CN110654540A - Low-altitude multi-rotor unmanned aerial vehicle system and control method thereof - Google Patents
Low-altitude multi-rotor unmanned aerial vehicle system and control method thereof Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 21
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The embodiment of the invention provides a low-altitude multi-rotor unmanned aerial vehicle system and a control method thereof. Wherein, the system includes: flight control panel, brushless motor, propeller and electronic regulator; the brushless motor is connected with any horn of the unmanned aerial vehicle and positioned above any horn, and the brushless motor is connected with the wing corresponding to any horn; the propeller is connected with any one of the machine arms and is positioned below the any one of the machine arms; the brushless motor is connected with the electronic regulator, and the electronic regulator is connected with the flight control panel. According to the system and the method provided by the embodiment of the invention, by arranging the propeller, under the action of the thrust provided by the propeller, the load capacity and the vertical take-off and landing speed can be improved, the power-saving optimization is realized, the working efficiency is improved, and the professional technical requirements of quickly putting a seismic source in vertical take-off and landing to obtain seismic record data in seismic exploration can be met.
Description
Technical Field
The invention relates to the technical field of seismic exploration, in particular to a low-altitude multi-rotor unmanned aerial vehicle system and a control method thereof.
Background
Seismic exploration is a geophysical exploration method which uses the differences of elasticity and density of underground media to infer the nature and form of underground rock formations by observing and analyzing the response of the earth to artificially excited seismic waves. Seismic exploration is an important means for surveying resources such as petroleum, natural gas and the like before drilling, and is widely applied to the aspects of geological exploration of coal fields and engineering, regional geological research, crustal research and the like.
In order to perform seismic exploration in areas where conventional seismic exploration sources are difficult to reach and work, such as complex ground surfaces (with severe topographic relief, traffic difficulties and high-density vegetation coverage), the seismic sources are usually launched by using unmanned aerial vehicles in the prior art.
For seismic source launching, the unmanned aerial vehicle is required to have high vertical take-off and landing speed and heavy load. However, although the existing low-altitude multi-rotor unmanned aerial vehicle can realize functions of autonomous flight, fixed-point take-off and landing and the like, the vertical take-off and landing speed is low, the load weight is small, the working efficiency is extremely low, the professional technical requirements of quickly taking off and landing a seismic source to acquire seismic record data in seismic exploration are difficult to meet, and the optimal exploration effect cannot be achieved.
In the prior art, in order to improve the vertical take-off and landing speed and the load weight of the low-altitude multi-rotor unmanned aerial vehicle, the power of a motor is generally increased, but the weight and the volume of the unmanned aerial vehicle are increased under the condition, so that the flexibility is poor, and the actual requirements cannot be met.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a low-altitude multi-rotor unmanned aerial vehicle system and a control method thereof.
In a first aspect, an embodiment of the present invention provides a low-altitude multi-rotor unmanned aerial vehicle system, including:
flight control panel, brushless motor, propeller and electronic regulator;
the brushless motor is connected with any horn of the unmanned aerial vehicle and positioned above any horn, and the brushless motor is connected with the wing corresponding to any horn;
the propeller is connected with any one of the machine arms and is positioned below the any one of the machine arms;
the brushless motor is connected with the electronic regulator, and the electronic regulator is connected with the flight control panel.
Further, the propeller is connected with the electronic regulator.
Further, the thrust of the propeller is directed vertically upward from the either of the arms.
Further, a weight sensor is included in the flight control panel, the weight sensor being configured to measure a weight of the UAV.
In a second aspect, an embodiment of the present invention provides a control method for a low-altitude multi-rotor unmanned aerial vehicle system according to the first aspect, including:
unlocking the unmanned aerial vehicle for flying, and opening a propeller and a wing corresponding to the propeller, wherein the wing corresponding to the propeller is a wing corresponding to a horn connected with the propeller;
and the unmanned aerial vehicle flies to a seismic source launching position and keeps a hovering state, and the seismic source launching is carried out.
Further, the unmanned aerial vehicle flies to a seismic source launching position and keeps a hovering state, and seismic source launching is carried out, and then the method further comprises the following steps:
a weight sensor in a flight control panel measures the weight of the UAV;
and the flight control panel adjusts the rotating speed of the propeller and the rotating speed of the wing corresponding to the propeller through an electronic regulator according to the weight of the unmanned aerial vehicle.
Further, the flight control panel is according to unmanned vehicles' weight, through electronic regulator regulation the rotational speed of propeller and with the rotational speed of the wing that the propeller corresponds specifically includes:
the flight control panel sends a control signal to the electronic regulator according to the weight of the unmanned aerial vehicle;
and the electronic regulator regulates the rotating speed of the propeller and the rotating speed of the wing corresponding to the propeller according to the control signal.
Further, the electronic regulator regulates the rotating speed of the propeller and the rotating speed of the wing corresponding to the propeller according to the control signal, and specifically includes:
the electronic regulator converts the control signal into a current signal;
and the electronic regulator regulates the rotating speed of the propeller and the rotating speed of the wing corresponding to the propeller according to the current signal. .
According to the low-altitude multi-rotor unmanned aerial vehicle system and the control method thereof, the thruster is arranged, so that the load capacity and the vertical take-off and landing speed can be improved under the action of the thrust provided by the thruster, power-saving optimization is realized, the working efficiency is improved, the professional technical requirements of quickly putting a seismic source in vertical take-off and landing to obtain seismic record data in seismic exploration can be met, and a good exploration effect is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a low-altitude multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of a low-altitude multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating the operation of a low-altitude multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention;
wherein the content of the first and second substances,
| 1-flight control panel; | 2-a brushless motor; | 3-a propeller; |
| 4-arm; | 5-wing. |
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a low-altitude multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention, as shown in fig. 1, including: the flight control system comprises a flight control panel 1, a brushless motor 2, a propeller 3 and an electronic regulator; the brushless motor 2 is connected with any horn 4 of the unmanned aerial vehicle and is positioned above any horn 4, and the brushless motor 2 is connected with the wing 5 corresponding to any horn 4; the propeller 3 is connected with any one of the machine arms 4 and is positioned below any one of the machine arms 4; the brushless motor 2 is connected with the electronic regulator, and the electronic regulator is connected with the flight control panel 1.
It should be noted that the unmanned aerial vehicles mentioned in the embodiments of the present invention are all low-altitude multi-rotor unmanned aerial vehicles. The multi-rotor unmanned aerial vehicle is a special unmanned rotor aircraft with three or more upper rotor shafts.
The structure and the like mentioned in the present embodiment are specifically explained below: the brushless motor 2 is composed of a motor main body and a driver, and has a typical electromechanical integration property. Because the brushless motor 2 runs in a self-control mode, a starting winding is not additionally arranged on a rotor like a synchronous motor which is started under the condition of heavy load under the condition of frequency conversion and speed regulation, and oscillation and step-out can not be generated when the load suddenly changes. The permanent magnet of the brushless motor 2 with medium and small capacity is mostly made of rare earth neodymium iron boron (Nd-Fe-B) material with high magnetic energy level at present. The propeller 3 is widely applied in the fields of ships, aviation and the like, is mainly used for pushing the ships and boats to advance, and has various types of propellers, electric ship propellers, aviation propellers, water jet propellers and the like. The electronic regulator converts the control signal of the flight control panel into a current signal for controlling and regulating the rotating speed of the brushless motor 2, and further controlling and regulating the rotating speed of the wing 5. Usually, the current of each brushless motor 2 is very large during normal operation, and if there is no electronic regulator, the flight control board cannot bear such a large current at all, and the flight control board itself has no function of driving the brushless motor 2.
Specifically, the connection of the brushless motor 2 and the wing 5 corresponding to any one of the horn 4 means: the upper part of the brushless motor 2 is connected with a wing 5 corresponding to any one of the arms 4. It should be noted that the horn and the wing of the unmanned aerial vehicle correspond to each other one by one. The brushless motor 2 provides energy for the opening of the wing 5.
Further, brushless motor 2 with the electronic control ware is connected, the electronic control ware with flight control panel 1 is connected, is connected brushless motor 2 and flight control panel 1 respectively by the electronic control ware, and when unmanned vehicles unblock was flown, the control signal that comes from flight control panel 1, through the rotational speed of brushless motor 2 control regulation wing 5.
Further, in the embodiment of the present invention, the seismic source launching system based on the unmanned aerial vehicle is in operation: the unmanned aerial vehicle unlocks and flies, the flight control panel 1 controls the brushless motor 2 through the electronic regulator, so that the wings 5 are opened, meanwhile, the propeller 3 is opened to provide thrust for the unmanned aerial vehicle, the unmanned aerial vehicle flies to a seismic source throwing position to throw a seismic source, and due to the effect of the thrust of the propeller 3, the load capacity of the seismic source throwing system based on the unmanned aerial vehicle is increased.
The seismic source launching system based on the unmanned aerial vehicle provided by the embodiment of the invention aims at the problems of smaller load capacity and slower vertical take-off and landing in the seismic source launching system based on the unmanned aerial vehicle in the prior art, the thruster 3 is arranged, the load capacity and the vertical take-off and landing speed can be improved under the action of thrust provided by the thruster 3, the power saving optimization is realized, the working efficiency is improved, the professional technical requirements of acquiring seismic record data by quickly taking off and landing a seismic source in seismic exploration can be met, and a good exploration effect is achieved.
Compared with an artificial seismic source technology, the seismic source launching system based on the unmanned aerial vehicle provided by the embodiment of the invention omits the processes of artificial layout and rolling arrangement, greatly improves the production efficiency and saves manpower and material resources. Compared with the traditional two-dimensional fixed array detection technology, the seismic source launching system based on the unmanned aerial vehicle has the advantages of large data volume, wide detection range and high interpretation precision.
Based on the above embodiment, the propeller 3 is connected to the electronic regulator.
In the above embodiment, the electronic governor is connected to the flight control panel 1 while being connected to the brushless motor 2. In this embodiment, the electronic regulator is also connected to the propeller 3.
Specifically, the present embodiment is that the flight control panel 1 controls the adjustment propeller through the electronic regulator.
Further, in the embodiment of the present invention, the seismic source launching system based on the unmanned aerial vehicle is in operation: unmanned vehicles unblock flight, flight control panel 1 passes through electronic regulator control brushless motor 2 to make wing 5 open, flight control panel 1 opens through electronic regulator control propeller 3 simultaneously and provides thrust for unmanned vehicles, and unmanned vehicles flies to the focus and puts in the position and carry out the focus and put in.
The seismic source launching system based on the unmanned aerial vehicle provided by the embodiment of the invention is provided with the propeller 3 connected with the electronic regulator, and under the action that the flight control panel 1 controls the propeller 3 to be started through the electronic regulator to provide thrust for the unmanned aerial vehicle, the rotating speeds of the brushless motor 2 and the propeller 3 can be better controlled, so that better flight and hovering states are achieved.
Based on the above embodiment, the thrust of the pusher 3 is directed upward perpendicular to the either horn 4.
Based on the above embodiment, the flight control panel 1 includes therein a weight sensor for measuring the weight of the unmanned aerial vehicle.
The seismic source launching system based on the unmanned aerial vehicle is used for launching a seismic source. After the system is used for seismic source launching, the load capacity of the unmanned aerial vehicle is reduced due to the reduction of the seismic source, and the rotating speeds of the wings 5 and the propeller 3 are required to be adjusted to enable the unmanned aerial vehicle to maintain the lowest rotating speed. Therefore, the present embodiment is provided with a weight sensor in the flight control panel 1 for measuring the weight of the unmanned aerial vehicle, the flight control panel 1 adjusts the rotation speeds of the wings 5 and the propellers 3 through the electronic regulator when the weight sensor measures a change in the weight of the unmanned aerial vehicle, and the flight control panel 1 adjusts the rotation speeds of the wings 5 and the propellers 3 through the electronic regulator when the weight sensor measures a decrease in the weight of the unmanned aerial vehicle.
According to the seismic source launching system based on the unmanned aerial vehicle, the rotating speeds of the wings 5 and the propellers 3 are further adjusted by arranging the weight sensor, the unmanned aerial vehicle can be kept hovering in the air based on the lowest rotating speed operation, the power consumption is reduced by the speed of the brushless motor 2 and the propellers 3, and the launching task is smoothly finished in the best power-saving mode.
Based on the above embodiment, the wing corresponding to any horn is a large-radian wing.
According to the seismic source launching system based on the unmanned aerial vehicle, the wing 5 is arranged to be the large-radian wing, the radian of the upper surface of the wing is increased, the lift force of the wing 5 is effectively improved, and the vertical take-off and landing speed and the load weight of the unmanned aerial vehicle are increased.
On the basis of any of the above embodiments, fig. 2 is a flowchart of a control method of a low-altitude multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention, as shown in fig. 2, including: step 201: unlocking and flying the unmanned aerial vehicle, and opening both a propeller 3 and a wing 5 corresponding to the propeller 3, wherein the wing 5 corresponding to the propeller 3 is the wing 5 corresponding to a horn 4 connected with the propeller 3; step 202: and the unmanned aerial vehicle flies to a seismic source launching position and keeps a hovering state, and the seismic source launching is carried out.
Specifically, the fact that the propeller 3 and the wing 5 corresponding to the propeller 3 are both opened means that: when the unmanned aerial vehicle unlocks and flies, the propeller 3 is opened, and the wing 5 corresponding to the horn 4 connected with the propeller 3 is opened. Under the combined action of the propeller 3 and the wing 5, the unmanned aerial vehicle flies to a seismic source launching position and keeps a hovering state, and seismic source launching is carried out.
According to the seismic source launching method based on the unmanned aerial vehicle, the propeller 3 and the wing 5 corresponding to the propeller 3 are both arranged to be started for flying, so that the load capacity and the vertical take-off and landing speed can be improved, power-saving optimization is realized, the working efficiency is improved, the professional technical requirements of acquiring seismic record data by quickly taking off and landing the seismic source in the seismic exploration can be met, and a good exploration effect is achieved.
Based on the above embodiment, the step 202, thereafter, further includes: a weight sensor in the flight control panel 1 measures the weight of the unmanned aerial vehicle; the flight control panel 1 adjusts the rotating speed of the propeller 3 and the rotating speed of the wing 5 corresponding to the propeller through an electronic regulator according to the weight of the unmanned aerial vehicle.
It should be noted that the flight control panel 1 adjusts the rotation speed of the wing 5 corresponding to the propeller by adjusting the brushless motor 2 connected to the wing 5.
According to the seismic source launching method based on the unmanned aerial vehicle, the flight control panel 1 is arranged to adjust the rotating speed of the propeller 3 and the rotating speed of the wing 5 corresponding to the propeller through the electronic regulator according to the weight of the unmanned aerial vehicle, so that the unmanned aerial vehicle can hover at the lowest rotating speed, better flying and hovering states are achieved, and the effects of energy conservation and electricity conservation are achieved.
Based on the above embodiment, the flight control panel 1 adjusts the rotation speed of the propeller 3 and the rotation speed of the wing 5 corresponding to the propeller 3 through an electronic regulator according to the weight of the unmanned aerial vehicle, and specifically includes: the flight control panel 1 sends a control signal to the electronic regulator according to the weight of the unmanned aerial vehicle; and the electronic regulator regulates the rotating speed of the propeller 3 and the rotating speed of the wing 5 corresponding to the propeller 3 according to the control signal.
Based on the above embodiment, the electronic regulator regulates the rotation speed of the propeller 3 and the rotation speed of the wing 5 corresponding to the propeller 3 according to the control signal, and specifically includes: the electronic regulator converts the control signal into a current signal; and the electronic regulator regulates the rotating speed of the propeller 3 and the rotating speed of the wing 5 corresponding to the propeller 3 according to the current signal.
As a preferred embodiment, fig. 3 is a flowchart illustrating an operation of a low-altitude multi-rotor unmanned aerial vehicle system according to an embodiment of the present invention, as shown in fig. 3, including:
the unmanned aerial vehicle unlocks and flies, the propeller 3 and the wing 5 corresponding to the propeller 3 are both opened, wherein the wing 5 corresponding to the propeller 3 is the wing 5 corresponding to the horn 4 connected with the propeller 3.
And the unmanned aerial vehicle flies to a seismic source launching position and keeps a hovering state, and the seismic source launching is carried out.
The weight sensor in flight control panel 1 measures the weight of the unmanned aerial vehicle.
The flight control panel 1 sends a control signal to the electronic regulator according to the weight of the unmanned aerial vehicle.
The electronic regulator converts the control signal into a current signal.
And the electronic regulator regulates the rotating speed of the propeller 3 and the rotating speed of the wing 5 corresponding to the propeller 3 according to the current signal.
Based on the above embodiment, the embodiment of the present invention further provides an unmanned aerial vehicle, including a flight control panel 1, a plurality of horn 4, and a plurality of wings 5, wherein the plurality of horn 4 and the plurality of wings 5 are in one-to-one correspondence; a brushless motor 2 is connected above any one of the machine arms 4, the brushless motor 2 is connected with a wing 5 corresponding to any one of the machine arms 4, and a propeller 3 is connected below any one of the machine arms 4; the brushless motor 2 and the propeller 3 are both connected with an electronic regulator, and the electronic regulator is connected with the flight control panel 1; the direction of the thrust of the propeller 3 is vertical to the machine arm 4 connected with the propeller 3 and upward; the flight control panel 1 comprises a weight sensor, and the weight sensor is used for measuring the weight of the unmanned aerial vehicle; the plurality of wings 5 are all large arc wings.
According to the seismic source launching system and method based on the unmanned aerial vehicle and the unmanned aerial vehicle, provided by the embodiment of the invention, aiming at the problems of small load capacity and slow vertical take-off and landing existing in the seismic source launching system based on the unmanned aerial vehicle in the prior art, the thruster 3 is arranged, under the action of thrust provided by the thruster 3, the load capacity and the vertical take-off and landing speed can be improved, power-saving optimization is realized, the working efficiency is improved, the professional technical requirements of acquiring seismic record data by quickly taking off and landing the seismic source in seismic exploration can be met, and a good exploration effect is achieved. The process of manual arrangement and rolling arrangement is omitted, the production efficiency is greatly improved, and manpower and material resources are saved. Compared with the traditional two-dimensional fixed array detection technology, the seismic source launching system based on the unmanned aerial vehicle has the advantages of large data volume, wide detection range and high interpretation precision. Set up propeller 3 and be connected with the electronic regulation ware, opened through electronic regulation ware control propeller 3 at flight control panel 1 and provide thrust for unmanned vehicles under, the rotational speed of control brushless motor 2 and propeller 3 that can be better to reach better flight and hover state. Through setting up weight sensor, and then adjust the rotational speed of wing 5 and propeller 3, can keep unmanned vehicles hovering in the air based on minimum rotational speed operation, brushless motor 2 and propeller 3's speed reduces the power consumption and reduces to best power saving mode accomplishes the task of puting in smoothly. By arranging the wings 5 to be large-radian wings, the radian of the upper surfaces of the wings is increased, the lift force of the wings 5 is effectively improved, and the vertical take-off and landing speed and the load weight of the unmanned aerial vehicle are increased.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A low-altitude multi-rotor unmanned aerial vehicle system, comprising:
flight control panel, brushless motor, propeller and electronic regulator;
the brushless motor is connected with any horn of the unmanned aerial vehicle and positioned above any horn, and the brushless motor is connected with the wing corresponding to any horn;
the propeller is connected with any one of the machine arms and is positioned below the any one of the machine arms;
the brushless motor is connected with the electronic regulator, and the electronic regulator is connected with the flight control panel.
2. The system of claim 1, wherein the propeller is coupled to the electronic regulator.
3. The system of claim 1, wherein the thrust of the pusher is directed upward perpendicular to the either horn.
4. The system of claim 1, wherein a weight sensor is included in the flight control panel, the weight sensor for measuring the weight of the UAV.
5. A method of controlling a low altitude multi-rotor UAV system according to any one of claims 1-4, comprising:
unlocking the unmanned aerial vehicle for flying, and opening a propeller and a wing corresponding to the propeller, wherein the wing corresponding to the propeller is a wing corresponding to a horn connected with the propeller;
and the unmanned aerial vehicle flies to a seismic source launching position and keeps a hovering state, and the seismic source launching is carried out.
6. The method of claim 5, wherein the unmanned aerial vehicle flies to a source launch location and remains hovering for a source launch, and thereafter further comprising:
a weight sensor in a flight control panel measures the weight of the UAV;
and the flight control panel adjusts the rotating speed of the propeller and the rotating speed of the wing corresponding to the propeller through an electronic regulator according to the weight of the unmanned aerial vehicle.
7. The method according to claim 6, wherein the flight control panel adjusts the rotation speed of the propeller and the rotation speed of the wing corresponding to the propeller according to the weight of the UAV through an electronic regulator, and specifically comprises:
the flight control panel sends a control signal to the electronic regulator according to the weight of the unmanned aerial vehicle;
and the electronic regulator regulates the rotating speed of the propeller and the rotating speed of the wing corresponding to the propeller according to the control signal.
8. The method according to claim 7, wherein the electronic regulator regulates the rotational speed of the propeller and the rotational speed of the wing corresponding to the propeller according to the control signal, and specifically comprises:
the electronic regulator converts the control signal into a current signal;
and the electronic regulator regulates the rotating speed of the propeller and the rotating speed of the wing corresponding to the propeller according to the current signal.
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| CN201910993618.5A CN110654540A (en) | 2019-10-18 | 2019-10-18 | Low-altitude multi-rotor unmanned aerial vehicle system and control method thereof |
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| CN201910993618.5A CN110654540A (en) | 2019-10-18 | 2019-10-18 | Low-altitude multi-rotor unmanned aerial vehicle system and control method thereof |
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