting of multiple cameras can greatly expand the field of view of the drone, achieve a 360-degree no-blind-angle effect, and provide more accurate information to the blind. In some embodiments of the present invention, the bottom of the above-mentioned drone is provided with a retracting groove, and the above-mentioned retracting groove is rotatably provided with a retracting shaft, and the above-mentioned traction rope is wound around the above-mentioned retracting shaft. This design structure is simple and easy to operate.

[0006] In some embodiments of the present invention, the drone body is provided with a drive motor electrically connected to the central processor, and the drive motor is connected to the retractable shaft. The rotation accuracy of the servo motor is relatively accurate, and the rotation of the retractable shaft can be accurately controlled, so that the length of the traction rope can be more accurately retracted and released.

[0007] In some embodiments of the present invention, the drone body is provided with a shielding plate, the shielding plate has a tightening opening, and the traction rope is passed through the tightening opening and connected to the retracting shaft. The shielding plate prevents dust from covering the retracting shaft to a certain extent. In the embodiments of the present invention, the traction drone can protect the retracting shaft when not in use, while reducing dust accumulation and the number of times personnel need to clean it later.

[0008] In some embodiments of the present invention, the traction ring includes a hinged main control ring and an adjustment ring, the adjustment ring includes a first ring member, an adjustment belt and a second ring member connected in sequence, one end of the main control ring is hinged to the first ring member, and the other end is clamped to the second ring member, and the sensing groove is opened on the main control ring.

[0009] This design method can adjust the diameter of the traction ring to a certain extent and prevent the traction ring from being lost due to excessive diameter.

[0010] In some embodiments of the present invention, the second ring is provided with a sliding groove, the sliding groove is rotatably provided with an adjustment shaft, the adjustment shaft is wrapped with a warning rope, and the free end of the warning rope is connected to the adjustment belt. When the adjustment shaft is rotated, the warning rope drives the adjustment belt to slide in the sliding groove in the second ring, changing the positional relationship between the first ring and the second ring, thereby adjusting the caliber of the traction ring. This design is easy to operate.

[0011] In some embodiments of the present invention, a driving box is disposed outside the second ring, a driving motor electrically connected to the central processing unit is disposed inside the driving box, and the driving motor is connected to the adjusting shaft. The central processing unit starts the driving motor, the driving motor starts, drives the adjusting shaft to rotate, warns you that the rope starts to tighten (release), the adjustment starts to slide, and the caliber adjustment of the traction ring is completed. The operation in this design is more convenient.

[0012] In some embodiments of the present invention, a rotating bead is rotatably arranged inside the above-mentioned adjustment belt. When the central processor suddenly finds a large obstacle in front of it at a close distance, it can start the drive motor to rotate the adjustment shaft, and the adjustment belt slides into the second ring. At the same time, the traction ring shrinks, and the rotating bead rotates on the wrist and rubs the skin, which quickly and urgently reminds the person that there is danger ahead. Especially when the surrounding environment is noisy and the person cannot hear the sound of the speaker clearly, the warning method of this design is more eye-catching.

[0013] In some embodiments of the present invention, a plurality of silica gel particles are arranged on the outer side of the rotating bead, which can more strongly remind people of the dangers around them, and the warning effect is better.

[0014] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects: 1) The traction drone uses a traction rope and a retracting mechanism to tug the drone on the wrist of a visually impaired person at a flexible distance. At the same time, the camera and speaker are used to display the actual situation on the observed route to the visually impaired person, so that the person can understand the real-time situation ahead of the route more promptly and clearly; 2) The towing drone is equipped with a gravity sensor and a towing rope on the towing ring. On the one hand, it can detect whether the length of the towing rope matches the flight altitude of the drone. On the other hand, it can remind personnel when the towing rope is hung on a tree or other obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 A partial structural view of an implementation method of an embodiment of the present invention; Figure 2 for Figure 1 A partial enlarged view of middle A; Figure 3 A partial structural view of an implementation method of an embodiment of the present invention; Figure 4 A partial structural view of an implementation method of an embodiment of the present invention.

[0016] Icons: 1- drone body, 2- camera, 3- speaker, 4- central processing unit, 5- traction ring, 6- induction slot, 7- counterweight, 8- gravity sensor, 9- traction rope, 10- retraction mechanism, 11- retraction slot, 12- retraction shaft, 13- driving motor, 14- shielding plate, 15- tightening mouth, 16- main control ring, 17- adjusting ring, 18- first ring, 19- second ring, 20- adjusting belt, 21- sliding slot, 22- adjusting shaft, 23- warning rope, 24- driving box, 25- driving motor, 26- rotating beads, 27- silicone particles. DETAILED DESCRIPTION

[0017] The technical solution in this application will be described below in conjunction with the accompanying drawings. Example

[0018] Please refer to Figure 1-Figure 4 The purpose of the present invention is to provide an automated intelligent traction drone, which can assist visually impaired people to walk safely in a familiar environment, play a certain degree of traction function, and can serve as a reminder when an emergency occurs.

[0019] An automated intelligent traction drone comprises a drone body 1, a camera 2, a speaker 3, a central processing unit 4 and a traction ring 5, wherein the camera 2 is arranged at the front end of the drone, the central processing unit 4 and the speaker 3 are both arranged at the traction ring 5, the traction ring 5 is provided with a sensing groove 6, a counterweight block 7 is movably arranged in the sensing groove 6, a gravity sensor 8 is arranged at the bottom of the counterweight block 7 at the sensing groove 6, the counterweight block 7 is connected to a traction rope 9, the other end of the traction rope 9 is connected to a retracting and releasing mechanism 10 for retracting and releasing the traction rope 9, the retracting and releasing mechanism 10 is arranged at the bottom of the drone body 1, and the gravity sensor 8 and the speaker 3 are both electrically connected to the central processing unit 4.

[0020] Principle of the present invention: Almost all visually impaired people hope to have an auxiliary navigation facility that can make them the same as normal people and ensure that they feel convenient and safe on the road. Although the current travel trajectories of blind people are mostly fixed routes, they will always encounter various emergencies during the route, which makes the blind caught off guard and very inconvenient. With the development of electronic technology and information technology, various intelligent products are constantly launched on the market, involving all aspects of life, including smart homes, various service robots, etc. How to improve the working efficiency of guide robots is a social problem that needs to be solved urgently. In the implementation of the present invention, a traction rope 9 and a retracting mechanism 10 are used to tug the drone on the wrist of a visually impaired person at a flexible distance, and the actual situation on the observed route is displayed to the visually impaired person in conjunction with the camera 2 and the speaker 3, so that the person can understand the real-time situation ahead of the route more timely and clearly; at the same time, a gravity sensor 8 and a traction rope are arranged on the traction ring 5, which can detect whether the length of the traction rope matches the flight height of the drone on the one hand, and can give a reminder to the person on the other hand when the traction rope is hung on a tree or other obstacles.

[0021] The central processing unit 4 serves as the computing and control core of the computer system and is the final execution unit for information processing and program operation; the loudspeaker 3 is a transducer device that converts electrical signals into acoustic signals, and the performance of the loudspeaker 3 has a great influence on the sound quality; the camera 2, also known as a computer camera, a computer eye, an electronic eye, etc., is a video input device that is widely used in video conferencing, telemedicine, and real-time monitoring. The gravity sensor, also known as the gravity sensor 8, is a new type of sensor technology. It uses elastic sensitive elements to make a cantilever displacer, and an energy storage spring made of elastic sensitive elements to drive the electrical contacts to complete the conversion from gravity changes to electrical signals; the unmanned aircraft, referred to as a "drone", is an unmanned aircraft controlled by a radio remote control device and a self-contained program control device, or is operated completely or intermittently autonomously by an on-board computer; the traction ring 5 is consistent with the bracelet structure and can be directly inserted into the bracelet when in use.

[0022] During actual use, the user adjusts the length of the traction rope according to the observation distance of the drone, and operates through the central processor 4. This step can also be completed with the assistance of other family members. The user touches the central processor 4 to start the drone body 1, and the drone body 1 takes off, driving the traction rope upward. When the height of the drone body 1 is too high, the counterweight block 7 in the wristband is driven upward. When the weight value transmitted by the gravity sensor 8 is lower than the value initially set by the central processor 4, the central processor 4 controls the height of the drone body 1 to drop. When the gravity sensor 8 returns the value, the drone body 1 starts to fly steadily. (The user's family members can also directly set a fixed flight altitude for the human-machine, and at the same time start the retracting and releasing mechanism 10 to cooperate in releasing the traction rope 9 of appropriate length). In the above process, the camera 2 and the speaker 3 are both in the on state, and the camera 2 transmits the front information to the central processor 4. The central processor After receiving the information, the distance and approximate size of the obstacle are analyzed and transmitted to the user through the speaker 3, so as to avoid the user sensing the obstacle through the blind stick when the user is close to the location when an emergency occurs. That is, the blind can make preparations and route changes in advance according to the information transmitted by the speaker 3, and effectively respond to the emergency situation; when the gravity sensor 8 cannot receive the weight information, the speaker 3 will inform the user, and the user can stop operating the retracting and releasing mechanism 10. When the gravity sensor 8 still has no information after adjusting the retracting and releasing mechanism 10, the user can know that the drone may be entangled and can contact family members to help solve it; the number of gravity sensors 8 can be 5, which are respectively arranged at the bottom and the ring side of the sensing slot 6. This design method allows the user to swing the position of the hand at will when using the bracelet, without worrying about inaccurate measurement of the gravity sensor 8; the traction rope 9 can be a hemp rope or a rope made of steel wire, and the rope diameter can be changed according to the actual material.

[0023] In some embodiments of the present invention, there are multiple cameras 2 , and all of the multiple cameras 2 are connected to the central processor 4 .

[0024] In the above embodiment, the provision of multiple cameras 2 can greatly expand the field of view of the drone, achieving a 360-degree no-blind-angle effect, and providing more accurate information to the blind.

[0025] In some embodiments of the present invention, a retracting groove 11 is provided at the bottom of the drone, a retracting shaft 12 is rotatably provided on the retracting groove 11 , and the traction rope 9 is wound around the retracting shaft 12 .

[0026] In the above embodiment, the retracting shaft 12 rotates to drive the traction rope 9 to be tightened or loosened, thereby realizing the retraction and release of the traction rope 9. This design has a simple structure and is easy to operate.

[0027] In some embodiments of the present invention, the drone body 1 is provided with a driving motor 13 electrically connected to the central processor 4 , and the driving motor 13 is connected to the retracting shaft 12 .

[0028] In the above embodiment, the driving motor 13 is a servo motor, which can control the speed and has very accurate position accuracy. It can convert the voltage signal into torque and speed to drive the controlled object. The rotation accuracy of the servo motor is relatively accurate, and it can accurately control the rotation of the take-up and tension shaft 12, so that the length value of the traction rope 9 can be more accurately taken in and released.

[0029] In some embodiments of the present invention, the drone body 1 is provided with a shielding plate 14 , the shielding plate 14 is provided with a tightening opening 15 , and the traction rope 9 is passed through the tightening opening 15 and connected to the retracting shaft 12 .

[0030] In the above embodiment, the shielding plate 14 prevents dust from covering the retracting shaft 12 to a certain extent. In the embodiment of the present invention, the retracting shaft 12 can be protected when the traction drone is not in use, while reducing dust accumulation and reducing the number of times personnel need to clean up later.

[0031] In some embodiments of the present invention, the traction ring 5 includes a hinged main control ring 16 and an adjustment ring 17, the adjustment ring 17 includes a first ring member 18, an adjustment belt 20 and a second ring member 19 connected in sequence, one end of the main control ring 16 is hinged to the first ring member 18, and the other end is clamped to the second ring member 19, and the sensing groove 6 is opened in the main control ring 16.

[0032] In the above embodiment, the first ring member 18 and the second replacement member are both steel members, and a sun buckle is provided on the adjustment belt 20. The sun buckle is called a sun buckle because of its sun-shaped shape. The caliber value of the traction ring 5 can be adjusted to a certain extent to prevent the traction ring 5 from being lost due to excessive caliber value.

[0033] In some embodiments of the present invention, the second ring 19 is provided with a sliding groove 21 , an adjusting shaft 22 is rotatably provided on the sliding groove 21 , a warning rope 23 is wound around the adjusting shaft 22 , and a free end of the warning rope 23 is connected to the adjusting belt 20 .

[0034] In the above two implementations, by rotating the adjustment shaft 22, the warning rope 23 drives the adjustment belt 20 to slide in the sliding groove 21 in the second ring 19, thereby changing the positional relationship between the first ring 18 and the second ring 19, thereby achieving the adjustment of the caliber of the traction ring 5. This design is easy to operate.

[0035] In some embodiments of the present invention, a driving box 24 is disposed outside the second ring 19 , a driving motor 25 electrically connected to the central processor 4 is disposed inside the driving box 24 , and the driving motor 25 is connected to the adjusting shaft 22 .

[0036] In the above embodiment, the motor is an electric motor or an engine; the drive box 24 and the second ring 19 are integrally formed, and the drive box 24 is provided with a placement opening, and a placement cover is hinged at the placement opening, and the free end of the placement cover is clamped on the drive box 24; the central processing unit 4 starts the drive motor 25, and the drive motor 25 starts, driving the adjustment shaft 22 to rotate, warning you that the rope begins to tighten (release), and the adjustment begins to slide, completing the caliber adjustment of the traction ring 5; the operation in this design method is more convenient.

[0037] In some embodiments of the present invention, a rotating bead 26 is rotatably arranged inside the above-mentioned adjustment belt 20. In the above-mentioned implementation, when the central processor 4 suddenly finds a large obstacle at a close distance ahead, the driving motor 25 can be started to rotate the adjustment shaft 22, and the adjustment belt 20 slides into the second ring 19, while the traction ring 5 shrinks, and the rotating bead 26 rotates on the wrist and rubs the skin, which quickly and urgently reminds the personnel that there is danger ahead, especially when the surrounding environment is relatively noisy and the personnel cannot hear the sound of the speaker 3 clearly, the warning method of this design method is more eye-catching.

[0038] In some embodiments of the present invention, a plurality of silica gel particles 27 are disposed on the outer side of the rotating bead 26 .

[0039] In the above embodiment, a plurality of silica gel particles 27 are arranged on a half surface of the ring side of the rotating bead 26. When the traction ring 5 is worn normally, the person can rotate the rotating bead 26 so that the silica gel particles 27 do not contact the wrist skin. When an emergency occurs, the adjustment belt 20 slides and the rotating bead 26 rotates. The silica gel particles 27 can more strongly remind the person of the dangers around him, and the warning effect is better.

[0040] In summary, the present invention provides an automated intelligent traction drone, which has at least the following beneficial effects: Almost all visually impaired people hope to have an auxiliary navigation facility that allows them to be like normal people and ensure that they feel convenient and safe on the road. Although the current travel trajectories of blind people are mostly fixed routes, they will always encounter various emergencies during the route, which makes the blind caught off guard and very inconvenient. With the development of electronic technology and information technology, various intelligent products are constantly launched on the market, involving all aspects of life, including smart homes, various service robots, etc. How to improve the working efficiency of guide robots is a social problem that needs to be solved urgently.

[0041] In the implementation of the present invention, a traction rope 9 and a retracting mechanism 10 are used to tow the drone on the wrist of a visually impaired person at a flexible distance, and the camera 2 and the speaker 3 are used to display the actual situation on the observed route to the visually impaired person, so that the person can understand the real-time situation ahead of the route more promptly and clearly; at the same time, a gravity sensor 8 and a traction rope are provided on the traction ring 5, which can detect whether the length of the traction rope matches the flight altitude of the drone on the one hand, and can give a reminder to the person when the traction rope is hung on a tree or other obstacles on the other hand.

[0042] The central processing unit 4 serves as the computing and control core of the computer system and is the final execution unit for information processing and program operation; the loudspeaker 3 is a transducer device that converts electrical signals into acoustic signals, and the performance of the loudspeaker 3 has a great influence on the sound quality; the camera 2, also known as a computer camera, a computer eye, an electronic eye, etc., is a video input device that is widely used in video conferencing, telemedicine, and real-time monitoring. The gravity sensor, also known as the gravity sensor 8, is a new type of sensor technology. It uses elastic sensitive elements to make a cantilever displacer, and an energy storage spring made of elastic sensitive elements to drive the electrical contacts to complete the conversion from gravity changes to electrical signals; the unmanned aircraft, referred to as a "drone", is an unmanned aircraft controlled by a radio remote control device and a self-contained program control device, or is operated completely or intermittently autonomously by an on-board computer; the traction ring 5 is consistent with the bracelet structure and can be directly inserted into the bracelet when in use.

[0043] During actual use, the user adjusts the length of the traction rope according to the observation distance of the drone, and operates through the central processor 4. This step can also be completed with the assistance of other family members. The user touches the central processor 4 to start the drone body 1, and the drone body 1 takes off, driving the traction rope upward. When the height of the drone body 1 is too high, the counterweight block 7 in the wristband is driven upward. When the weight value transmitted by the gravity sensor 8 is lower than the value initially set by the central processor 4, the central processor 4 controls the height of the drone body 1 to drop. When the gravity sensor 8 returns the value, the drone body 1 starts to fly steadily. (The user's family members can also directly set a fixed flight altitude for the human-machine, and at the same time start the retracting and releasing mechanism 10 to cooperate in releasing the traction rope 9 of appropriate length). In the above process, the camera 2 and the speaker 3 are both in the on state, and the camera 2 transmits the front information to the central processor 4. The central processor After receiving the information, the distance and approximate size of the obstacle are analyzed and transmitted to the user through the speaker 3, so as to avoid the user sensing the obstacle through the blind stick when the user is close to the location when an emergency occurs. That is, the blind can make preparations and route changes in advance according to the information transmitted by the speaker 3, and effectively respond to the emergency situation; when the gravity sensor 8 cannot receive the weight information, the speaker 3 will inform the user, and the user can stop operating the retracting and releasing mechanism 10. When the gravity sensor 8 still has no information after adjusting the retracting and releasing mechanism 10, the user can know that the drone may be entangled and can contact family members to help solve it; the number of gravity sensors 8 can be 5, which are respectively arranged at the bottom and the ring side of the sensing slot 6. This design method allows the user to swing the position of the hand at will when using the bracelet, without worrying about inaccurate measurement of the gravity sensor 8; the traction rope 9 can be a hemp rope or a rope made of steel wire, and the rope diameter can be changed according to the actual material.

[0044] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automated intelligent traction drone, characterized in that: The invention comprises a drone body, a camera, a speaker, a central processing unit and a traction ring, wherein the camera is arranged at the front end of the drone, the central processing unit and the speaker are both arranged at the traction ring, the traction ring is provided with a sensing groove, a counterweight block is movably arranged in the sensing groove, the sensing groove is located at the bottom of the counterweight block and a gravity sensor is arranged, the counterweight block is connected with a traction rope, the other end of the traction rope is connected with a retracting mechanism for retracting and releasing the traction rope, the retracting mechanism is arranged at the bottom of the drone body, the gravity sensor and the speaker are both electrically connected to the central processing unit; the traction ring comprises a hinged main control ring and an adjustment ring, the adjustment ring comprises a first ring member, an adjustment belt and a second ring member connected in sequence, one end of the main control ring is hinged with the first ring member, and the other end is clamped with the second ring member, the sensing groove is provided in the main control ring; the second ring member is provided with a sliding groove, an adjustment shaft is rotatably arranged in the sliding groove, a warning rope is wound around the adjustment shaft, and the free end of the warning rope is connected to the adjustment belt.

2. The automated intelligent traction drone according to claim 1, characterized in that: There are multiple cameras, and all of the multiple cameras are connected to the central processing unit.

3. The automated intelligent traction drone according to claim 1, characterized in that: The bottom of the drone is provided with a retracting groove, the retracting groove is rotatably provided with a retracting shaft, and the traction rope is wound around the retracting shaft.

4. The automated intelligent traction drone according to claim 3, characterized in that: The drone body is provided with a driving motor electrically connected to the central processing unit, and the driving motor is connected to the retracting shaft.

5. The automated intelligent traction drone according to claim 4, characterized in that: The drone body is provided with a shielding plate, the shielding plate is provided with a tightening opening, and the traction rope is passed through the tightening opening and connected to the retracting shaft.

6. The automated intelligent traction drone according to claim 1, characterized in that: A driving box is disposed outside the second ring, a driving motor electrically connected to the central processing unit is disposed inside the driving box, and the driving motor is connected to the adjusting shaft.

7. The automated intelligent traction drone according to claim 6, characterized in that: A rotating bead is rotatably arranged inside the adjusting belt.

8. The automated intelligent traction drone according to claim 7, characterized in that: A plurality of silica gel particles are arranged on the outer side of the rotating bead.

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