Directional shouting unmanned aerial vehicle with searchlighting warning device

Abstract

The utility model discloses a directional megaphone unmanned aerial vehicle with a searchlighting warning device. The directional megaphone unmanned aerial vehicle aims at solving the problem that in the prior art, after a megaphone is mounted on an unmanned aerial vehicle, directional light illumination and warning are still needed. The system comprises an unmanned aerial vehicle, a directional megaphone and a searchlighting warning device, and the searchlighting warning device comprises a searchlighting warning main control chip, a holder arm, a brushless motor, a brushless motor control module, a brushless motor driving module, a lamp box, a lamp box corner acquisition module, a searchlight, a searchlight driving module, a red and blue alarm lamp and a red and blue alarm lamp driving module. Wherein the signal output end of the lamp box corner acquisition module transmits corner information of a brushless motor rotor to the input end of the brushless motor control chip, and the output end of the brushless motor control chip transmits a command for reading the corner information to the signal input end of the lamp box corner acquisition module. According to the technology, the observation area of the supplementary lighting assisted unmanned aerial vehicle holder camera can be ensured, and directional warning and reminding are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles (UAVs), in particular to a directional speaking UAV with a searchlight warning device. Background Art

[0002] Unmanned aerial vehicles (UAVs), also known as drones, are unmanned aircraft controlled by radio remote control and self-contained programmable controls. They have civilian applications in aerial photography, agriculture, plant protection, micro-selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television production, creating romance, and advertising. Currently, in emergencies such as transportation, military and police, scenic area management, disaster relief, and urban management, where normal communication with humans is impossible due to traffic restrictions, drones equipped with loudspeakers are used. For example, in the event of a major traffic accident, where command vehicles and traffic police are unable to arrive in time, a loudspeaker on a drone can help traffic police relay directives to drivers. In the event of violent social incidents, a loudspeaker on a drone can help police officers negotiate with violent individuals remotely. In the event of a fire, a loudspeaker on a drone can better communicate with trapped personnel on high floors, improving evacuation efficiency. When tourists get lost or separated in a scenic area, the loudspeaker installed on the drone can serve as a guide and help with rescue.

[0003] However, in the process of daily inspections, target guidance and long-distance information transmission, it is found that there may be differences in light brightness in some occasions, some occasions require enhanced lighting effects at night, and the lighting range needs to be more accurate, and some occasions even require the warning effect of red and blue police lights to deter criminals. Therefore, there is a need for a shouting type drone with searchlight warning function that can meet multiple scenarios and time periods.

[0004] Application No. 202322273360.6, utility model title: “A UAV with a Directional Loudspeaker Device,” filing date: August 23, 2023. It describes “

[0029] … comprising a UAV 1, a quick-release connector 3, and a directional loudspeaker device, the directional loudspeaker device comprising a pan-tilt arm 4, a servo 5, a servo power module, and a directional loudspeaker 2, … the two inner sides of the lower end of the pan-tilt arm 4 are connected to the two sides of the rear end of the directional loudspeaker 2 via a servo drive shaft and a rotating shaft, respectively, … the control signal input end of the servo 5 is connected to the control signal output end of the controller module.” This solution describes a technical solution: “UAV 1 drives the directional loudspeaker 2 through the servo 5 to broadcast directionally at different working angles and ranges, without having to adjust its own position to lock the broadcasting location.” However, it cannot provide directional illumination in low-light environments, does not have the warning function of directional red and blue warning lights, and is not suitable for multi-scene and multi-time inspection work. Utility Model Content

[0005] The utility model solves the problem that a drone still needs directional lighting and warning after mounting a loudspeaker, and provides a directional loudspeaker drone with a searchlight warning device that is suitable for multiple scenes and multiple time periods and has directional lighting and warning functions.

[0006] The technical solution of the present utility model is to provide a directional shouting drone with the following structure and a searchlight warning device: containing a drone, a directional loudspeaker and a searchlight warning device, the searchlight warning device and the directional loudspeaker are sequentially arranged on the upper side of the drone, the searchlight warning device contains a searchlight warning main control chip, a pan-tilt arm, a brushless motor, a brushless motor control module, a brushless motor drive module, a light box, a light box angle acquisition module, a searchlight, a searchlight drive module, red and blue warning lights and a red and blue warning light drive module, wherein the outer sides of the two ends of the pan-tilt arm are connected to the radial outer sides of the brushless motor stator, the radial outer side of the brushless motor rotor is connected to one side of the light box, a searchlight and a red and blue warning light are arranged on one side of the axially flipped light box, and a magnetic ring is arranged on the inner end of the brushless motor rotor corresponding to the angle acquisition chip in the light box angle acquisition module; The signal sending end of the warning main control chip is connected to the PWM input end of the searchlight driver module and sends a control signal to it. The searchlight driver module drives the searchlight through the constant current output circuit of the constant current source. The signal sending end of the searchlight warning main control chip is respectively connected to the signal input ends of the two red and blue warning light driver modules and sends a control signal to them. The red and blue warning light driver modules drive the red and blue warning lights through the constant current output circuit of the constant current source; the signal output end of the brushless motor control module is connected to the signal input end of the brushless motor driver module, and the signal output end of the brushless motor driver module drives the brushless motor forward and reverse; the signal output end of the light box angle acquisition module transmits the angle information of the brushless motor rotor to the input end of the brushless motor control chip, and the output end of the brushless motor control chip transmits the command to read the angle information to the signal input end of the light box angle acquisition module.

[0007] Preferably, the model of the searchlight warning main control chip is IMX6ULL, the searchlight driver module contains the searchlight driver chip LT3763, and the red and blue police light driver module contains the red and blue police light driver chip PT4115; pin 16 of the searchlight warning main control chip is connected to pin 22 of the searchlight driver chip and sends a PWM control signal to it, and the searchlight driver chip drives the searchlight through a constant current output circuit; pins 14 and 15 of the searchlight warning main control chip are respectively connected to the DIM pins of the two red and blue police light driver modules PT4115 and send PWM control signals to them, and the red and blue police light driver chip drives the red and blue police lights through a constant current output circuit.

[0008] Preferably, the brushless motor control module contains a brushless motor control chip STM32F103TBU6, the brushless motor drive module contains a brushless motor drive chip MP6536, pins 7, 8 and 9 of the brushless motor control chip are connected to pins 12, 13 and 16 of the brushless motor drive chip in sequence and output PWM waves with different duty cycles to them, pins 1, 6 and 29 of the brushless motor drive chip are respectively connected to the input terminals V1, U1 and W1 of the brushless motor and drive the brushless motor forward and reverse.

[0009] Preferably, a corner acquisition chip MA730GQ is provided in the signal acquisition area of ​​the light box corner acquisition module, and its pin 12, pin 7, pin 4 and pin 5 are respectively connected to pin 12, pin 13, pin 14 and pin 11 of the brushless motor control chip. Pin 12, pin 7, pin 4 and pin 5 of the angle acquisition chip form a standard SPI interface and communicate with the brushless motor control chip.

[0010] Preferably, the model of the brushless motor is PM1806, and its rotation angle is α, where 0°≤α≤90°.

[0011] Preferably, the pan / tilt head arm is an N-type bracket.

[0012] Preferably, the UART3_TXD pin 38 and the UART3_RXD pin 37 of the searchlight warning main control chip IMX6ULL are connected to the drone control module through the UART interface and are powered by the drone battery.

[0013] Preferably, the model of the directional loudspeaker is Shengrui brand HS-43.

[0014] Compared with the existing technology, the directional speaking drone with a searchlight warning device has the following advantages:

[0015] 1. Under the control of the brushless motor control chip, the brushless motor can collect the control angle of the drone remote control on the drone gimbal camera, analyze it and send it to the brushless motor driver module to drive the light box to rotate, adjust the projection angle of the searchlight and red and blue warning lights on it to be consistent with the direction of the drone gimbal camera, ensure that the fill light assists the observation area of ​​the drone gimbal camera, and facilitate directional warning reminders.

[0016] 2. By setting up a searchlight and red and blue warning lights following the drone's gimbal camera, the images captured by the camera can be identified promptly and accurately from a distance, and image data can be clearly obtained without getting too close to the observed area, which can reduce the operation workload of the drone operator. It is especially suitable for night inspections or night power inspections where supplementary light or illumination is required.

[0017] 3. After loading the directional loudspeaker, you can make directional calls at any time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 It is a three-dimensional structural diagram of the directional loudspeaker and searchlight warning device in the utility model;

[0020] Figure 3This is a schematic diagram of the top view of the directional loudspeaker and searchlight warning device in the utility model;

[0021] Figure 4 This utility model Figure 3 Schematic diagram of the cross-sectional structure at A-A';

[0022] Figure 5 This utility model Figure 4 A schematic diagram of the enlarged structure at the center marked B;

[0023] Figure 6 This is a circuit diagram of the searchlight warning main control chip in the utility model;

[0024] Figure 7 This is a circuit diagram of the searchlight driver chip in the utility model;

[0025] Figure 8 This is a circuit diagram of the red and blue warning light driver chip in this utility model;

[0026] Figure 9 This is a circuit diagram of the brushless motor control chip in the utility model;

[0027] Figure 10 This is a circuit diagram of the brushless motor driver chip in the utility model;

[0028] Figure 11 This is a circuit diagram of the corner collection chip at the light box in the utility model;

[0029] Figure 12 It is a circuit diagram of the UART interface in the utility model.

[0030] In the accompanying drawings, reference number 1 is a drone, 2 is a searchlight warning device, 3 is a directional loudspeaker, and 4 is a drone gimbal camera. 2-1 is a gimbal arm, 2-2 is a brushless motor, 2-3 is a light box, 2-4 is a red and blue warning light, and 2-5 is a searchlight. DETAILED DESCRIPTION

[0031] In order to help those skilled in the art better understand the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0032] The following is a further explanation of the directional shouting drone containing a searchlight warning device of the utility model in conjunction with the accompanying drawings and specific implementation methods: As shown in the figure, this embodiment contains a drone 1, a directional loudspeaker 3 and a searchlight warning device 2. The searchlight warning device 2 and the directional loudspeaker 3 are sequentially provided on the upper side of the drone 1. The searchlight warning device 2 contains a searchlight warning main control chip, a pan-tilt arm 2-1, a brushless motor 2-2, a brushless motor control module, a brushless motor drive module, a light box 2-3, a light box angle acquisition module, a searchlight 2-5, a searchlight drive module, a red and blue warning light 2-4 and a red and blue warning light drive module, wherein the outer sides of the two ends of the pan-tilt arm 2-1 are connected to the radial outer sides of the stator of the brushless motor 2-2, the radial outer side of the rotor of the brushless motor 2-2 is connected to one side of the light box 2-3, a searchlight 2-5 and a red and blue warning light 2-4 are provided on one side of the axially flipped light box 2-3, and a magnetic ring phase is provided on the inner end of the rotor of the brushless motor 2-2 Corresponding to the angle acquisition chip in the light box angle acquisition module; the signal sending end of the searchlight warning main control chip is connected to the PWM input end of the searchlight driver module and sends a control signal to it. The searchlight driver module drives the searchlight 2-5 through the constant current output circuit of the constant current source. The signal sending end of the searchlight warning main control chip is respectively connected to the signal input ends of the two red and blue warning light driver modules and sends a control signal to them. The red and blue warning light driver modules drive the red and blue warning lights 2-4 through the constant current output circuit of the constant current source; the signal output end of the brushless motor control module is connected to the signal input end of the brushless motor driver module, and the signal output end of the brushless motor driver module drives the brushless motor 2-2 forward and reverse; the signal output end of the light box angle acquisition module transmits the angle information of the brushless motor 2-2 rotor to the input end of the brushless motor control chip, and the output end of the brushless motor control chip transmits the command to read the angle information to the signal input end of the light box angle acquisition module.

[0033] This solution communicates with the drone 1 platform via a UART interface and uses a Type-C port for power and communication. The searchlight warning device 2 on top of the drone 1 is connected to the upper side of the gimbal arm 2-1 via screws. The gimbal arm 2-1 is an N-shaped bracket. The outer side of the gimbal arm 2-1 is connected to the light box 2-3 via the rotor side of the brushless motor 2-2. By analyzing the rotation angle of the brushless motor 2-2's output shaft, the searchlight 2-5 and red and blue warning lights 2-4 on the light box 2-3 are adjusted to follow the movement of the drone's gimbal camera 4 within a certain angle. The brushless motor 2-2 is a PM1806 model, and its rotation angle is set to α, where 0°≤α≤90°. The rotation range is diagonally downward from the horizontal and vertical sides of the drone 1. A directional loudspeaker 3 is fixed to the upper side of the searchlight warning device 2. The loudspeaker housing has a flat opening that better concentrates the sound into a band, reducing sound dispersion and thus achieving better directional broadcasting at high altitudes.

[0034] The model of the searchlight warning main control chip is IMX6ULL, the searchlight driver module contains the searchlight driver chip LT3763, and the red and blue police light driver module contains the red and blue police light 2-4 driver chip PT4115; pin 16 of the searchlight warning main control chip is connected to pin 22 of the searchlight driver chip and sends a PWM control signal to it, and the searchlight driver chip drives the searchlight 2-5 through a constant current output circuit; pins 14 and 15 of the searchlight warning main control chip are respectively connected to the DIM pins of the two red and blue police light driver modules PT4115 and send PWM control signals to them, and the red and blue police light 2-4 driver chip drives the red and blue police lights 2-4 through a constant current output circuit.

[0035] The brightness of the LED lamp beads of searchlights 2-5 and red and blue warning lights 2-4 is adjusted through the constant current source chip. First, the hardware part needs to adjust the peripheral current limiting resistor of the constant current source chip, etc. According to different lamp bead parameters, its maximum power is limited to prevent the lamp beads from burning out. Then the software part adjusts the output current of the constant current source by adjusting the duty cycle of the PWM signal (0-100%), thereby adjusting the brightness of the lamp beads. For example, when the duty cycle is 0%, the current is 0, and when the duty cycle is 100%, the current is 3A.

[0036] The brushless motor control module contains a brushless motor control chip STM32F103TBU6, and the brushless motor drive module contains a brushless motor 2-2 drive chip MP6536. Pins 7, 8, and 9 of the brushless motor control chip are connected in sequence to pins 12, 13, and 16 of the brushless motor 2-2 drive chip and output PWM waves with different duty cycles thereto. Pins 1, 6, and 29 of the brushless motor 2-2 drive chip are respectively connected to the input terminals V1, U1, and W1 of the brushless motor 2-2 and drive the brushless motor 2-2 to rotate forward and reverse.

[0037] Among them, pin 1, pin 6 and pin 29 can be used in parallel with multiple other pins to meet the input current of the brushless motor 2-2. The brushless motor 2-2 used in this application has 7 pairs of magnetic poles. When current flows through the stator coil of the brushless motor 2-2, different magnetic fields will be generated according to the magnitude and direction of the input current according to the right-hand screw rule. When the magnetic field and the magnetic poles of the motor generate a pulling force, it will drive the motor rotor to rotate. When the angle difference is 90°, the pulling force is the largest, and the heat loss generated at this time is also the lowest. Three sets of PWM waves are generated by the brushless motor control chip, and the motor chip outputs three-phase currents U1, V1, and W1 to control the motor, thereby achieving the effect of controlling the motor to rotate at different speeds and directions.

[0038] The signal collection area of ​​the light box corner collection module is equipped with an angle collection chip MA730GQ, whose pins 12, 7, 4 and 5 are respectively connected to pins 12, 13, 14 and 11 of the brushless motor control chip. Pins 12, 7, 4 and 5 of the angle collection chip form a standard SPI interface and communicate with the brushless motor control chip.

[0039] Pins 12, 7, 4, and 5 of the angle acquisition chip transmit the rotational angle information of the brushless motor 2-2 rotor (which is also equivalent to the light box 2-3 mounted thereon, and the searchlight 2-5 and red and blue warning lights 2-4 attached to the light box 2-3) to the signal input of the brushless motor control chip. Pins 12, 13, 14, and 11 of the brushless motor control chip transmit the command to read the rotational angle information to the signal output of the light box angle acquisition module. The angle acquisition chip aligns with the center of the motor rotor's magnetic ring within 1.5 mm. By sensing the magnetic field changes generated by the rotating magnetic ring, it outputs a digital signal indicating the rotor's fixed position. For each rotation of the motor rotor, the angle acquisition chip generates 65,535 pieces of encoded information. Because the magnetically encoded position information generated at each position is unique, high-precision position measurement is achieved.

[0040] The entire closed-loop process is that after the equipment is powered on, the open-loop control motor performs a rotation self-test, and then by reading the position information of the angle acquisition chip, the brushless motor control chip uses the accurate position information of the magnetic encoding to control the brushless motor 2-2 to reach the specified position. By continuously reading the information collected by the angle acquisition chip, the effect of precise position control of the motor is achieved. At the same time, the angle acquisition chip will continuously read the angle information of the drone gimbal camera 4, and the searchlight warning main control chip uses the angle information of the gimbal to control the angle position of the searchlight 2-5 and the red and blue warning lights 2-4 to be consistent with it.

[0041] The UART3_TXD pin 38 and UART3_RXD pin 37 of the IMX6ULL searchlight warning main control chip are connected to the drone 1 control module via a UART interface. The buttons on the drone 1 remote control are used to control the directional loudspeaker 3, which is powered by the drone 1 battery. The IMX6ULL searchlight warning main control chip reads the angle value of the drone's pan-tilt camera 4 and sends it to the brushless motor control chip. The brushless motor control chip adjusts the angle of the light box 2-3 to align with the direction of the drone's pan-tilt camera 4 based on this angle value, providing follow-up searchlight and red and blue warning lights 2-4 for warning.

[0042] When the searchlight warning main control chip IMX6ULL receives the audio data, it transmits it through the SAI interface and transmits it through the I 2The C interface controls the audio codec module to perform codec operations, and then after being processed by the power amplifier module, drives the directional loudspeaker 3 to output an audio analog signal. By processing the received audio data, the audio analog signal is output to the power amplifier module after processing. The model of the directional loudspeaker 3 is Shengrui HS-43. During use, the ground operator flies the drone 1 to the airspace near the area to be announced. The control signal and audio signal are sent to the wireless receiving system on the drone 1 through the drone 1 remote control. After processing, they are transmitted to the directional loudspeaker 3, which controls it to achieve directional announcements through different decibel volumes. If certain environments require fill light or red and blue warning lights 2-4 for warning, turn on the searchlights 2-5 and red and blue warning lights 2-4, and the searchlight warning device 2 will automatically lock the light projection direction to follow the direction of the drone's gimbal camera 4.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A directional speaking drone with a searchlight warning device, characterized by: It contains a drone, a directional loudspeaker and a searchlight warning device. The searchlight warning device and the directional loudspeaker are arranged on the upper side of the drone in sequence. The searchlight warning device contains a searchlight warning main control chip, a pan-tilt arm, a brushless motor, a brushless motor control module, a brushless motor drive module, a light box, a light box angle acquisition module, a searchlight, a searchlight drive module, a red and blue warning light and a red and blue warning light drive module. The outer sides of the two ends of the pan-tilt arm are connected to the radial outer sides of the brushless motor stator, the radial outer side of the brushless motor rotor is connected to one side of the light box, and a light box is provided on one side of the axial flip There are searchlights and red and blue warning lights. The inner end of the brushless motor rotor is provided with a magnetic ring corresponding to the angle collection chip in the light box angle collection module. The signal sending end of the searchlight warning main control chip is connected to the PWM input end of the searchlight driver module and sends a control signal to it. The searchlight driver module drives the searchlight through the constant current output circuit of the constant current source. The signal sending end of the searchlight warning main control chip is respectively connected to the signal input ends of the two red and blue warning light driver modules and sends a control signal to them. The red and blue warning light driver modules drive the red and blue warning lights through the constant current output circuit of the constant current source. The signal output end of the brushless motor control module is connected to the signal input end of the brushless motor drive module, and the signal output end of the brushless motor drive module drives the brushless motor to rotate forward and reverse; the signal output end of the light box angle acquisition module transmits the angle information of the brushless motor rotor to the input end of the brushless motor control chip, and the output end of the brushless motor control chip transmits the command to read the angle information to the signal input end of the light box angle acquisition module.

2. The directional speaking drone with a searchlight warning device according to claim 1, characterized in that: The model of the searchlight warning main control chip is IMX6ULL, the searchlight driver module contains the searchlight driver chip LT3763, and the red and blue police light driver module contains the red and blue police light driver chip PT4115; pin 16 of the searchlight warning main control chip is connected to pin 22 of the searchlight driver chip and sends a PWM control signal to it, and the searchlight driver chip drives the searchlight through a constant current output circuit; pins 14 and 15 of the searchlight warning main control chip are respectively connected to the DIM pins of the two red and blue police light driver modules PT4115 and send PWM control signals to them, and the red and blue police light driver chip drives the red and blue police lights through a constant current output circuit.

3. The directional speaking drone with a searchlight warning device according to claim 1, characterized in that: The brushless motor control module contains a brushless motor control chip STM32F103TBU6, and the brushless motor drive module contains a brushless motor drive chip MP6536. Pins 7, 8, and 9 of the brushless motor control chip are sequentially connected to pins 12, 13, and 16 of the brushless motor drive chip and output PWM waves with different duty cycles thereto. Pins 1, 6, and 29 of the brushless motor drive chip are respectively connected to the input terminals V1, U1, and W1 of the brushless motor and drive the brushless motor to rotate forward and reverse.

4. The directional speaking drone with a searchlight warning device according to claim 1, characterized in that: The signal collection area of ​​the light box corner collection module is equipped with an angle collection chip MA730GQ, whose pins 12, 7, 4 and 5 are respectively connected to pins 12, 13, 14 and 11 of the brushless motor control chip. Pins 12, 7, 4 and 5 of the angle collection chip form a standard SPI interface and communicate with the brushless motor control chip.

5. The directional speaking drone with a searchlight warning device according to claim 1, characterized in that: The model of the brushless motor is PM1806, and its rotation angle is α, where 0°≤α≤90°.

6. The directional speaking drone with a searchlight warning device according to claim 1, characterized in that: The pan / tilt head arm is an N-shaped bracket.

7. The directional speaking drone with a searchlight warning device according to claim 1, characterized in that: The UART3_TXD pin 38 and UART3_RXD pin 37 of the searchlight warning main control chip IMX6ULL are connected to the drone control module through the UART interface and are powered by the drone battery.

8. The directional speaking drone with a searchlight warning device according to claim 1, characterized in that: The model of the directional loudspeaker is Shengrui brand HS-43.

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