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    • 专利摘要:
    Unmanned aerial vehicle biomimetic and zoosemiotic directed by automatic pilot for precision flights and/or pursuit. The object of the present invention is a biomimetic and zoosemiotic aerial vehicle that incorporates sensors and means to detect and scare away animals, its main characteristic being that it is equipped with an automatic programmable pilot in open code and a reduced plate computer when it is convenient, that they multiply the computing capacity to operate complex artificial vision algorithms that, together with on-board sensors, modify the trajectory of the aircraft while executing sequences of movements and activate devices that increase the bewilderment in the pest. This innovative design, capable of responding to external stimuli and pursuing dynamic objectives, can fly autonomously and constantly, analyzing, trusting and responding to its environment with efficiency and safety. 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 protected areas. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2613310A1
    申请号:ES201531528
    申请日:2015-10-23
    公开日:2017-05-23
    发明作者:Francisco Juan MORENTE SANCHEZ；Jordi FIGUEROLA BORRAS；Ramón CASIMIRO-SORIGUER ESCOFET
    申请人:Consejo Superior de Investigaciones Cientificas CSIC；
    IPC主号:
    专利说明:

    SECTOR AND OBJECT OF THE INVENTION
    The present invention falls within the field of flying devices for applications such as scare away animals.
    Specifically, 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 provided with an open source programmable autopilot and a reduced plate computer when appropriate , which multiply the computing capacity to operate complex artificial vision algorithms that, together with on-board sensors, modify the trajectory of the aircraft while executing sequences of movements and activates devices that increase the confusion in the plague. This innovative design, capable of responding to external stimuli and pursuing dynamic objectives, makes its own decisions and supervises the fulfillment of the mission, flying autonomously and constantly, analyzing, trusting and responding to its environment effectively and safely. 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 protected areas.
    STATE OF THE TECHNIQUE
    The concentrations of wild animals may pose a risk to crops, livestock farms and to the health of humans and other animals of economic interest or for their conservation. Animals shy away from the situations they perceive as a risk to their life and being able to reproduce the stimuli they perceive as threatening constitutes an effective method to scare them away. The invention seeks to stage the same acts that occur in nature to achieve predictable reactions in animals with biomimetic aerial vehicles that mimic their pure and descriptive zoosemiotics: visual, acoustic, tactile and chemical, through the study of zoology, robotics, Biomechanics, mechatronics and aeronautics to blend in with the environment, attract, or drive away animals. With mimicry it is possible not to invade natural habitats and to carry out truthful studies on animal behavior and discrete persecutions with


    Important research applications. Attracting and / or reassuring animals is interesting in zoological studies, for example, for the capture and taking of biological samples from individuals of threatened species and other applications such as livestock, a vehicle with the biomimetic appearance and zoosemotic behavior is able to attract individuals from the same or other species towards the capture or observation zones. Each species, at each moment, may require different biomimetic unmanned aerial vehicles. Commercial autopilots available do not have the ability to make zoosemiotic movements since they are designed to perform simple navigation to a series of satellite crossing points that have previously been programmed from a control station by a system operator and it is not expected that since a computer, governed by the sensors of the vehicle itself, can perform autonomous flight control or mimic biomechanical movements of flying animals and collaborate with other utilities that simplify, reduce related work and production costs in processes of: study, control, research , safety, environment, zoology, agriculture, beekeeping, livestock and fishing.
    Unmanned aerial vehicles (Remotely Piloted Aircraft Systems, RPA) are an effective tool to scare away animals when they mimic the shapes and movements of their natural predator or to attract individuals of their own species and / or compatible with their habitats.
    As background of the invention, the following should be noted:
    1) CN 101627752 patent document, published on January 20, 2010 which shows an unmanned flying device that simulates an eagle to protect agricultural crops. It uses a controller to drive an engine of a small turbo-fan that drives the device that once in the air, is controlled by a remote control.
    2) Patent document JP 2003304795, published on October 28, 2003, which shows a device that simulates an eagle or hawk to repel bird pests using its visual and auditory acuity with sparkling eyes, moving tail and speakers that emit sounds of raptors
    3) Utility model CN 201563537, published on September 1, 2010, which describes a
    kind of eagle floating in the sky with talking means. 3


    4) Patent document US 2005224636, published on October 13, 2005, which shows a kite shaped like a bird of prey that, when reaching a certain height, turns over an area.
    5) Utility model document CN 2626860, published on July 21, 2004, which shows the use of remote-controlled aeromodelling techniques to disperse birds in airports, reproducing sounds, ultrasound and lights.
    These documents mimic the external form of raptors to scare away other birds. Some try to imitate their sounds and flights by manually operating a device or using remote control techniques. But none try to simulate their zoosemiótica to attract other animals, mimic their habitat or increase fear, because the simple presence of the raptor through satellite coordinates is not enough. A falconiform, more specialized in open field, develops a circular flight at a certain height with extended wings. If you imitate an accipitriform, more opportunistic and specialized in forested areas, your attack will be located behind or below the dam. The movements help to identify clearly and precisely the threat posed by the species reproduced by the aerial vehicle or a companion of its kind. More recently, new drones have been developed:
    6) The Spanish patent application P2012010169 refers to a radiocontrolled model aircraft model of a bird of prey for electronic falconry and avian control, which is constituted from an aircraft model model that reproduces as accurately as possible the natural figure of a bird of prey in full flight of recognition of its hunting territory. Among the birds of prey to reproduce, depending on the type of birds to fight, the Harris eagle, the hawk and the female hawk during breeding season to fight the sparrow, the goldfinch and in general small birds, the hawk for pigeons, doves, blackbirds , starlings, for rabbits, rats, moles, the eagle owl and the imperial or royal eagle. An electric motor of very low acoustic level and high efficiency, silent, controlled by radio frequency manually by a pilot, by automatic pilot or by a combination of both takes off, goes to the established waypoints to execute the mission and lands. The propellers are retractable to facilitate planing and save battery. It incorporates a high definition camera that makes it possible for the pilot to see in real time what the aircraft “sees”, which is achieved thanks to an FPV system installed in the front or ventral area of the


    model aircraft, being able to take advantage of the flight, in addition to seeing the evolution of the pest, for security purposes such as monitoring access to the farm or preventing theft, sabotage. It can incorporate a sound mechanism that will be activated or not, with sounds of pain, fear and panic typical of the offspring and chickens of the species to fight. The autopilot is used in night or daytime flight. Through a high definition camera or artificial vision, you can chase and even attack a specimen in order to increase the fear of the bird plague. The incorporation of toxic gas sensors, radioactive, photographic camera, infrared, thermal or radar expands its applications to make geological maps, environmental, agricultural, forestry, zoological, animal location.
    7) Patent application P201430615 describes a biomimetic and zoosemiotic aerial vehicle comprising a fuselage, which incorporates: -at least an electric motor powered by rechargeable batteries and feedback systems -helix and a rotor coupled to the output shaft of the electric motor -servomotors for the driving mechanisms of the moving parts of the aerial vehicle, including depth rudders and steering rudder. Shooting systems powered by servo motors Microphones and talking media Photo camera, vision and recording, thermal and / or thermographic and infrared and also includes an open source configurable autopilot with control cards and relays connected to a control base on the ground, as well as inertial modules that incorporate: - digital compass - gyroscopes - magnetometers - inertial measurement units - barometer - telemetry - digital compass as well as sonar and means for measuring pressure.
    The vehicle preferably mimics falconiform, accipitriform or strigiform. In
    successive preferred embodiments of the invention,


    The servomotors actuate the wing and tail mechanisms if the vehicle is fixed-wing or the cyclic plate if the vehicle is a single-rotor, twin-rotor, interlaced or coaxial helicopter, in multi-rotor tandem, aerostat or ornithopter.
    The configurable autopilot is based on a board, which incorporates a 32-bit microcontroller and communication cards. A satellite module of the Global Satellite Navigation System allows the vehicle to navigate through predefined waypoints.
    The pressure measuring means included in the air vehicle are selected from pressure anemometers or Pitot tube.
    Optionally, the aerial vehicle includes at least one of the following devices: - solar panels - radio-beacon - stabilized control camera - radio frequency communication system - shutter control - control via “joystick” - programmable video link on live screen - motor cone with mirrors when used to scare away - ultrasonic and / or laser wave device - volumetric and heat sensors as well as means for lighting contours, shapes and tinctures that favor mimicry, repulsion or attraction. The handling of these vehicles requires specialized personnel or automatic pilots who carry out continuous and repetitive flights. They are designed to make safe and stabilized flights at satellite crossing points and, to activate fear, it is necessary to put the aircraft to the limit of its safety, staging attacks similar to that of its predator. It is essential to overcome these safety mechanisms and introduce technological modifications with functions for which they have not been designed.
    Likewise, other considerations must be taken into account, such as not exceeding the maximum take-off mass of the most restrictive current legislation (2 Kg.) To facilitate the universalization of technology and adjust it, both to the legislation of European countries


    that have regulated this activity (like Spain in its Royal Decree-Law 8/2014, of July 4 on civil aircraft piloted by remote control), such as the drone opinion published on June 24, 2015 by the Working Group Article 29 (GT29) which is presented as a roadmap for European legislators and even to the norm approved on April 2, 2015 in Chile (first edition of DAN 151), which is a pioneer in regulating the use of RPAS in Latin America
    EXPLANATION OF THE INVENTION
    In a first aspect, an object of the present invention is an air vehiclebiomimetic and zoosemiotic, with morphic wings or not, led by autopilot, whichThey can be of the type: aerostat, fixed wing, rotary wing (in any of its varieties:helicopter, coaxial, multi-rotor and autogyro), vertical take-off and landing or VTOL(Vertical Take-Off and Landing), ornithopter and false ornithopter and comprising:
    -Fuselage with typical animal anatomical structure.-Motor / is electric propulsion.-Flight systems for aerostat, fixed wing, rotating wing and VTOL-Flight systems for ornithopter and fake ornithopter.-Power system selected from rechargeable batteries, fuel cell
    or both simultaneously.-Redundant power supply in case the original and secondary source fails.- Feedback systems, preferably solar panels, Julios thief, motorBedini and / or magnets.- Portable charging base, mimicked or not.-Retractable connection system for portable charging station.- Inertial Measurement Unit (IMU), composed of modulesinertials including: digital compass, gyroscopes, magnetometers, accelerometers, compassDigital and telemetry.-Global satellite positioning system configurable (GNSS, Global NavigationSatellite System)-Control cards, servomotors and relays, for trip and drive mechanisms ofMobile parts-Digital anemometer.-Barometer.-Differential pressure sensor.


    -Sensors away-Sensor of humidity and relative temperature.-Sensor of radioactivity, chemicals, smoke and gases MQX.-Optical sensors-Microphone, amplifier and speakers-Sonar (Sound Navigation And Ranging).-Communication module that includes analog video transmitter and receiver, antennaCircular polarization and wireless connection modules.-Computer reduced plate or single board SBC (Single Board Computer).-Arduino plate.-I / O expansion plate (PiFace Digital).-Led strobe lighting system (chip-on-board)-RFID (Radio Frequency Identification) card active or passive.-Radiobaliza.-Laser devices.-Pressure pump.-Expel tank and / or dusting / remover.-Chemical fumigator.-Retractable connection system for portable charging station.
    The characteristics that differentiate the object of the present invention from the devices of theState of the art are:
    -The satellite positioning system is of the “Real Time Kinematic” type.-Morphic wings: tail and tail feathers, primary and patagian feathers that can be activated byservomotors or relays.-Laser devices are cannons and spirographs-Optical fiber is applied to highlight colors and anatomical areas.
    The air vehicle additionally includes:
    -water gun- soap bubble gunpyrotechnic launcher


    In successive preferred embodiments of the invention some configurations of all these elements are described:
    5 -When fuel cells are used in the supply, the proton exchange polymeric membrane is selected. -The feedback systems are selected from solar panels, Julios thief, Bedini or magnet motor. -The distance sensors are selected between ultrasonic, infrared and laser or
    10 combinations thereof.
    In a particularly preferred embodiment of the invention, the laser pulsed light distance measurement module is Lidar-Lite (Light Detection and Ranging).
    15 -The optical sensors can be: monocular and / or steroscopic vision, FPV (First Person View), thermal or infrared, ultraviolet, video and photography. -The laser led spirographs can be: -from two motors with two gears that generate two movements on themselves in a stationary Cartesian axis forming Lissajous circles and figures.
    20 -of an engine that rotates a gear to which the laser that generates a beam perpendicular to the vehicle is connected. -The laser cannon consists of two vibrated mirrors to get many points. -The vehicle has a retractable system for primary and patagian feathers, lateral rectal feathers or tail, consisting of a tubed tensioning cable, connected to both wings,
    25 which runs along the leading edge and is connected to a servomotor that overcomes the tension spring of the primary feathers and the extensor spring of the patagium, as well as that of the rectal feathers.
    It is also an object of the present invention its use to drive away animals.
    30 Models of the order Falconiformes, Accipitriformes or Strigiformes and the family, genus and species they fear most are chosen for this. They are also effective, in some cases, mimic RPAS (Remote Pilot Aircraft Systems) of any animal, even if it is not flying. This invention has advantages over the commercial devices available: displacement and simulation of real and typical attacks of each species,


    even modifying its anatomy, and combining the reading of satellite signals with those of the microprocessor and sensors.
    The air vehicle can be operated with chase and navigation capacity per satellite point 5 or with autonomous chase and navigation capability.
    BRIEF DESCRIPTION OF THE FIGURES
    Figures 1: Aerial vehicle configurations 10 a) fixed wing; b) coaxial rotating wing; c) and d) VTOL type (vertical takeoff and landing)
    Figure 2: Aerial vehicle of the fake ornithopter type a) general view of the drone; b); C); d) and e) type of movement where the position of the neck and legs can be observed
    15 Figure 3: Representation of the morphic wings of the aerial vehicle a) general view of the primary and patagio feathers, rectal feathers and tail; b) more precise view of how the queue works
    20 Figures 4: Laser devices a) laser cannon; b) Laser spirograph of an engine; c) Two-engine laser spirograph
    Figure 5: Soap bubble gun
    25 Figures 6: Pyrotechnic launcher a) of gravity; b) for rockets
    Figures 7: Configuration of propeller blades with small notches and interdental valleys to facilitate air penetration.
    30 a) interdental notches and valleys to facilitate air penetration b) expanded polyolefin circles c) curtain system d) aerial vehicle with blinds or curtains
    35 Figure 8: Rotary wing rotary hawk


    MODE OF EMBODIMENT OF THE INVENTION
    Features common to all different types of vehicles
    In the description of the mode of operation that follows, the execution orders of the autopilot will be expressed in italics and in English, such as: manual_control_setpoint, altitude_estiamtor_ekf or others.
    The system is developed in an open source software with access to the source code, where the programs are created and make modifications for the interactive devices that allow the reading and control of any sensor, switch or physical actuator with a modular architecture divided in two parts: the operating system with the application of the autopilot and the control of sensors with superimposed loops for feedback. The autopilot (Pixhawk model from 3D Robotics) incorporates: advanced 32-bit ARM Cortex M4® microprocessor of the STM32F427, 168 KB of RAM at 256 MHz, 2 Mb of flash memory, ST Microelectronics® sensor technology, a system NuttX real-time operation. IMU (Inertial Measurement Unit), inertial modules that incorporate: digital compass, gyroscopes, magnetometers, accelerometers, digital compass and telemetry, These processing units with multithreading capability with hardware support, a Unix / programming environment Linux and new functions such as flight programming and missions in a Lua scripting language, with a custom PX4 driver layer that facilitates the integration of any physical actuator through a UART serial ports and device controller (Universal Asynchronous Receiver-Transmitter ), I2C (Inter-Integrated Circuit) and CAN (Controller Area Network), 14 PWM outputs to servos (6 high-power auxiliaries that are configured in BRD_PWM_COUNT), digital speed sensor, external magnetometer (ST Micro LSM303D 3-axis 14 bits), a gyroscope (ST L3GD20 3-axis 16-bit) and a three-axis accelerometer / gyroscope integrated in the same silicon (Invensense MPU 6 000) with digital on-board motion processor (DMP) capable of processing complex MotionFusion algorithms and accessing external magnetometers and sensors without processor intervention through the I2C bus. The optical flow sensor (PX4-FLOW, for which a driver and source file is created), together with the inertial sensors, the combination of gyroscope measurements, the visual information of the cameras and, assisted by the other sensors if necessary, they can also fulfill the mission.


    In addition, it incorporates: OSD (On Screen Display), control cards and relays connected to a ground control base (CGS, Control Ground Station), GPS-RTK (Real Time Kinematic) configurable, open source, which uses kinematics in real time and whose first step will be to acquire the PPS (Precise Positioning Service) signal and coordinate the time with the nuttx system clock, in addition to identifying and admitting all peripherals automatically thanks to its PPM (Pulse Position Modulation) signal input that connect the channels by an input cable from the receiver of the station.
    Communications are based on TCP (Transmission-Control-Protocol) transport protocols, providing the necessary confirmation and reliability between the IP protocol (Internet Protocol) and the application to ensure error-free, secure and UDP (User Datagram Protocol) communication ) that sends information without prior connection for the transmission of audio and video in real time, when it is not possible to retransmission due to the delays in these cases because the system is connected to the Internet through the Dynamic Hosting Configuration Protocol of the IP for IPv6 (DHCPv6) and with its radio link act as DHCP relay agents (or DHCP Relay Agent). The network layer and the application layer are interconnected through an Application Programming Interface (API) to obtain a fluid communication system.
    In addition, if you have FPV, analog video transmitter and receiver with circular polarization antenna and 2.4Ghz, 900Mhz or 433Mhz wireless connection modules, depending on the biomimetic design and missions. The firmware allows you to enable or disable installed hardware components such as sonar. The communication between the flight controller and the SBC is done through the MavLink (Micro Air Vehicle Link) protocol that orders the first one while in turn it can be controlled from the CGS and its movements can be programmed and viewed in Mapping environments like Google Earth.
    When greater realism in the attack is necessary, it has a retractable tail system and morphic wings for both the primary and patagian feathers and for the rectal feathers and tail, consisting of a tensioned cable connected and tubed that connect them through the leading edge and the fuselage respectively, to a servomotor with sufficient power to overcome the tension spring of the primary feathers, the extensor spring of the patagio and that of the lateral rectrice feathers that are embedded in the central.


    The multiple combination of these morphic devices, ailerons, propulsive power alterations and firing mechanisms mentioned, are executed once the data of the flight mode, current and requested orientation are collected or, when mc_att_control issues the orientation and acceleration calculations that it sends to the propulsion already actuator_controls, so that it activates the sentences: video and / or photography, parachute launch (CHUTE_ENABLED, CHUTE_TYPE, CHUTE_SERVO_ and CHUTE_ALT_MIN), fumigation (SPRAY_ENABLE), retractable landing gear (LGR_ SERVO_RTRER_ in points and LGRLOVO_ in points, LGD_RTRVO_ in points desired step and trigger mechanisms that improve the perception of the onset of an attack, increase tension, fear, panic or attraction. For the model to move the head, its servos are connected to DO_SET_SERVO (except if it is fixed-wing and the propulsion system is incorporated at the peak, in which case this order acts on the aileron servos and / or other device). Inside is the hot head (gimbal) where it can be installed: the cameras, cannon and / or the laser spirograph, in which case it is connected to DO_SET_RELAY and in DO_REPEAT_SERVO the servo number and the activation time are set, in DO_CONTROL_VIDEO the cannon and / or laser spirograph and / or sound are activated. The fiber optic, fumigator, ejector / sprinkler, water gun and soap bubbles are activated by SPRAY_ENABLE. The DO_DIGICAM_CONTROL command that can be used to activate only once each time it is claimed, brakes and / or cancels an engine to simulate a chasing acrobatics while coordinating to retract the primary and / or patagian feathers (in ships Fixed wing is configured to accelerate, cut the servo of a spoiler and activate devices). So that the water gun, rocket launcher, cannon and / or laser spirograph, point to a specific place until the next waypoint, DO_SET_ROI and DO_MOUNT_CONTROL are used. The combinations are multiple.
    To save energy until the trigger of an asynchronous event and regardless of the code being read and to solve problems of timing and reading of the rotary encoder without losing a pulse, the board interrupts (which are disabled with the detachInterrupt command) are used. they cause a continuous reset when the counter reaches zero and is used to regulate the time of an event, such as: to avoid obstacles without having to stop the system to continuously measure the distances or when executing a long code and the interruption appears. The program will return to the associated code and continue on the part it was executing when the interruption appeared (even if you lose the execution time of the delay or millis functions, although you can always use the Microseconds delay function). This prevents the code from returning a value


    using void (setup or loop) and telling the compiler not to save the value of the variable, implementing a volatile variable that forces it to be updated in memory. To avoid false shots without increasing devices that increase consumption, space and weight, a delay of milliseconds in response time is added to the software.
    Depending on the design, a logical variable is also introduced in certain devices so that sometimes it opens and sometimes closes them. In order not to re-enter the codes while executing the interruption and to avoid the recalibration of sensors when starting setup, the data is memorized in a byte that relegates its bits to place it as the heaviest and, through USART (Universal Synchronous and Asynchronous serial Receiver and Transmitter), a communication is established (synchronous or asynchronous) that is stored in the EEPROM.h when you mount Arduino. To request this information, a variable with value 0 is created and saved in another auxiliary with an OR order. Its bits, set to the left and stored in the desired position are cleaned with another logical OR action. To test sensor interruptions that do not deliver 0 or 1 (high / low) such as temperature and humidity, and get them to trip after each measurement, the connection pin is chosen and connected to the sensor in parallel with the base of a BJT transistor (bipolar junction transistor) whose common emitter is protected with a resistor, so that it acts as a feeder, controller and electrical switch of servos and motors when values greater than those provided by the system are needed. This configuration can also be used to alter measurements and communicate erroneous sensor data to cause abrupt rectifications of the pilot when considering that the ship is in danger. Additionally, depending on the vehicle and the mission, an I / O expansion board (PiFace Digital) can be integrated that will be connected to the GPIO Socket (General Purpose Input / Output) of the RPi board to know the switch status
    or sensor, writing your own sentence so that you make the right decision.
    Among the mechanisms designed to increase fear are:
    1.-the optical fiber to highlight colors and anatomical areas.
    2.-laser cannon (see fig.4a), which consists of two mirrors vibrated by two motors whose speed determines the homogeneity of the beam.


    3.-Two types of laser spirograph have been designed (fig.4b and 4c): the first, consists of two motors with two gears that generate two movements on themselves in a stationary Cartesian axis generating innumerable circles and Lissajous figures. The second is an engine that rotates the laser that forms a beam perpendicular to the
    5 aircraft
    4.-The water gun, based on the Pascal principle, is composed of an understanding chamber with a trigger that presses a servo.
    10 5.-soap bubble gun (fig. 5), consists of a servomotor that moves a lever to make the first pomp and activates the engine with a fan that generates a regulated air flow and constant bubbles, when it passes in front of a grooved ring that stays wet with the liquid thanks to a small pump connected to the other end of the engine, which removes it from the tank and is insulated and sealed when
    15 is threaded to the fuselage.
    6.-For the pyrotechnic launch (fig.6a and 6b), a 12-volt electric igniter based on the Joule Effect has been designed with a resistance that, slowly pushed by a servo, touches metal connections that initiate the wick. When he retires, he releases the
    20 exit hatch causing the fall. It closes abruptly when the igniter overcomes an end of career tab. Meanwhile, the next firecracker falls and is placed in the bedroom. For the launch of pyrotechnic rockets a drum has been designed that rotates through a gear connected to a servomotor on each swing of the igniter
    25 To take advantage of flights while animals are being driven away and perform other functions of agriculture, the following have been designed:
    1.-Deposit of expulsion and / or sprinkler to launch repellents, attractants, make small reseeding, biological fumigation, chemical, irrigation, fertilizer and consists of a
    30 hopper and a wide mouth for fast loading that rotates on itself and that works, either by gravity or by forced air, with a regulating orifice of variable section that determines the amount of solids and / or invertebrates to distribute in a smooth way and constant.
    2.-For chemical fumigation it has an electric motor centrifugal sprayer with 35 rotating head.


    3.-LED strobe lighting system (chip-on-board) for non-cooperative environments.
    Arduino board implementation
    If an Arduino board is implemented, Phyton (sudo apt-get install python-serial) is executed with the PySerial library and Arduino becomes the sensory part responding with serial.writeln to the state of the sensor, while the RPi distributes the addresses. When the design requires the incorporation of an I / O serial port expansion hub module, the number of downstream communication interfaces accessible from a host is expanded, since it has a double USB port with UART / 245FIFO / SPI interface converter / I2C / JTAG / GPIO, allowing the connection and expansion of devices in digitized and grouped zoosemotic packages in the library created for this purpose. In certain prototypes, an Arduino Uno board with an eight output relay card (model 1280-2560 ARM PIC) has been implemented and configured. To save energy until the trigger of an asynchronous event and regardless of the code being read and solve problems of timing and reading of the rotary encoder without losing a pulse, the interruptions of the board are used so that the program returns to the associated code and continues for the part that was executing when the interruption appeared (even if you lose the execution time of the delay or millis functions, although you can always use the Microseconds delay function). It prevents the code from returning a value using void (setup or loop) and instructs the compiler not to save the value of the variable, implementing a volatile variable that forces it to be updated in memory. To avoid false shots without increasing devices that increase consumption, space and weight, a delay of milliseconds in response time is added to the software. Depending on the design, a logical variable is also introduced in certain devices so that sometimes it opens and sometimes closes them. In order not to re-enter the codes while executing the interruption and to avoid the recalibration of sensors when starting setup, the data is memorized in a byte that relegates its bits to place it as the heaviest and, through USART (Universal Synchronous and Asynchronous serial Receiver and Transmitter), a communication (synchronous or asynchronous) is established and stored in the Arduino EEPROM.h. To request this information, a variable with value 0 is created and saved in another auxiliary with an OR order. Its bits, set to the left and stored in the desired position are cleaned with another logical OR action. To test sensor interruptions such as temperature and humidity that do not deliver 0 or 1 (high / low), and get them to trip after each


    measured, the connection pin is chosen and connected to the sensor in parallel with the base of a BJT transistor (bipolar junction transistor) whose common emitter is protected with a resistor to act as a feeder, controller and electrical switch of servos and motors when larger loads are needed. This configuration can also be used to alter measurements and communicate erroneous sensor data to cause abrupt rectifications of the Pixhawk when considering that the ship is in danger. In aircraft that, due to excess sensors, lack connection pins, one or more synchronous circuits 74HC595 may be used.
    In a basic zoosemiotic configuration, any physical actuator is connected to one of the sentences at the output of an asynchronous device (such as Arduino), while an action is executed successively at each clock jump.
    Soundproofing of the propulsion
    When it is necessary to reduce the hum of the motors (Fig. 7a, b, c and d), especially in rotary wing RPAs, the blades of the propellers have toothed with small notches and interdental valleys to facilitate penetration into the air and has made of expanded polyolefin (EPO) in the intrados, a series of concentric circles so that the motors are only visible from their verticality. In other cases, sheets, blinds or grilles have been manufactured, which remain closed due to their counterweight when the motors are not activated, increasing planing and reducing friction. To avoid rain, you have an oversized hat on the back.
    Ground device or sensor
    To combat difficult pests and increase the security of the farm, a fixed device has been devised placed on land, mimicked or not, which can initiate or interrupt the mission of the RPA when its presence is requested by MavLink (in whose xml files of the RPA, some of the zoosemotic actions are structured, packaged and initiated). To make this call, the MavLink of the ground sensor RPi sends the coordinates (WAYPOINT_SET_CURRENT) and the RPA answers the CGS with WAYPOINT_CURRENT. Although the waypoint file format does not belong to MavLink, it is used by Mission Planner, so spaces between numbers and fields (<Tab>, " t") are taken into account. The coordinates reach the commander which in turn communicates them to


    home_position that assumes them as coordinates of its mission. Then, design the route with navigator and it informs position_setpoint_triplet while the position controller studies the acceleration necessary to maintain the altitude, yaw and pitch so that it is directed to the sensor by position_setpoint_triplet. Personado the RPA and, after an established waiting time, with activation or not of devices of repulsion (or attraction), lands (mc_pos_control) and / or continues its mission. This request is made remotely by the wireless bi-directional interface (Xbee Pro 900 HP and XCTU software), which has a dual transceiver, SMA integral antenna and an intelligent adapter connected to the RPi USB port, achieving a reduction in the power consumption when the wireless function is idle or idle (Sllep Mode). The information is sent in Unicast and not in Broadcast, to obtain an acknowledgment of the ACK (Acknowledgment) confirmation signal. In any case, it is sent twice with a delay of time to ensure its reception. Of all the data received, the system searches for the GPS (id = 24 -GPS_RAW_INT) that provides the real-time position that, when processed by pymavlink, facilitates programming by decoding the messages received. This sensor is also used as an outpost of observation, alarm and / or as a reinforcing element of the attraction or fear in the presence of its predator and is strategically located in the area to remain long periods of weathering. For semi-covered crops, it has magnets for quick fastening on metal structures. It has been manufactured in fiberglass, resin and polyurethane to maintain its thermal insulation and resist moisture. In addition to the batteries, amplifier and speakers, you can incorporate according to the missions: a portable charging base connected to the mains and / or feedback systems (solar panels, Stirling engine, Bedini and thief of Julios), microphones, laser cannon, laser spirograph, water gun and / or soap bubbles, and sensors: laser, thermal or infrared and / or ultrasonic, radioactive, temperature and humidity, chemical, smoke and MQX and optical gases (cameras: vision, thermal, ultraviolet, video and photography). RFID (Radio Frequency IDentification) cards as well as load outputs to add any other trigger device. The parameters are stored in the RAM, micro SD or hard disk or EEPROM of the RPi that triggers the relevant relays when a threat is approaching or the RPA enters the range of its sensors and / or the transmitter is coupled With your RFID card.
    Several forms of configuration have been designed in response to the type of drone and mission entrusted:


    1.-First biomimetic design: false ornithopter.
    It is (see Fig. 2a, b, c, dye) of a biomimetic rotary wing model that guarantees and coordinates the lift, either by mechanical connection, or by electric motor, with the wing movements to obtain the aesthetic function, although not propellant, and transmit the minimum alar effort to the rest of the body to achieve smooth, flexible and credible movements. It has opted for an independent electric motorization whose gear system consists of a pinion attached to the motor that connects with two wheels belonging to each of the wings. Its speed is coordinated with that established by the autopilot which, without restrictive intent, has been connected in parallel with the propulsion and reduced the current with a control card to which an accelerator / decelerator ramp circuit can be added or, using the Arduino Stepper.h library to control the engine. If necessary, an NPN transistor is installed in an open collector to provide more current than Arduino offers. To simulate the characteristic movement of the flight neck of birds such as cranes and storks, the head, attached to a tension spring, is fixed to a rod that in turn is embedded in a rigid tube of greater diameter to the rest of the fuselage, which in turn it is introduced in a semi-flexible plastic that simulates the cervical vertebrae. When the wings come down, the gears, which have a projection or crest on one side, push a plunger that lengthens the head, tension the steel cable that maintains the curve of the vertebrae and gently releases pressure when the wings begin to go up, shrugging your neck again but keeping your head straight. Meanwhile, on the other side of the gears, the protrusions
    or ridges push a rod that slightly lower the tail and legs.
    2.-Second biomimetic design. Activation of zoosemotic packages preventively, by sensors or, combining both designs.
    This design can be mounted on any type of model aircraft (see Fig. 1a, b, c and d) for example, hawk.
    When the firmware (Mission Planner) is introduced into the autopilot controller card, the compass and electronic speed controllers (Electronic Speed Controllers, ESC or CES) are calibrated to rotate the motors at the speed requested by the Pixhawk, set the minimum and maximum PWM (pulse-width modulation) values sent by the flight controller. In some cases, it is these regulators that


    modify to make the pirouettes (MOT_SPIN_ARMED). The pilot allows combining IMU and GPS data with other speed sensors to calculate a reliable position using an Kalman EFK (Extended Kalman Filter) filter that studies sensor errors, integrates the angular data of the IMU to calculate its position and the accelerations to calculate the speed. This design works in Mission mode and allows the execution of zoosemotic packages: 1.-preventively at the established waypoints. 2.-when indicated by the sensors and 3.-combining both designs.
    Control orders are received, either by a link in the PX4IO module, or by a MavLink link because it uses customizable libraries in on-board systems and ground devices through bi-directional communication with low computational cost. In both cases, manual_control_setpoint approves the orientation data, which does not pass directly to the engines until the current orientation is studied, to avoid sudden changes that may cause unstable flights. This is where attitude_estimator_ekf intervenes that edits the current roll (warp), pitch (nod) and yaw (yaw) data in vehicle_attitude to be used by mc_att_control that, to calculate its orientation, claims the sensor data and attitude_estimator_ekf subscribes to sensor_combined and it is here that sensors appears with its range of calculatedly modified measures (to interpret that it is at risk) or not, of the sensors connected to the pilot. For this, a proprietary application (rc.txt for motorization) has been created with some PID controllers that do not use applications of the navigator command or, the source code (_app), vehicle_attitude_inpur_rc and orbes_sensor_combined that receives the information from the sensors and edit them to be activated by the PWM command (/ dev / pwm_output), and use / dev / px4fmu or / dev / px4io, depending on the outputs you want to use (while adding UMF mode_pwm). To execute the commands from / app, you intervene with MavLink and update commands in rc.txt (such as ttyACM0). In other designs, the camera control interface for 3DR CCB aerial photography (The 3DR Camera Control Board) and its PTP protocol (Picture Transfer Protocol) are used, channels and their states are prepared in MavLink, whose codes (cam_ctrl_state.shot ) is set to 1 to fire at 0 and the shots at the crossing points with the digitized zoosemotic events (MAVILINK_MSG_ID_DIGICAM_CONTROL), taking advantage of sentences such as: cam_ctrl_state.Session, cam_ctrl_state.zoom_pos, cam_ctrl_state.focus_lock, and,


    cam_ctrl_state.Shot, which activate or deactivate: devices, servos, motors and sounds, depending on the mission.
    3.-Third biomimetic design: navigation and chase through satellite points (waypoint).
    As in the previous case, this design can be mounted on any type of model aircraft (see Fig. 1a, b, c and d), for example, hawk.
    In this mode of operation, the GPS-RTK, which has a high refresh rate, has been configured to deliver a sentence at a certain speed, while the two communication channels between the SBC and pilot separate the information (one for the GPS tracker and other GPS port location entries for the exchange of telemetry data and mission planning that goes to the USB port). That is, two communication cables are used: one for GPS that communicates with the NMEA protocol and the other for telemetry that communicates with the MavLink protocol (which is not compiled in the RPA but is added mavlink / include in the list of includes, which usually occurs in your Makefile). Unlike the previous models, a chase itself is started by estimating the position of the threat and flying to the nearest designed satellite point, when it appears on the optical sensor, and the algorithms that calculate its position and orientation with respect to the animal until completing the rotation matrix and from there reconsider its position depending on the objective. Here, the sensors are responsible for the change of yaw towards the nearest crossing points when the data is entered in the GPS-RTK, avoiding: on the one hand an erratic navigation when knowing its position and direction, and on the other, the activation Random and indiscriminate preventive of the zoosemotic algorithmic packages of previous designs such as laser, whose consumption can exceed 2 amps.
    The sensors and the algorithms of the optical sensor, are those that alert of the threat and those responsible for successfully fulfilling the persecution when approaching the cell with greater mass gradient, informing of its position in a readable way to the firmware of the pilot that It then becomes a peripheral device, while the MavLink protocol extracts information about telemetry, and the SBC mission planner. After obtaining the necessary packages in sudo apt-get install python-pip and sudo apt-get install python-opencv


    python-wxgtk, the MavProxy application makes calls to the select.py folder and starts its execution with mavproxy.py (which simultaneously controls its development from the CGS), which is automatically activated when the SBC is started, because a screen in the rc.local file and a script (mavinit.scr) on the flight controller to avoid reconfiguration on each mission. The NMEA protocol takes advantage of the system coordinates, altitude data and, with the rest of the sensors, creates ASCII readable text sentences (37 bytes) that feed the GPS at a constant rate and whenever there is a threat detected by those, providing a waypoint with a binary status byte. Each time the pilot receives the sentence to apply the EKF, this signal is used that retrieves the information of the closest three-dimensional coordinates by using the MAV_CMD_DO_SET_HOME command, and initiates a chase when heading to one of the closest waypoints to the target, while the continuous injection of the NMEA protocol blocks the signal from the next waypoint. The adaptation of these coordinates to those of the NMEA, causes a displacement to a crossing point that the pilot considers within the mission. Missing the threat, the mission is unlocked by sending the following waypoints so that, the more they are designed, the more accurate the persecution will be. If the sensors continue to detect the threat, the process will be repeated with the activation of the zoosemotic packages and / or will continue on the next and next waypoint where it is located so as not to return because it prioritizes the parameters of longitude first and latitude later . The system memorizes on its microSD (Secure Digital) card, RAM or on the hard disk or EEPROM, the coordinates where the greatest number of sensor shots is detected. This information will allow us to better understand the threat and optimize future missions.
    4.-Fourth biomimetic design: trirrotor hawk.
    Without restrictive intention, it has been manufactured for covered and semi-covered crops (such as fruits of the forest and table grapes and the fight of avian pests in the Iberian Peninsula), a rotating wing hawk of the trirrotor type (fig. 8), fed by lithium batteries and polymers that recharges when it lands on a portable charging station (Skysense model). To successfully combat these species in this crop, it incorporates sufficient technology on board. Namely: sound system (amplifier with speakers) and laser spirograph. To guarantee the flight inside these plastic tunnels and when a quality satellite signal is not available, in addition to the precision offered by the autopilot with the GPS-RTK (Piksi brand), an anti-collision system based on the algorithm


    developed by Chee (for ultrasonic sensors) and Zhong (for infrared sensors), so that the RPA will have four infrared (one on each side), whose measurements will be continuously crossed and sent to the Pixhawk. If an obstacle is detected on one side at a defined safety distance, it is compared with the measurement of the other side. This voltage difference is analyzed by the SBC (Raspberry Pi 2 brand), which sends an order via MavLink to the Pixhawk to get away from the obstacle or maintain the position for a certain time when the front sensor detects an obstacle, then continuing with the mission. It incorporates a module of measurement of distance of pulsed light laser Lidar-Lite (Light Detection and Ranging) to maintain a more precise height when it enters inside the tunnels since in these crops both the plantation in the soil and in pot are combined. The animal behavior drivers, the activation of their devices (/ src / drivers / zoo) are created and entered into the source file (zoo.cpp). To prevent the SBC from interpreting the information received by the controller as login information, access to the system is disabled through the serial port, sudo nano / etc / inittab and the autopilot safety located in the PX4IO firmware are modified to avoid Your manual assembly.
    In a multi-rotor, the yaw angle must be taken into account so as not to break the design or the avian flight. Therefore, its configuration is done in Point to Next Waypoint mode (MIS_YAWMODE 1) so that it always points the bird's head towards the next waypoint (nose in) and does not adopt incorrect flight positions.
    To keep the fear in the open when the RPA leaves the plastic tunnels and keep the intruders away from the area, the sound and the laser spirograph have been connected to the camera sentences using the CAM_TRIGG_DIST function (which is the distance in meters between shots and DO_SET_CAM_TRIGG_DIST that allows to enable it in flight) and the CAM_TRIG_TYPE command of the camera shutter (whose time is regulated in CAM_DURATION) that allows the use of relay output or PWM (which sets the value of the servo in CAM_SERVO_ON and CAM_SERVO_OFF) depending on the connected device consumption. A retractable safety system for connections has been created for the charging station, whose servomotor is activated by the landing gear judgment (LGR_ SERVO_RTRACT and LGR_SERVO_DEPLOY).

    权利要求:
    Claims (8)
    [1]
    1.-Biomimetic and zoosemiotic unmanned aerial vehicle comprising -fuselage with typical animal anatomical structure -electric propulsion engines -aircraft flight systems, fixed wing, rotary wing, VTOL, ornithopter or false ornithopter -selected feeding system between rechargeable batteries, fuel cell
    or both simultaneously - redundant power supply - feedback systems - portable charging base, mimicked or not - retractable connection system for portable charging station - inertial measuring unit composed of inertial modules that include digital compass, gyroscopes, magnetometers, accelerometers , digital compass and telemetry. -configurable global satellite positioning system -control cards, servomotors and relays for firing mechanisms and actuation of moving parts -a digital anemometer -barometer -sensor of differential pressure -sensors of distance -sensor of temperature and relative humidity radioactivity sensor, MQX chemicals, smoke and gases - optical sensors - microphone, amplifier and speakers - sound - communications module, which includes analog video transmitter and receiver, circular polarization antenna and wireless connection modules. - Reduced plate or single plate computer - Arduino board - I / O expansion board - LED strobe lighting system - Active or passive RFID card - Radio-beacon

    - laser devices-pressure pump- ejection tank and / or dusting / remover- chemical fumigator
    5 - retractable connection system for portable charging station. characterized in that -the global positioning system (GPS) is of the type "Real Time Kinematic" -the rectrix and tail pens, the primary and patagio pens are operable by means of servo motors or relays
    10 -the laser devices are cannons and spirographs -fiber fiber is applied to highlight colors and anatomical areas and because additionally it includes -water gun-soap bubble gun
    15 -pyrotechnic launcher
    [2]
    2.-Biomimetic and zoosemotic unmanned aerial vehicle according to claim 1, characterized in that when fuel cells are used in the feed, the proton-exchange polymeric membrane is selected.
    20 3. Biomimetic and zoosemotic unmanned aerial vehicle according to claims 1 or 2, wherein the feedback systems are selected from solar panels, Julios thief, Bedini or magnet motor.
    4. Biomimetic and zoosemotic unmanned aerial vehicle according to any one of claims 1 to 3, characterized in that the distance sensors are selected from ultrasonic, infrared and laser or combinations thereof.
    [5]
    5. Biomimetic and zoosemotic unmanned aerial vehicle according to claim 4, characterized in that the distance sensor is a Lidar-Lite laser sensor.
    [6]
    6. Biomimetic and zoosemotic unmanned aerial vehicle according to any one of the preceding claims, characterized in that the optical sensors are monocular and / or steroscopic vision, FPV, thermal or infrared, ultraviolet, video and photography.

    [7]
    7.-Biomimetic and zoosemiotic unmanned aerial vehicle according to any one of claims 1 to 6, characterized in that the laser led spirographs are of two motors with two gears that generate two movements on themselves in a stationary Cartesian axis forming circles and figures of Lissajous.
    5. 8. Biomimetic and zoosemotic unmanned aerial vehicle according to any one of claims 1 to 6, wherein the laser led spirographs are of a motor that rotates a gear to which the laser that generates a beam perpendicular to the vehicle is connected.
    10. 9. Biomimetic and zoosemotic unmanned aerial vehicle according to any one of claims 1 to 8, wherein the laser cannon consists of two vibrated mirrors to achieve a multitude of points.
    [10]
    10.-Biomimetic and zoosemotic unmanned aerial vehicle according to any one of the
    15 claims 1 to 9, wherein the vehicle has a retractable system for the primary feathers and the patagio, lateral rectrice feathers or tail consisting of a tubed tensioning cable, connected to both wings, which runs along the leading edge and connects to a servomotor that overcomes the tensor spring of the primary feathers and the extensor spring of the patagio, as well as that of the rectal feathers.
    11. Use of a biomimetic and zoosemiotic unmanned aerial vehicle as defined in claims 1 to 10 to drive away animals.
    [12]
    12. Use according to claim 11, wherein the vehicle mimics birds of the order 25 Falconiform, Accipitriform or Strigiform
    [13]
    13. Use according to claims 11 or 12, wherein the vehicle is operated with ability to chase and navigate satellite points.
    14. 14. Use according to claims 12 or 13, wherein the vehicle is operated with autonomous pursuit and navigation capability.







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    同族专利:
    公开号 | 公开日
    ES2613310B1|2018-03-02|
    UY36959A|2016-12-30|
    EP3398853A1|2018-11-07|
    WO2017068224A1|2017-04-27|
    EP3398853A4|2019-10-30|
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    US4964331A|1988-12-29|1990-10-23|Eyal Halevy|Airborne birdstrike prevention device|
    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|
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    ES2457690A1|2012-10-26|2014-04-28|Francisco Juan MORENTE SÁNCHEZ|Aerial vehicle non-created biomimetic reproductor of the figure of a bird |
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    JP3199308U|2015-06-05|2015-08-13|節美 樋口|Small unmanned aerial vehicle for wildlife protection|WO2021098951A1|2019-11-19|2021-05-27|Rijksuniversiteit Groningen|Robotic bird|
    CN111891334A|2020-08-07|2020-11-06|山东理工大学|Agricultural bionical bird unmanned aerial vehicle that drives based on flexible wing|
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    UY0001036959A| UY36959A|2015-10-23|2016-10-20|BIOMIMETIC AND ZOOSEMIOTIC UNMISSED AIR VEHICLE DIRECTED BY AUTOMATIC PILOT FOR PRECISION FLIGHTS AND / OR PERSECUTION|
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