Precise falling searching device for unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicle falling searching, in particular to an accurate falling searching device for an unmanned aerial vehicle, which is fixed on an unmanned aerial vehicle body by adopting a connecting bracket and comprises a searching device main body, a searching assembly and a sound-light alarm system are arranged in the protective shell, the searching assembly is used for sending out a signal and facilitating searching of an operator, the sound-light alarm system is used for sending out sound and light to remind the operator, and the searching assembly comprises a communication unit used for communicating with a remote control device of the operator. The inertial measurement unit can measure the acceleration, the angular velocity, the flight attitude and the like of the unmanned aerial vehicle and store the acceleration, the angular velocity, the flight attitude and the like in the data recording and playback module, and after an operator finds the unmanned aerial vehicle, the data can be read and the falling reason of the unmanned aerial vehicle can be deeply analyzed, so that a more effective maintenance strategy and a more effective flight safety specification are formulated.

Description

Technical Field

[0001] The present invention relates to the technical field of drone crash search, and particularly to a precise crash search device for drones. Background Art

[0002] With the in-depth promotion of the construction of digital power grids, drones are increasingly used in power design, survey, inspection, etc. The related safety guarantee issues of drones are becoming more and more important. To better respond to the positioning and search for the landing point of a drone after it loses control in the air and the GPS positioning fails, and to solve the problem of the inability to solve the vertical direction positioning during GPS positioning, as well as to solve the problems of the position of the drone deviating from the positioning point after the drone crashes and the drone crashing in complex terrains and ground objects.

[0003] Chinese Patent CN221149212U discloses a searcher, a search device and its drone, including a housing and a search component; the search component is fixed in the housing, and the search component includes a prompt unit, a transceiver unit, a charging unit and a control chip; the prompt unit includes an indicator light and a speaker, the transceiver unit includes an antenna, a receiving chip and a transmitting chip, and both the receiving chip and the transmitting chip are electrically connected to the antenna; the charging unit includes a battery and a charging interface connected to each other. By setting the housing and the search component, the prompt unit, the transceiver unit, the charging unit and the control chip can be stably fixed in the housing, ensuring the stability and safety of the searcher; this patent ensures the positioning accuracy of the drone's position and increases the probability of retrieving the drone's wreckage by setting the prompt unit and the transceiver unit, with the receiving chip and the transmitting chip performing signal transmission and reception through the antenna, and the indicator light and the speaker outputting sound and light alarms.

[0004] When the drone crashes, the transmitting chip of this prior art will be activated and send a positioning signal to the remote control device of the staff. To visually indicate the position of the drone to the operator, this device is also equipped with an indicator light and a speaker, which can emit sound and light alarms after receiving the signal, thereby guiding the operator to quickly find the crashed drone. Although this existing search device has achieved certain results in positioning the drone, there are still significant limitations in actual applications. Especially after the drone is retrieved, the operator often faces the dilemma of being unable to deeply understand the reason for the drone's loss of control or its crashing state. Due to the lack of detailed crash data recording and analysis means, it is difficult for the operator to evaluate the performance of the drone and take effective measures to prevent similar incidents from occurring again. Summary of the Invention

[0005] The object of the present invention is to provide a precise search device for the fall of an unmanned aerial vehicle (UAV). By setting an inertial measurement unit, the inertial measurement unit can measure the acceleration, angular velocity, flight attitude, etc. of the UAV and store them in the data recording and playback module. When the operator retrieves the UAV, the data can be read to deeply analyze the cause of the UAV's fall, so as to formulate more effective maintenance strategies and flight safety specifications.

[0006] To solve the problems of the prior art, the present invention provides a precise search device for the fall of an unmanned aerial vehicle, which is fixed on the UAV body by a connecting bracket. It is characterized in that: it includes a searcher main body, and the searcher main body includes a protective housing. Inside the protective housing, there are a search component for emitting signals to facilitate the operator's search and an acoustic-optic alarm system for emitting sounds and lights to remind the operator. The search component includes a communication unit for communicating with the operator's remote control device. The search component also includes an inertial measurement unit for detecting the flight state of the UAV body and a data recording and playback module for recording the information when the UAV body falls.

[0007] Preferably, the acoustic-optic alarm system includes a loudspeaker installed in the protective housing for emitting sounds, and there is also a hole on the protective housing for the loudspeaker to be inserted. The acoustic-optic alarm system also includes a plurality of light-emitting beads installed around the protective housing for emitting lights to remind the operator, and there are also holes opened on the protective housing for the light-emitting beads to be inserted.

[0008] Preferably, a storage battery for powering the search component and the acoustic-optic alarm system is also installed in the protective housing. The search component also includes a terminal block, and the terminal block is connected to the storage battery 13 through a wire.

[0009] Preferably, the search component also includes a charging interface for charging the storage battery and a charging protection module for preventing the charging voltage or current from being too large. There is also a hole on the protective housing that cooperates with the charging interface.

[0010] Preferably, the communication unit includes a wireless transmission module capable of emitting wireless signals and a wireless reception module capable of receiving wireless signals. The search component also includes a communication frequency module.

[0011] Preferably, the search component includes a CPU module for processing signals. The search component also includes a fault code display screen installed inside the protective housing.

[0012] Preferably, a placement cavity for accommodating the searcher main body is opened at the center position of the connecting bracket, and a through hole for the sound to pass through is also opened on one side of the connecting bracket.

[0013] Preferably, connecting arms are fixed to both sides of the connecting bracket. An active clamping block and a fixed block are arranged on the connecting arm. Buckles are arranged on the tops of the active clamping block and the fixed block. A clamping groove for clamping the leg on the drone body is formed between the active clamping block and the buckle.

[0014] Preferably, a handle is arranged on the outer side of the active clamping block along its length direction.

[0015] Preferably, the connecting bracket is made by layer-by-layer printing of a polymer composite material, carbon fiber nylon, using the fused deposition technology.

[0016] The beneficial effects of the present invention compared with the prior art are as follows:

[0017] 1. In this application, an inertial measurement unit is provided. The inertial measurement unit can detect the acceleration signals in the three-dimensional space of the drone. By measuring the acceleration, the speed and displacement of the drone can be further calculated. Moreover, the inertial measurement unit can also measure the angular velocity of the drone in the three-dimensional space. According to the principle of fixed-axis property and precession property of the angular momentum principle, the angular motion detection technology is used to perform real-time dynamic monitoring on the flight state of the drone, define parameters and perform dynamic modeling on the speed, altitude, angular motion direction, and maneuverability of the drone during the operation process, construct a model state rule base under various operation environments, and determine whether there is an abnormality in the flight state of the drone by performing real-time analysis on the motion trajectories of the rotors in the three degrees of freedom and making a vector direction determination, and record the data in the data recording and playback module. After the operator retrieves the drone, the data in the data recording and playback module can be read through a computer to deeply analyze the cause of the drone's fall, so as to formulate more effective maintenance strategies and flight safety specifications.

[0018] 2. In this application, through the functions of the wireless transmission module, wireless reception module, and communication frequency module, it is communicatively connected with the operator's remote control device. Based on 433Mhz as the sample mean, the search device is dynamically adjusted to complete the first communication connection. After the first connection is completed, a dynamic communication mechanism is established between the remote control device and the search component. By dynamically defining the communication frequency mechanism, the communication distance, signal transmission accuracy, and success rate between the remote control device and the search component are dynamically controlled, and a dynamic model is established according to the on-site communication environment, and the optimal communication path and frequency are automatically retrieved according to the Dijkstra algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the first three-dimensional structural schematic diagram of a precise search device for drone falls of the present invention installed on the drone body.

[0020] Figure 2 is the second three-dimensional structural schematic diagram of a precise search device for drone falls of the present invention installed on the drone body.

[0021] Figure 3 It is a front view structural schematic diagram of a precise fall search device for drones of the present invention installed on the drone body.

[0022] Figure 4 It is an exploded structural schematic diagram of a precise fall search device for drones of the present invention installed on the drone body.

[0023] Figure 5 It is a first exploded structural schematic diagram of the searcher body of a precise fall search device for drones of the present invention.

[0024] Figure 6 It is a second exploded structural schematic diagram of the searcher body of a precise fall search device for drones of the present invention.

[0025] Figure 7 It is a first three-dimensional structural schematic diagram of the search component of the searcher body of a precise fall search device for drones of the present invention.

[0026] Figure 8 It is a second three-dimensional structural schematic diagram of the search component of the searcher body of a precise fall search device for drones of the present invention.

[0027] Figure 9 It is a structural schematic diagram of the sound and light alarm system of a precise fall search device for drones of the present invention installed in the protective housing.

[0028] Figure 10 It is a three-dimensional structural schematic diagram of the connecting bracket of a precise fall search device for drones of the present invention.

[0029] The reference numerals in the figure are: 1, searcher body; 11, search component; 111, wireless transmission module; 112, wireless reception module; 113, CPU module; 114, fault code display screen; 115, communication frequency module; 116, charging interface; 117, charging protection module; 118, terminal block; 119, inertial measurement unit; 1191, data recording and playback module; 12, sound and light alarm system; 121, speaker; 122, light-emitting lamp beads; 13, storage battery; 14, protective housing; 2, drone body; 3, connecting bracket; 31, through hole; 32, placement cavity; 33, connecting arm; 331, movable clamping block; 332, handle; 333, fixed block; 334, buckle; 335, clamping groove. Detailed implementation manners

[0030] In order to further understand the features, technical means, and specific purposes and functions achieved by the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation manners.

[0031] Referring to Figures 1 - 10 As shown, the present invention provides a precise search device for the fall of an unmanned aerial vehicle, which is fixed on the unmanned aerial vehicle body 2 by a connecting bracket 3. It includes a searcher main body 1. The searcher main body 1 includes a protective housing 14. Inside the protective housing 14, there is a search component 11 for emitting signals to facilitate the search by the operator and an acoustic and optical alarm system 12 for emitting sounds and lights to alert the operator. The search component 11 includes a communication unit for communicating with the remote control device of the operator. The search component 11 further includes an inertial measurement unit 119 for detecting the flight state of the unmanned aerial vehicle body 2 and a data recording and playback module 1191 for recording the information when the unmanned aerial vehicle body 2 falls.

[0032] The search component 11 is also equipped with an inertial measurement unit 119, which can accurately detect the flight state of the unmanned aerial vehicle body 2, including key information such as speed, acceleration, and attitude. Particularly important is that the search component 11 is also equipped with a data recording and playback module 1191. The data recording and playback module 1191 can automatically record key information such as the falling height, speed, and attitude change when the unmanned aerial vehicle falls. These information are crucial for subsequent accident analysis and the recovery of the unmanned aerial vehicle. The acoustic and optical alarm system 12 alerts the operator that the unmanned aerial vehicle body 2 has fallen or is in an emergency state by emitting sounds and lights. The dual reminder of sounds and lights can ensure that the operator can quickly notice the state of the unmanned aerial vehicle body 2 in a complex environment, so as to take necessary countermeasures.

[0033] The inertial measurement unit 119 can detect the acceleration signals of the unmanned aerial vehicle in three-dimensional space. By measuring the acceleration, the speed and displacement of the unmanned aerial vehicle can be further calculated. Moreover, the inertial measurement unit 119 can also measure the angular velocity of the unmanned aerial vehicle in three-dimensional space. According to the principle of fixed-axis property and precession principle of angular momentum, the angular motion detection technology is used to monitor the flight state of the unmanned aerial vehicle in real time. The parameters of the speed, height, angular motion direction, and maneuverability of the unmanned aerial vehicle during the operation process are defined and dynamically modeled. A model state rule library in various operating environments is constructed. By analyzing the real-time movement trajectory of the rotor in three degrees of freedom and determining the vector direction, it is judged whether there is an abnormality in the flight state of the unmanned aerial vehicle, and the data is recorded in the data recording and playback module 1191. After the operator retrieves the unmanned aerial vehicle, the data in the data recording and playback module 1191 can be read by a computer to deeply analyze the cause of the fall of the unmanned aerial vehicle, so as to formulate more effective maintenance strategies and flight safety specifications.

[0034] Refer to Figures 5 - 9As shown, the sound and light alarm system 12 includes a speaker 121 installed in the protective shell 14 for emitting sound. The protective shell 14 is also provided with a hole for inserting the speaker 121. When the speaker 121 is activated, the sound can be transmitted through these holes without hindrance, effectively reminding the operator of the status of the drone. The sound and light alarm system 12 also includes a plurality of light-emitting lamp beads 122 installed around the protective shell 14 for emitting light to remind the operator. The protective shell 14 is also provided with a hole for inserting the light-emitting lamp beads 122. The light-emitting lamp beads 122 will be activated when the drone falls or is in an emergency state, emitting bright light, thereby quickly attracting the attention of the operator and increasing the probability of recovering the wreckage of the drone.

[0035] Experiments have shown that, based on exchanges with technical personnel from the survey department, the flight altitude of the drone body 2 in the geological survey of the three-dimensional distribution network is generally 100-150 meters above the ground. The offset distance between the drone wreckage and the last positioning of the drone can be calculated from this altitude after the drone body 2 loses control and crashes. When the drone body 2 collides and falls in the air, the offset distance is the shortest due to the loss of initial velocity. When the drone body 2 does not collide but loses control in the air due to problems such as signals, interference, and flight posture, and performs free fall in the air, the offset distance is the farthest at this time due to the existence of the initial velocity. When the loss of control occurs, the drone body 2 moves in the vertical direction at an initial velocity V 0 t = 0, acceleration g = 9.8 m / s 2 The acceleration of uniform acceleration linear motion (ignore the influence of air resistance), according to the uniform acceleration linear motion calculation h = V 0 t+2gt can be obtained that when the flight altitude is 100 meters, the landing time is 4.52s, and when the flight altitude is 150 meters, the landing time is 5.53s. According to the comprehensive consideration of the altitude, heading overlap rate, lateral overlap rate, shooting interval, echo and route planning of the UAV body 2 during flight in actual work, the maximum flight speed of the UAV body 2 during operation should not be higher than 6m / s. The limit case is calculated. When the loss of control occurs, the UAV moves in a uniform linear motion in the horizontal direction with an initial velocity of 6m / s (ignoring the influence of air resistance). According to uniform linear motion s=V 0Calculating, when the flight altitude is 100 meters above the ground, the horizontal displacement is 27.12 m; when the flight altitude is 150 meters above the ground, the horizontal displacement is 33.18 m. Considering that there is a small probability that the UAV body 2 may fall into a valley or cliff with a lower terrain during actual flight operations, a height margin of 100 meters is considered in the design. That is, when the UAV body 2 falls at 250 meters, the landing time is 7.14 s and the horizontal displacement is 42.84 m. That is, considering the most extreme case, during the operation of the UAV in 3D power design survey, the horizontal distance between the UAV wreckage after the UAV body 2 crashes and the last GPS positioning point is less than 42.84 m. s = V 0 t. From the above detailed theoretical demonstration of the operation state, the maximum search distance of the UAV search device is 42.84 m. Therefore, it meets the requirements and can successfully complete the target search.

[0036] Reference Figures 5 - 9 As shown, a storage battery 13 for supplying power to the search component 11 and the acoustic-optic alarm system 12 is also installed in the protective housing 14. The search component 11 further includes a terminal block 118, and the terminal block 118 is connected to the storage battery 13 through a wire. In order to ensure the stability and safety of power supply, high-quality wires are used for the connection between the terminal block 118 and the storage battery 13. These wires have good electrical conductivity and insulation performance, and can maintain stable power transmission in various environments. To ensure that no safety hazards such as loose connection or short circuit will occur when the UAV falls or is impacted. The design of the storage battery 13 ensures that even when the UAV body 2 falls or loses external power supply, the storage battery 13 can still work normally for a period of time, providing valuable search time for the operator. The storage battery 13 has the characteristics of high energy density and long life, and can provide stable and reliable power support in emergency situations.

[0037] The search component 11 further includes a charging interface 116 for charging the storage battery 13 and a charging protection module 117 for preventing excessive charging voltage or current. A hole matching the charging interface 116 is also opened on the protective housing 14. In order to ensure the safety and stability of the charging process, a charging protection module 117 is also integrated inside the search component 11. The charging protection module 117 can real-time monitor the magnitudes of the charging voltage and current, and cut off the charging circuit in time when abnormal situations are found, preventing damage to the storage battery 13 or safety hazards caused by overcharging, overcurrent, etc.

[0038] Reference Figures 5 - 8As shown in the figure, the communication unit includes a wireless transmission module 111 capable of emitting wireless signals and a wireless reception module 112 capable of receiving wireless signals. The search component 11 further includes a communication frequency module 115. The wireless transmission module 111 can transmit the information and data inside the search component 11 in the form of wireless signals. These wireless signals can include the position information, status information of the UAV body 2, and the status of the search component 11 itself, etc. The wireless transmission module 111 features high sensitivity, low power consumption, and long-distance communication, and can work stably in various environments to ensure the accurate transmission of information. The wireless reception module 112 is responsible for receiving the wireless signals from the operator's remote control device and converting these signals into information that the search component 11 can recognize. The wireless reception module 112 also has the characteristics of high sensitivity and low power consumption, and can ensure timely response when receiving the remote control signal. The communication frequency module 115 is an important part of the communication unit. The communication frequency module 115 is responsible for determining the communication frequencies used by the wireless transmission module 111 and the wireless reception module 112. By selecting a communication frequency of 433Mhz, it can ensure stable and reliable communication between the search component 11 and the remote control device, and avoid interference with other wireless devices. The communication frequency module 115 can also adjust the frequency according to actual needs to adapt to different working environments and communication requirements.

[0039] Based on 433Mhz as the sample mean, dynamically adjust the search device and complete the first communication connection. After completing the first connection, the remote control device and the search component 11 establish a dynamic communication mechanism. By dynamically defining the communication frequency mechanism, realize dynamic control of the communication distance, signal transmission accuracy and success rate between the remote control device and the search component 11, and establish a dynamic model according to the on-site communication environment, and automatically retrieve the optimal communication path and frequency according to the Di jkstra algorithm.

[0040] Through the collaborative work of the wireless transmission module 111, the wireless reception module 112, and the communication frequency module 115, the communication unit realizes stable and reliable wireless communication between the searcher body 1 and the operator's remote control device. This design not only improves the reliability and durability of the searcher body 1, but also provides a more reliable search means for the operator in case of emergency. At the same time, by selecting a suitable communication frequency and adopting wireless communication technology, it can ensure that the searcher body 1 can work stably in various environments, providing a strong guarantee for the safe recovery of the UAV.

[0041] The search component 11 includes a CPU module 113 for processing signals, and the search component 11 also includes a fault code display screen 114 installed inside the protective housing 14. The CPU module 113 is responsible for processing all received signals and data, including those from the inertial measurement unit 119 and the communication unit. The CPU module 113 can process these data quickly and accurately, and generate corresponding instructions to control the other parts of the search component 11 to work. The high performance of the CPU module 113 ensures the stability and reliability of the search device in complex environments. In order to facilitate operators to quickly understand the working status and possible faults of the search component 11, a fault code display screen 114 is installed inside the search component 11. This display screen can display key information such as the working status, error information and fault code of the search component 11 in real time, helping operators to quickly locate problems and take corresponding measures.

[0042] refer to Figure 10 As shown, a placement cavity 32 for accommodating the searcher body 1 is provided at the center of the connecting bracket 3, and a through hole 31 for sound to pass through is also provided on one side of the connecting bracket 3. Connecting arms 33 are fixed on both sides of the connecting bracket 3, and movable card blocks 331 and fixed blocks 333 are provided on the connecting arms 33. Buckles 334 are provided on the tops of the movable card blocks 331 and the fixed blocks 333, and a card slot 335 for the legs on the drone body 2 is formed between the movable card blocks 331 and the buckles 334. The card slot 335 is used to clamp the legs on the drone body 2. This design enables the searcher body 1 to be conveniently fixed on the drone body 2, while ensuring the stability and reliability of the connection. In addition, a handle 332 is also provided on the outside of the movable card block 331 to facilitate the operator to install and disassemble the search device. The outside of the movable card block 331 is provided with a handle 332 arranged along its length. The connection bracket 3 is made of carbon fiber nylon, a polymer composite material, by layer-by-layer printing using fused deposition technology. This material not only has high strength, high toughness and good corrosion resistance, but also can achieve precise manufacturing of complex structures through 3D printing technology. This design not only improves the durability and reliability of the connection bracket, but also reduces the manufacturing cost and cycle.

[0043] The wireless communication drone search technology replaces the carpet-style manual search, improves the manual efficiency, reduces labor costs, and improves work efficiency. The laser modeling + 3D printing mold design mode is used for the first time to ensure the precision and accuracy of the designed product, replacing the manual modeling + manual manufacturing design mode, greatly reducing the weight and wind resistance of the drone after being mounted, and improving the stability of the drone operation. For the first time, carbon fiber nylon is used as the manufacturing material of the protective shell 14 and the connecting bracket 3, which further improves the anti-collision and anti-fall performance of the drone.

[0044] Using the laser scanning method, the model is designed by utilizing the virtual modeling technology of the simulation space. The model is sliced at equal heights by using the layer-by-layer slicing and printing technology. The sliced model is printed layer by layer using the fused deposition technology with the high molecular composite material carbon fiber nylon to realize the manufacture of the carbon fiber nylon integrally formed connecting bracket 3.

[0045] The success rate of searching for the fallen drone = 1 - wear rate - detachment rate - communication error rate = 1 - 1% - 1% - 0% = 98% > the target value of 90%, and the success rate target can be achieved.

[0046] Performance indicators of each module of the device: Component indicators:

[0047] 1. The damage and detachment rate of circuit components = 0;

[0048] 2. The total weight < 10 g.

[0049] CPU indicators: 1. The CPU has strong processing capabilities and can simultaneously process multiple external signal input interfaces of wireless signals ≥ 3; 2. The CPU has built-in functional modules and only requires a small amount of external circuits.

[0050] Communication method indicators: 1. The weight ≤ 3 g; 2. The real-time communication distance ≥ the maximum search distance (42.85 m), and real-time communication can be carried out within the search distance.

[0051] Communication frequency indicators: 1. Real-time communication and accurate data without errors; 2. Strong anti-interference ability, and the anti-interference intensity ≥ 90 dB.

[0052] The modeling method of laser scanning modeling is more suitable for projects such as drones that have extremely high requirements for air resistance. The time cost of laser modeling is lower.

[0053] Material indicators: 1. Tensile strength ≥ 300 MPa; 2. Elastic modulus ≥ 50%; 3. Density ≤ 2.2 g / cm; Under the premise of ensuring the tensile strength, the tensile modulus should be as large as possible.

[0054] Bayonet design indicators: The elastic fitting and blank bayonet can adapt to basically all types of tripods, and the adaptation rate ≥ 90%.

[0055] Working principle: By installing the searcher main body 1 into the placement cavity 32, pulling the handle 332, the searcher main body 1 is installed on the drone through the action of the movable clamping block 331 and the fixed block 333. Through the inertial measurement unit 119 inside the searcher main body 1, the inertial measurement unit 119 can detect the acceleration signals on the three coordinate axes of the drone. By measuring the acceleration, the speed and displacement of the drone can be further calculated. Moreover, the inertial measurement unit 119 can also measure the angular velocity of the drone in three-dimensional space. According to the principle of fixed-axis property and precession property of the angular momentum principle, the angular motion detection technology is used to conduct real-time dynamic monitoring of the flight state of the drone, define parameters and conduct dynamic modeling for the speed, altitude, angular motion direction, and maneuverability during the operation of the drone, construct a model state rule library under various operating environments, conduct real-time analysis of the motion trajectory of the rotor on three degrees of freedom and determine the vector direction to judge whether there is an abnormality in the flight state of the drone, and record the data in the data recording and playback module 1191. After the operator retrieves the drone, the data in the data recording and playback module 1191 can be read through a computer to deeply analyze the cause of the drone's fall, so as to formulate more effective maintenance strategies and flight safety specifications. Through the action of the wireless transmission module 111, the wireless reception module 112, and the communication frequency module 115, it is communicatively connected to the operator's remote control device. Based on 433Mhz as the sample mean, the search device is dynamically adjusted to complete the first communication connection. After the first connection is completed, a dynamic communication mechanism is established between the remote control device and the search component 11. By dynamically defining the communication frequency mechanism, the communication distance, signal transmission accuracy, and success rate between the remote control device and the search component 11 are dynamically controlled, and a dynamic model is established according to the on-site communication environment. According to the Di jkstra algorithm, the optimal communication path and frequency are automatically retrieved. When the drone crashes, the wireless signal sent is received through the remote control device, and sound and light alarms are issued through the speaker 121 and the light-emitting lamp beads 122 to ensure the positioning accuracy of the drone's position and increase the probability of retrieving the drone's wreckage.

[0056] The above embodiments only represent one or several implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A precise search device for a falling drone, fixed to a drone body (2) by a connecting bracket (3), characterized in that: The invention comprises a searcher body (1), wherein the searcher body (1) comprises a protective shell (14), wherein a search component (11) for sending out signals and facilitating the search by an operator and an acousto-optic alarm system (12) for sending out sound and light to remind the operator are arranged inside the protective shell (14), wherein the search component (11) comprises a communication unit for communicating with the remote control device of the operator, and wherein the search component (11) further comprises an inertial measurement unit (119) for detecting the flight state of the unmanned aerial vehicle body (2) and a data recording and playback module (1191) for recording information when the unmanned aerial vehicle body (2) falls.

2. The device for accurately searching for a falling drone according to claim 1, characterized in that: The sound and light alarm system (12) comprises a speaker (121) installed in a protective shell (14) for emitting sound, and the protective shell (14) is also provided with a hole for inserting the speaker (121). The sound and light alarm system (12) also comprises a plurality of light-emitting lamp beads (122) installed around the protective shell (14) for emitting light to remind an operator, and the protective shell (14) is also provided with a hole for inserting the light-emitting lamp beads (122).

3. The device for accurately searching for a falling drone according to claim 2, characterized in that: A storage battery (13) for supplying power to the search component (11) and the sound and light alarm system (12) is also installed in the protective housing (14); the search component (11) also includes a wiring terminal (118); the wiring terminal (118) is connected to the storage battery (13) via a wire.

4. The device for accurately searching for a falling drone according to claim 3, characterized in that: The search component (11) also includes a charging interface (116) for charging the storage battery (13) and a charging protection module (117) for preventing the charging voltage or current from being too large. The protective shell (14) is also provided with a hole that cooperates with the charging interface (116).

5. The device for accurately searching for a falling drone according to claim 1, characterized in that: The communication unit includes a wireless transmission module (111) capable of sending wireless signals and a wireless reception module (112) capable of receiving wireless signals, and the search component (11) also includes a communication frequency module (115).

6. The device for accurately searching for a falling drone according to claim 4, characterized in that: The search component (11) includes a CPU module (113) for processing signals, and the search component (11) also includes a fault code display screen (114) installed inside a protective housing (14).

7. The device for accurately searching for a falling drone according to claim 1, characterized in that: A placement cavity (32) for accommodating the searcher body (1) is provided at the center of the connection bracket (3), and a through hole (31) for sound to pass through is also provided on one side of the connection bracket (3).

8. The device for accurately searching for a falling drone according to claim 7, characterized in that: Connecting arms (33) are fixed on both sides of the connecting bracket (3), and a movable clamping block (331) and a fixed block (333) are provided on the connecting arm (33), and buckles (334) are provided on the tops of the movable clamping block (331) and the fixed block (333), and a clamping slot (335) for clamping a leg on the drone body (2) is formed between the movable clamping block (331) and the buckle (334).

9. The device for accurately searching for a falling drone according to claim 8, characterized in that: The outer side of the movable block (331) is provided with a handle (332) arranged along its length direction.

10. The device for accurately searching for a falling drone according to claim 9, characterized in that: The connecting bracket (3) is manufactured by printing the polymer composite material carbon fiber nylon layer by layer using the molten deposition technology.

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