Unmanned aerial vehicle for water surface rescue

Abstract

The utility model provides an unmanned aerial vehicle for water surface rescue. The unmanned aerial vehicle for water surface rescue comprises a flight assembly and a water power assembly which are both connected with a controller, the flight assembly comprises a first bus transceiver and a plurality of first motors, and a plurality of input ends of the first bus transceiver are connected with a plurality of groups of first signal output ends of the controller respectively; a plurality of output ends of the first bus transceiver are used for controlling a plurality of first motors; the water power assembly comprises a second bus transceiver and a plurality of second motors, a plurality of input ends of the second bus transceiver are respectively connected with the plurality of groups of first signal output ends of the controller, and a plurality of output ends of the second bus transceiver are used for controlling the plurality of second motors. The operation stability of an existing unmanned aerial vehicle for water surface rescue can be improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a UAV for water rescue. Background Technology

[0002] With the continuous development of technology, drones are playing an important role in various fields such as agriculture, surveying, patrolling, and rescue. For example, when used for water rescue, drones can fly to the location of a person in the water at a relatively fast speed, and then be propelled by hydrodynamic components to bring the person to shore. Compared with traditional rescue boats, drones used for water rescue greatly shorten the rescue time and give the person in the water a greater chance of survival.

[0003] Compared to traditional drones, drones used for water rescue require two power systems: a flight component and a hydrodynamic component. If the control of these two power systems conflicts, it will affect the stability of the drone's flight. Utility Model Content

[0004] This application provides a drone for water rescue to improve the operational stability of existing drones for water rescue.

[0005] This application provides a surface rescue drone, including a flight component and a hydrodynamic component, both connected to a controller.

[0006] The flight component includes a first bus transceiver and a plurality of first motors. The plurality of input terminals of the first bus transceiver are respectively connected to a plurality of first signal output terminals of the controller. The plurality of output terminals of the first bus transceiver are used to control the plurality of first motors.

[0007] The hydrodynamic component includes a second bus transceiver and multiple second motors. Multiple input terminals of the second bus transceiver are respectively connected to multiple sets of first signal output terminals of the controller. The multiple output terminals of the second bus transceiver are used to control the multiple second motors.

[0008] It also includes NOT gate U12B, OR gate U9, NOT gate U12C and OR gate U10. The input terminal of NOT gate U12B is connected to the third signal output terminal of the controller, the output terminal of NOT gate U12B is connected to the first input terminal of OR gate U9, the second input terminal of OR gate U9 is connected to the second signal output terminal of the controller, and the output terminal of OR gate U9 is connected to the enable terminal of the first bus transceiver.

[0009] The input terminal of the NOT gate U12C is connected to the second signal output terminal of the controller, the output terminal of the NOT gate U12C is connected to the first input terminal of the OR gate U10, the second input terminal of the OR gate U10 is connected to the third signal output terminal of the controller, and the output terminal of the OR gate U9 is connected to the enable terminal of the second bus transceiver.

[0010] In one exemplary embodiment of this application, a half-bridge drive circuit is provided between the output terminal of the first bus transceiver and the first motor, and between the output terminal of the second bus transceiver and the second motor.

[0011] In one exemplary embodiment of this application, the half-bridge drive circuit includes a drive module, a first switching transistor, and a second switching transistor.

[0012] The first switch and the second switch form a half-bridge. The two input terminals of the driving module are the input terminals of the half-bridge driving circuit. The two output terminals of the driving module are respectively connected to the control terminals of the first switch and the second switch. The connection point of the first switch and the second switch is the output terminal of the half-bridge driving circuit.

[0013] In one exemplary embodiment of this application, a braking circuit is provided between the input terminal of the first bus transceiver and each group of first signal output terminals of the controller.

[0014] The braking circuit includes NAND gates U11A, U11B, U12A, U11C, U11D, and U11E.

[0015] The first input terminals of NAND gate U11A and NAND gate U11B are respectively connected to a set of first signal output terminals of the controller. The second input terminals of NAND gate U11A and NAND gate U11B are both connected to the fourth signal output terminal of the controller. The output terminal of NAND gate U11B is connected to the first input terminal of NAND gate U11C. The second input terminals of NAND gate U11C are both connected to the fifth signal output terminal of the controller.

[0016] The output of NAND gate U11A is connected to the first input of NOT gate U11D through NOT gate U12A, and the output of NAND gate U11C is connected to the first input of NAND gate U11E.

[0017] The second input terminal of NAND gate U11D and the second input terminal of NAND gate U11E are both connected to the output terminal of NOT gate U12E. The output terminal of NAND gate U11D is the first output terminal of the braking circuit, and the output terminal of NAND gate U11E is the second output terminal of the braking circuit.

[0018] In one exemplary embodiment of this application, the water rescue drone further includes:

[0019] A battery power monitoring circuit is used to monitor the battery power of the water rescue drone.

[0020] In one exemplary embodiment of this application, the water rescue drone further includes:

[0021] An insulation monitoring circuit is used to monitor the insulation parameters of the hydrodynamic component.

[0022] In one exemplary embodiment of this application, the water rescue drone further includes:

[0023] An image acquisition device is used to acquire images of the rescue scene, and the output of the image acquisition device is connected to the controller.

[0024] The working principle and beneficial effects of the unmanned aerial vehicle (UAV) for water rescue provided in this application embodiment are as follows:

[0025] In this embodiment, a first bus transceiver is used to centrally control multiple first motors in the flight component, and a second bus transceiver is used to centrally control multiple second motors in the hydrodynamic component. NOT gate U12B, OR gate U9, NOT gate U12C and OR gate U10 are used to control the enable terminals of the first bus transceiver and the second bus transceiver, thereby achieving interlocking between the flight component and the hydrodynamic component, avoiding power conflicts caused by simultaneous driving of the flight component and the hydrodynamic component, which is beneficial to improving the stability of UAV operation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a flight component provided in an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of a hydrodynamic component provided in an embodiment of this application;

[0029] Figure 3 This is a schematic diagram of a braking circuit provided in an embodiment of this application. Detailed Implementation

[0030] To enable those skilled in the art to better understand this solution, the technical solutions in the embodiments of this solution will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this solution, not all of them. Based on the embodiments of this solution, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this solution.

[0031] The term "comprising" and any other variations thereof in the specification, claims, and accompanying drawings of this invention mean "including but not limited to," and are intended to cover a non-exclusive inclusion, not limited to the examples listed herein. Furthermore, the terms "first" and "second," etc., are used to distinguish different objects, not to describe a specific order.

[0032] The implementation of this application will be described in detail below with reference to the specific accompanying drawings:

[0033] The surface rescue drone in this embodiment includes a flight component and a hydrodynamic component, both of which are connected to a controller.

[0034] Reference Figure 1 The flight component includes a first bus transceiver and multiple first motors. Multiple input terminals of the first bus transceiver are respectively connected to multiple sets of first signal output terminals of the controller. Multiple output terminals of the first bus transceiver are used to control multiple first motors.

[0035] Reference Figure 2 The hydrodynamic component includes a second bus transceiver and multiple second motors. Multiple input terminals of the second bus transceiver are respectively connected to multiple sets of first signal output terminals of the controller. Multiple output terminals of the second bus transceiver are used to control multiple second motors.

[0036] It also includes NOT gate U12B, OR gate U9, NOT gate U12C and OR gate U10. The input terminal of NOT gate U12B is connected to the third signal output terminal of the controller, the output terminal of NOT gate U12B is connected to the first input terminal of OR gate U9, the second input terminal of OR gate U9 is connected to the second signal output terminal of the controller, and the output terminal of OR gate U9 is connected to the enable terminal of the first bus transceiver.

[0037] The input terminal of NOT gate U12C is connected to the second signal output terminal of the controller, the output terminal of NOT gate U12C is connected to the first input terminal of OR gate U10, the second input terminal of OR gate U10 is connected to the third signal output terminal of the controller, and the output terminal of OR gate U9 is connected to the enable terminal of the second bus transceiver.

[0038] In this embodiment, both the flight component and the hydrodynamic component include multiple motors. For example, the flight component can be powered by four first motors, M1-M4, which are responsible for the flight of the UAV in the air; while the hydrodynamic component is powered by two second motors, M5-M6, which are used for the UAV to navigate on the water surface.

[0039] The control signals for multiple first motors are centrally controlled by a first bus transceiver U5, and the control signals for multiple second motors are centrally controlled by a second bus transceiver U6. When the UAV needs to be controlled to fly in the air, the controller's second signal output terminal outputs a low-level signal, and the controller's third signal output terminal outputs a high-level signal. The controller's third signal output terminal is connected to the input terminal of NOT gate U12B, which outputs a low-level signal. OR gate U9 outputs a low-level signal to the enable terminal of the first bus transceiver U5, enabling the first bus transceiver U5 and controlling the multiple first motors to start working. At this time, OR gate U10 outputs a high-level signal to the enable terminal of the second bus transceiver U6, disabling the second bus transceiver U6, and the multiple second motors do not work.

[0040] When it is necessary to control the drone to fly in the air, the controller's second signal output terminal outputs a high-level signal, and the controller's third signal output terminal outputs a low-level signal. The controller's second signal output terminal is connected to the input terminal of NOT gate U12C. NOT gate U12C outputs a low-level signal, and OR gate U10 outputs a low-level signal to the enable terminal of the second bus transceiver U6. The second bus transceiver U6 is enabled, controlling multiple second motors to start working. At this time, OR gate U9 outputs a high-level signal to the enable terminal of the first bus transceiver U5, and the first bus transceiver U6 is disabled, so multiple first motors do not work.

[0041] As can be seen from the above, this embodiment uses a first bus transceiver to centrally control multiple first motors in the flight component and a second bus transceiver to centrally control multiple second motors in the hydrodynamic component. Furthermore, NOT gate U12B, OR gate U9, NOT gate U12C, and OR gate U10 are used to control the enable terminals of the first and second bus transceivers, achieving interlocking between the flight component and the hydrodynamic component. This prevents simultaneous driving of the flight component and the hydrodynamic component from causing power conflicts, thereby improving the stability of the UAV operation.

[0042] Reference Figure 1 In one exemplary embodiment of this application, a half-bridge drive circuit is provided between the output terminal of the first bus transceiver and the first motor, and between the output terminal of the second bus transceiver and the second motor.

[0043] In this embodiment, the half-bridge drive circuit can amplify and enhance the signal output by the bus transceiver to provide sufficient drive current and voltage for the motor, ensuring that the motor can generate sufficient torque and speed to meet the power requirements of the UAV during flight and water navigation.

[0044] Reference Figure 1 In one exemplary embodiment of this application, the half-bridge drive circuit includes a drive module, a first switching transistor, and a second switching transistor.

[0045] The first and second switching transistors form a half-bridge. The two input terminals of the driving module are the input terminals of the half-bridge driving circuit. The two output terminals of the driving module are respectively connected to the control terminals of the first and second switching transistors. The connection point of the first and second switching transistors is the output terminal of the half-bridge driving circuit.

[0046] In this embodiment, the drive module specifically adopts the FD2606S. The FD2606S has high voltage withstand capability and can withstand voltage fluctuations and back electromotive force generated during motor start-up, braking and operation, and is stable and reliable in operation. At the same time, the FD2606S has low on-resistance and low power consumption, which helps to extend battery life and increase the endurance of water rescue drones that rely on battery power.

[0047] The two outputs of the drive module are connected to the control terminals of the first and second switching transistors, respectively, to control their on / off states. When the first switching transistor is on and the second switching transistor is off, the half-bridge drive circuit outputs a positive voltage to the power supply terminal of the first motor, causing the first motor to rotate forward. When the first switching transistor is off and the second switching transistor is on, the half-bridge drive circuit outputs a reverse voltage to the power supply terminal of the first motor, causing the first motor to rotate in reverse. The two outputs of the drive module are typically PWM signals; by adjusting the duty cycle of the PWM signals, the speed of the first motor can be adjusted.

[0048] Reference Figure 3 In one exemplary embodiment of this application, a braking circuit is provided between the input terminal of the first bus transceiver and each group of first signal output terminals of the controller.

[0049] The braking circuit includes NAND gates U11A, U11B, U12A, U11C, U11D, and U11E.

[0050] The first input terminals of NAND gate U11A and NAND gate U11B are respectively connected to a set of first signal output terminals of the controller. The second input terminals of both NAND gate U11A and NAND gate U11B are connected to the fourth signal output terminal of the controller. The output terminal of NAND gate U11B is connected to the first input terminal of NAND gate U11C. The second input terminals of NAND gate U11C are all connected to the fifth signal output terminal of the controller.

[0051] The output of NAND gate U11A is connected to the first input of NAND gate U11D through NAND gate U12A, and the output of NAND gate U11C is connected to the first input of NAND gate U11E.

[0052] The second input terminals of NAND gate U11D and NAND gate U11E are both connected to the output terminal of NAND gate U12E. The output terminal of NAND gate U11D is the first output terminal of the braking circuit, and the output terminal of NAND gate U11E is the second output terminal of the braking circuit.

[0053] In this embodiment, the controller's fourth signal output terminal outputs a braking signal BRK to the braking circuit, which can realize the braking control of the flight component; the controller's fifth signal output terminal outputs a stop signal OFF to the braking circuit, which can realize the stop control of the flight component.

[0054] Its working principle is as follows: When there is no need for braking or stopping, the braking signal BRK output from the fourth signal output terminal of the controller and the stopping signal OFF output from the fifth signal output terminal of the controller are both at high level. NAND gates U11A, U11B, U12A, U11C, U11D and U11E form an inverting circuit, which inverts the output signals PWM1A and PWM1B of the controller respectively, which can eliminate the glitches of PWM1A and PWM1B, and the resulting PWM1A_1 and PWM1B_1 signals are more stable.

[0055] When braking is required, the brake signal BRK output from the fourth signal output terminal of the controller is at a low level, and the stop signal OFF output from the fifth signal output terminal of the controller is at a high level. The output terminal of NAND gate U11D is forced to be set to a high level, and the output terminal of NAND gate U11E is forced to be set to a low level, thereby realizing the braking function.

[0056] When a shutdown is required, the shutdown signal OFF output from the fifth signal output terminal of the controller is at a low level, and the output terminals of NAND gates U11D and U11E are both forced to a high level, thus realizing the shutdown function.

[0057] As can be seen from the above, by setting a braking circuit between the input terminal of the first bus transceiver and each group of first signal output terminals of the controller, the waveform shaping function, braking function and stopping function can be multiplexed, which is beneficial to simplifying the circuit structure.

[0058] In one exemplary embodiment of this application, the water rescue drone further includes:

[0059] The battery power monitoring circuit is used to monitor the battery power of drones used for water rescue.

[0060] In this embodiment, the battery power monitoring circuit is used to monitor the battery power in real time. The battery power can be displayed on the operating interface, allowing operators to rationally plan the drone's flight route, operation time, and rescue mission arrangements based on the battery power monitoring data. For example, when the battery power is limited, key rescue steps can be prioritized, or the drone can be recalled for charging in a timely manner to ensure that the next rescue operation can be carried out with sufficient power, thereby improving rescue efficiency.

[0061] In one exemplary embodiment of this application, the water rescue drone further includes:

[0062] Insulation monitoring circuit, used to monitor the insulation parameters of hydrodynamic components.

[0063] In this embodiment, the motor of the hydrodynamic component operates in water or a humid environment, making it susceptible to water corrosion and resulting in decreased insulation performance. By monitoring the insulation parameters of the hydrodynamic component in real time, it is possible to promptly detect any decrease or damage to the insulation performance, preventing safety accidents such as short circuits and fires caused by leakage, and ensuring the safety of the UAV when operating on the water surface.

[0064] In one exemplary embodiment of this application, the water rescue drone further includes:

[0065] An image acquisition device is used to acquire images of the rescue site. The output of the image acquisition device is connected to the controller.

[0066] In this embodiment, the high-definition images captured by the image acquisition device allow rescuers to more accurately locate the specific position of the trapped person, and even in complex water environments or severe weather conditions, they can avoid missing the target and improve the success rate of the rescue.

[0067] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A drone for water rescue, characterized in that, The flight assembly and the water power assembly are connected with the controller, The flight assembly comprises a first bus transceiver and a plurality of first motors, a plurality of inputs of the first bus transceiver are connected with a plurality of groups of first signal output terminals of the controller respectively, and a plurality of outputs of the first bus transceiver are used for controlling the plurality of first motors. The water power assembly comprises a second bus transceiver and a plurality of second motors, a plurality of inputs of the second bus transceiver are connected with a plurality of groups of first signal output terminals of the controller respectively, and a plurality of outputs of the second bus transceiver are used for controlling the plurality of second motors. The non-gate U12B, the or gate U9, the non-gate U12C and the or gate U10 are further included, an input of the non-gate U12B is connected with a third signal output terminal of the controller, an output of the non-gate U12B is connected with a first input of the or gate U9, a second input of the or gate U9 is connected with a second signal output terminal of the controller, and an output of the or gate U9 is connected with an enable terminal of the first bus transceiver. An input of the non-gate U12C is connected with the second signal output terminal of the controller, an output of the non-gate U12C is connected with a first input of the or gate U10, a second input of the or gate U10 is connected with the third signal output terminal of the controller, and an output of the or gate U9 is connected with an enable terminal of the second bus transceiver.

2. A drone for water rescue according to claim 1, characterized in that, Half-bridge drive circuits are arranged between the outputs of the first bus transceiver and the first motors and between the outputs of the second bus transceiver and the second motors.

3. A drone for water rescue according to claim 2, characterized in that, The half-bridge drive circuit comprises a drive module, a first switch tube and a second switch tube, The first switch tube and the second switch tube form a half-bridge, two inputs of the drive module are inputs of the half-bridge drive circuit, two outputs of the drive module are connected with control terminals of the first switch tube and the second switch tube respectively, and a connection point of the first switch tube and the second switch tube is an output of the half-bridge drive circuit.

4. A drone for water rescue according to claim 1, characterized in that, Brake circuits are arranged between the inputs of the first bus transceiver and each group of first signal output terminals of the controller, The brake circuit comprises an NAND gate U11A, an NAND gate U11B, a non-gate U12A, an NAND gate U11C, an NAND gate U11D and an NAND gate U11E, First inputs of the NAND gate U11A and the NAND gate U11B are connected with a group of first signal output terminals of the controller respectively, second inputs of the NAND gate U11A and the NAND gate U11B are connected with a fourth signal output terminal of the controller, an output of the NAND gate U11B is connected with a first input of the NAND gate U11C, and second inputs of the NAND gate U11C are connected with a fifth signal output terminal of the controller, An output of the NAND gate U11A is connected with a first input of the non-gate U12A through the non-gate U12A, and an output of the NAND gate U11C is connected with a first input of the NAND gate U11E, The second input end of the NAND gate U11D and the second input end of the NAND gate U11E are connected with the output end of the NAND gate U12E, the output end of the NAND gate U11D is the first output end of the brake circuit, and the output end of the NAND gate U11E is the second output end of the brake circuit.

5. A drone for water rescue according to claim 1, characterized in that, Further comprising: A battery power monitoring circuit is configured to monitor the battery power of the water surface rescue drone.

6. A drone for water rescue according to claim 1, characterized in that, Further comprising: An insulation monitoring circuit is configured to monitor the insulation parameter of the water power assembly.

7. A drone for water rescue according to claim 1, characterized in that, Further comprising: An image acquisition device is configured to acquire images of the rescue site, and an output end of the image acquisition device is connected with the controller.

Images