• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Biomimetic and zoosemiotic aerial vehicle directed by an auto-pilot. The object of the present invention is a biomimetic and zoosemiotic aerial vehicle that incorporates sensors and means to detect and drive away animals, its main characteristic being that it is equipped with a programmable autopilot. It is also an object of the present invention to use this vehicle in applications such as the control of certain pests, as well as the inspection of environmentally protected areas. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2564085A2
    申请号:ES201430615
    申请日:2014-04-25
    公开日:2016-03-17
    发明作者:Raúl SOJO BALLESTEROS；Laura GANGOSO DE LA COLINA；Francisco Juan MORENTE SANCHEZ；Jesús David MORENTE SÁNCHEZ；Jordi FIGUEROLA BORRAS；Raùl SOJO BALLESTEROS；Josue MARTINEZ DE LA PUENTE
    申请人:Consejo Superior de Investigaciones Cientificas CSIC；
    IPC主号:
    专利说明:

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    1.- When a mission is activated manually or a threat is detected by means such as radar or other sensors, the vehicle takes off and goes to the first configured waypoint.
    5 2.- The navigation software is introduced to activate accelerometers, magnetometers, compass and other digital and mechanical actuators such as servomotors and propulsion.
    3.- Upon arriving at the satellite point, the pilot may or may not start the simulation of an attack by activating a specific algorithmic zoosemiotic stabilization package during the
    10 scheduled time. Then it goes to the next waypoint and so on. You can also program your zoosemiótica throughout the trajectory between the two satellite points. These movements demand greater energy consumption.
    4.- Supports data from other sensors placed on the ground and can activate any device 15 or physical actuator to increase fear.
    5.- After the mission, land and wait for the next shot, while charging the batteries. In an optional configuration, the vehicle could take off again or cause another vehicle to exit.
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    MODE OF EMBODIMENT OF THE INVENTION
    In a particular embodiment, the aerial vehicle object of the invention incorporates a programmable autopilot based on an Arduino board with a microcontroller
    25 CortexM3 of ARM (Advanced Risc Machines) whose inertial modules can integrate different types of sensors, such as MaxBotics MaxSonar EZ-1 LV sonar with serial and analog outputs that are used for latency reasons, with an inch of resolution and a range of 6 meters.
    30 Your shot can activate any device. Digital compass, gyroscopes for defined and credible turns and pirouettes, magnetometers, Inertial Measurement Units (IMU), barometer, telemetry in general and digital compass, orientation sensors (which combine the accelerometer and magnetometer with the reading of gravitational fields and terrestrial magnetic) and pressure anemometer or Pitot tube. Accelerometers next to sensors
    35 ultrasounds and / or lasers measure the altitude up to about 9 meters, from which the
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    silicon pressure sensors that give centimeter accuracy and help stabilize the aircraft.
    Autopilot communication cards are based on the FT232R transceiver with ATmega8U2 microcontroller. The vehicle includes a satellite module of the Global Satellite Navigation System (GNSS) that allows navigating the waypoints. It incorporates radio beacon, return home due to a vital failure of the system (FailSafe), autonomous take-off and landing, three-axis control and stabilization camera, shutter control, radio frequency communication system, joystick control, programmable video link on screen in live, visibility through graphics in application programs of geographic information systems intended to display and edit cartography in web mapping environments such as Google Earth from where you can design the waypoints and flights.
    The code of the control base and files such as the ACME of the accelerometer for the waypoints have been modified, adding own functions and behaviors with an eclipse control software that controls sensors, motors and accelerations and digitized and configured packages have been introduced of each species
    The microprocessor regulates the fulfillment at each satellite crossing point of the pre-established mission in the development platform with an open source software, where programs are created for the devices that allow the reading and control of any physical sensor or actuator with an architecture Robust and sensor control with overlapping loops for feedback. Its programming in Arduino and the Wiring-based language allows its expansion through C ++ libraries in a Processing-based programming environment. The I2C (Inter-Integrated Circuit) input port, characterized by having two lines of information: one for data transmission and one for the clock, allows sensor arrays to be built, 3D routes to be programmed and mission commands.
    The control of the servomotors is carried out by advanced hardware, algorithms and filters based on matrices of cosine guidelines that improve the data fusion sensor such as the Premerlani-Bizard robust direction cosine matrix estimator that, to transform it into a heavier Kalman filter, uses a rotation matrix or matrix of director cosines that describes the orientation of one coordinate system with respect to the other. The opposite transformation is performed with the inverse of the rotation matrix, which turns out to be identical to the transposed matrix, so that being an orthogonal matrix and relating to
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    In this programming it is not controlled exactly when the photo has been taken and therefore the end of the mission, because it does not define when it is turning on which is just when the 2 seconds necessary to press the power button or , turning off (static void take_picture and one button mode), when the necessary 2.5 seconds for shutdown pass. Therefore, if you want to show some zoosemiotic at that crossing point, you must start the process before and calculate when to start so that, after 4.5 seconds, the vehicle is within the crossing point. When you execute this sketch, the pilot stays on for several seconds while the relay in question remains active. In short, to avoid the relay function, a subroutine is created within the void_loop function and its respective functions and sentences or it works with the PORTL | = B00000100 and PORTL ^ = B00000100 function. To prioritize the number of motor steps over their duration without the system crashing and being able to work with other functions, the delay instruction (1000) is avoided using the loop function and from here, control the value of a variable set so that when ordering the activation, the milliseconds with milis are required and stored in a variable previously set in the setup. From loop you can see how it works with the rest of the code but the difference between the current time and those stored at the beginning (which will be greater than 1000) allows changing the state of that function. Another more practical form of programming is to take pictures continuously, that is, the device keeps zoosemotic devices constantly activated, while the embedded georeferenced information can be sent to the live output via wireless On Screen Display and observe in time real where the plague is greater for subsequent decision making. This design forces to take continuous navigation data. In order not to touch the programming on the pilot, the Texas Instruments MSP430 controller is installed, which allows for infinite combinations, almost zero consumption and extensions through its inputs. Among its programs it has activations with time lapses that range between 1, 2, 5, 10, 30 or 60 seconds. This design may be conditioned to the activation of other sensors such as presence. Finally, the versatility of the platform allows the addition of an Arduino Pro Mini control board with the 328 chip with 16 digital ports of which 6 can be used as PWM (pulse-width modulation) which, in order to avoid radio frequency interference typical of These circuits are installed near the load and the power supply is filtered. The others can also be configured as PWM outputs using hardware incorporated in the microcontroller and convert to PWM pulses on the rest of the pins.
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    For the correct design of a navigation algorithm it is necessary to know the orientation provided by the three-axis digital compass HMC5843 that communicates through the two I2C lines of the board and its two analog inputs. The infrared and / or ultrasonic sensors are connected. If more inputs are needed, an analog multiplexer (such as MC14051) is used, which extends eight more lines. As the platform has difficulties in debugging codes, a complementary system of debug messages is implemented both to perform unit tests, and to debug codes in cases of anomalous behavior. Codes have been optimized to improve timers and other specific hardware mechanisms, planners have been installed to control and limit the execution time of each routine and the way to modularize and structure the code has been modified to optimize both performance and use of the memory.
    For the GPS file, algorithms are created based on obtaining the current position and calculating the distance that instead of using trigonometry, a method that relates the latitude and longitude coordinates of both points to the radius of the earth is used. based on Haversine's formula. The software architecture is subject to the general structure of a program deployable on the Arduino platform that must have two procedures as an entry point that are automatically claimed by the framework planner. From the loop the rest of the code can be modularized and structured as desired. After the setup, the registers and variables of each driver are initialized and the possible calibration procedures of the analog sensors and necessary initialization protocols are executed. To manage the resources and control the execution of each software module, a planner was implemented in the loop procedure that makes the calls to the rest of the modules as the input / output drivers responsible for communicating with the sensors in different ways, as well as provide an access interface to the values received from the sensors and / or write (of the get / set type) of the output values to the motors, so that the rest of the modules can communicate with all the input / output devices without worry about the protocol or technology used by the driver.
    It incorporates resonant coils with magnetic field pick-up antennas, radio interference and electromagnetic noise (energy-harvesting) that act as a transformer. This sinusoidal signal, of the same frequency as the generated one, is rectified to achieve a continuous signal using germanium diodes. Connecting another receiver with the coil loops wound in the opposite direction to the first, mimics a rectifier


    Full wave which, together with a resistor and a capacitor makes an effective filter with minimal losses. This amplification is effective by connecting in series up to five voltage doublers that receive the alternating signal from the capacitor, amplified at each stage so that the fifth no longer generates any voltage and even loses voltage by
    5 the diodes. Overlapping curls end up generating a continuous signal. This energy together with that of solar cells, the Bedini engine and / or Stirling engine, are amplified by the thief of Joules (Joules Thief) to increase the autonomy of the batteries.
    Autopilot configuration supports data from other vision sensors or
    10 attention placed on the ground or voice recognition that allows intervening on the flight through verbal orders that can be encrypted so that it cannot be piloted by unauthorized personnel.
    In power line inspection applications, the vehicle includes a camera
    15 ultraviolet corona effect that seeks the presence of pollutants in the insulation chains of the lines and of an ineffective washing in the lines, bells of the chains in short circuit, damage to conductors, screws, fittings, loose connections of the components and verification of repairs made. With the thermal and hyperspectral camera, photons emitted by heat are detected to prevent electrical failures
    20 optimizing maintenance and unscheduled shutdowns.
    For video transmission, the vehicle incorporates a camera that works at frequencies of 5.8 GHz, eliminating interference on the control link and a wireless fidelity amplifier (WiFi), IEEE 802.11b of 1000 mW output power that allows
    25 extend applications for several kilometers such as the FPV (First-person view).
    权利要求:
    Claims (1)
    [1]
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    同族专利:
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    US20170055517A1|2017-03-02|
    ES2671421T3|2018-06-06|
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    ES2564085B1|2017-10-24|
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4964331A|1988-12-29|1990-10-23|Eyal Halevy|Airborne birdstrike prevention device|
    DE20010995U1|2000-06-21|2001-10-31|Crosina Luciano|Garden pond lamp with a deterrent effect for animals, especially gray herons|
    JP2003304795A|2002-04-18|2003-10-28|Yasuhiro Fujita|Artificial wing and flapping device equipped with bilateral rack gear and semi-circular gear|
    DE20211129U1|2002-07-23|2002-11-07|Merlaku Kastriot|Device for keeping the birds away|
    CN2626860Y|2003-06-26|2004-07-21|哈尔滨工业大学|Airport bird dispelling equipment using remote controlled model airplane as carrier|
    US7128296B2|2004-03-12|2006-10-31|Robert Guadagna|Animal-scaring device and method of employing same|
    US7543780B1|2004-10-04|2009-06-09|The United States Of America As Represented By The Secretary Of The Air Force|Unmanned air vehicle transmission line docking surveillance|
    ITBO20050319A1|2005-05-05|2006-11-06|Paolo Iori|RADIO-CONTROLLED FLYWHEEL AEROMODEL, HAVING A FALCONIFORM BIRD LEAF, WITH PURPOSE OF USE AND USE FOR THE REMOVAL OF GRANARI BIRDS FROM BIRDS TERRED BY THESE|
    US7510142B2|2006-02-24|2009-03-31|Stealth Robotics|Aerial robot|
    CN101627752B|2009-07-08|2011-08-03|江南大学|Solar-energy machine eagle|
    US9456185B2|2009-08-26|2016-09-27|Geotech Environmental Equipment, Inc.|Helicopter|
    CN201563537U|2009-10-21|2010-09-01|粟文斌|Crop guarding device|
    US8511606B1|2009-12-09|2013-08-20|The Boeing Company|Unmanned aerial vehicle base station|
    TW201336409A|2012-03-07|2013-09-16|bing-cheng Xie|Bird repelling device and system thereof|PL3082413T3|2013-12-19|2020-05-18|Bird Control Group B.V.|System for deterring birds|
    US20160183514A1|2014-12-26|2016-06-30|Robert J. Dederick|Device and method for dispersing unwanted flocks and concentrations of birds|
    WO2017124129A1|2016-01-23|2017-07-27|Michael Comfort Pty Ltd Trading As Border Pest Control|Pest control assembly and method|
    US10395509B2|2017-06-08|2019-08-27|Total Sa|Method of preparing and/or carrying out a ground survey in a region of interest and related apparatus|
    US10856542B2|2017-11-30|2020-12-08|Florida Power & Light Company|Unmanned aerial vehicle system for deterring avian species from sensitive areas|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201430615A|ES2564085B1|2014-04-25|2014-04-25|BIOMIMETIC AND ZOOSEMIOTIC AIR VEHICLE DIRECTED BY AUTOMATIC PILOT|ES201430615A| ES2564085B1|2014-04-25|2014-04-25|BIOMIMETIC AND ZOOSEMIOTIC AIR VEHICLE DIRECTED BY AUTOMATIC PILOT|
    UY0001036092A| UY36092A|2014-04-25|2015-04-22|BIOMIMETIC AND ZOOSEMIOTIC AIR VEHICLE DIRECTED BY AUTOMATIC PILOT|
    ES15730522.8T| ES2671421T3|2014-04-25|2015-04-24|Biomimetic and zoosemiotic aerial vehicle guided by an autopilot device|
    PCT/ES2015/070346| WO2015162330A1|2014-04-25|2015-04-24|Biomimetic and zoosemiotic aerial vehicle guided by an automatic pilot device|
    US15/306,659| US20170055517A1|2014-04-25|2015-04-24|Biomimetic and zoosemiotic aerial vehicle controlled by automatic pilot|
    EP15730522.8A| EP3135108B1|2014-04-25|2015-04-24|Biomimetic and zoosemiotic aerial vehicle guided by an automatic pilot device|
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