CN113135285A - Rotor unmanned aerial vehicle's jet-propelled auxiliary device - Google Patents
Rotor unmanned aerial vehicle's jet-propelled auxiliary device Download PDFInfo
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- 238000002347 injection Methods 0.000 claims abstract description 130
- 239000007924 injection Substances 0.000 claims abstract description 130
- 238000000034 method Methods 0.000 claims description 35
- 238000012545 processing Methods 0.000 claims description 9
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- 238000012937 correction Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000010485 coping Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000005484 gravity Effects 0.000 description 3
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- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/14—Attitude, flight direction, or altitude control by jet reaction the jets being other than main propulsion jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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Abstract
The invention discloses an air injection auxiliary device of a rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a vision module and an air injection auxiliary device. The vision module comprises a three-axis holder and a camera. The air injection auxiliary device comprises a base, a rotating shaft, a connecting rod and an air injection device. The air injection device comprises a motor, a fan, an air inlet, an air injection port and a filter screen. Jet-propelled air-jet auxiliary device has promoted unmanned aerial vehicle's anti-wind ability towards the equidirectional jet-propelled of wind direction. By carrying the three-axis pan-tilt and the camera and adopting the air injection mode of the air injection auxiliary device, the active obstacle avoidance capability and the response speed of the unmanned aerial vehicle are improved. Through the difference of each jet-propelled auxiliary device jet-propelled dynamics, let unmanned aerial vehicle's take off and land more simple steady, improved unmanned aerial vehicle's reliability. The jet-propelled auxiliary device of unmanned aerial vehicle is under the state of supplementary take-off, and each jet-propelled auxiliary device is vertical jet-propelled downwards simultaneously, further promotes unmanned aerial vehicle's maximum load.
Description
Technical Field
The invention relates to the technical field of rotor unmanned aerial vehicles, in particular to an air injection auxiliary device of a rotor unmanned aerial vehicle.
Background
The unmanned aerial vehicle on the existing market is rotor unmanned aerial vehicle mostly, and this type of unmanned aerial vehicle wind resistance ability is relatively poor, and the load capacity is lower. The unmanned aerial vehicle cannot avoid the acting force of wind on the unmanned aerial vehicle in the flying process, and the unmanned aerial vehicle can generate certain inclination under the acting force; when the flight inclination angle of the multi-rotor aircraft exceeds 30 degrees, the lift force of the rotor wing suddenly drops, so that the multi-rotor aircraft can accelerate and fall down, and an unmanned plane can lose balance and is difficult to control. When flying in high altitude, the change in wind-force size and direction is unpredictable, and conventional unmanned aerial vehicle changes the direction of unmanned aerial vehicle self lift through changing pitch angle and roll angle to the windage resistance, and produces the skew in position easily during this period, if have the angle and the stability that take a photograph of camera still can influence it.
The common unmanned aerial vehicle adopts a method of carrying ultrasonic waves or radars to realize an obstacle avoidance function. In the flight process of the unmanned aerial vehicle, the relative speed between the unmanned aerial vehicle and the obstacle is large, the reaction time is too short when ultrasonic waves or radars are detected, a certain time is needed for changing a pitch angle and a roll angle to realize left or right obstacle avoidance, and the obstacle cannot be timely avoided in high-speed flight. The unmanned aerial vehicle usually adopts a physical obstacle avoidance method, and mainly adopts two methods of mounting a protective shell and mounting a buffer device. For example, in an unmanned aerial vehicle device with a spherical anti-falling protection frame disclosed in patent No. CN109466758B, the device covers the unmanned aerial vehicle comprehensively, and cannot carry a camera for aerial photography; for example, patent No. CN211336433U discloses an unmanned aerial vehicle obstacle avoidance and collision avoidance apparatus, which uses a spring as a buffer device therein. Above-mentioned two kinds of patents have all adopted physical structure to come passive obstacle avoidance, can't solve unmanned aerial vehicle when high-speed flight, and the relative velocity between the barrier is too big, still can cause serious damage to unmanned aerial vehicle when the impact force when taking place the striking when too big, has the risk of crash.
Existing unmanned aerial vehicle all leans on the paddle to provide the elevating power at the in-process of taking off and land, and general civilian unmanned aerial vehicle all carries on the camera and carries out remote operation, can lead to fuselage unbalanced by weight. The problems of inclination of the fuselage, center of gravity shift and the like easily occur in the lifting process. In the inclined plane take-off and landing process, if only the paddle provides lift force, at this moment, the lift force is inclined, the vertical component is used for overcoming the gravity of the unmanned aerial vehicle, and the horizontal component can further accelerate the development of the fuselage inclination and the gravity offset unbalance direction of the unmanned aerial vehicle, so that the phenomenon of side turning of the unmanned aerial vehicle is increased, the inclined plane angle of the unmanned aerial vehicle during take-off and landing is limited, and the take-off and landing environment of the unmanned aerial vehicle is further limited. How to solve the existing technical problems is urgently needed to be solved by technical personnel in the related field.
Disclosure of Invention
The invention aims to provide an air injection auxiliary device of a rotor unmanned aerial vehicle. Jet-propelled air-jet auxiliary device has promoted unmanned aerial vehicle's anti-wind ability towards the equidirectional jet-propelled of wind direction. By carrying the three-axis pan-tilt and the camera and adopting the air injection mode of the air injection auxiliary device, the active obstacle avoidance capability and the response speed of the unmanned aerial vehicle are improved. Through the difference of each jet-propelled auxiliary device jet-propelled dynamics, let unmanned aerial vehicle's take off and land more simple steady, improved unmanned aerial vehicle's reliability.
The invention discloses an air injection auxiliary device of a rotor unmanned aerial vehicle. The vision module include triaxial cloud platform and camera, the triaxial cloud platform is installed directly over unmanned aerial vehicle, makes the orientation of camera keep unanimous or 360 rotatory unmanned aerial vehicle environment all around of observing with unmanned aerial vehicle flight direction all the time. The camera is installed on the three-axis pan-tilt and is connected with the controller through a wire.
The air injection auxiliary device comprises a base, a rotating shaft, a connecting rod and an air injection device.
The base and the rotating shaft respectively rotate at any angle in the horizontal direction and the vertical direction, the rotating angles of the base and the rotating shaft are controlled by the motor, the motor is connected with the controller through a wire, and the motor receives a control instruction sent by the controller to control the rotating angles of the base and the rotating shaft.
The top of the connecting rod is fixed with the base, and the bottom of the connecting rod is provided with a bearing connected with the rotating shaft.
The air injection device comprises a motor, a fan, an air inlet, an air injection port and a filter screen. The upper and lower positions of the motor of the air injection device are provided with fans, and double fans are arranged to improve air injection efficiency. A filter screen is arranged between the fan above the motor and the air inlet, and the upper filter screen prevents the blockage of dust and foreign matters when the air injection device works. The filter screen is arranged between the fan below the motor and the air jet, and the lower filter screen prevents dust and foreign matters from entering the fan from the air jet of the air jet when the air jet is not in operation, so that the fan is prevented from being blocked and stopped. The fan is driven to rotate by the working of the motor, so that the air injection function of the air injection device is realized. The motor of the air injection device is connected with the controller by a lead and receives a control command sent by the controller.
The air jet system is characterized in that three circular air inlets are arranged on two sides of the upper end of the air jet system at equal intervals, and air required to be ejected by the air inlet above the air jet system is sucked in and ejected out through the air jet ports.
A method of resisting wind for a rotorcraft, comprising the steps of:
step one, when the unmanned aerial vehicle encounters air flow in the air flight process, the controller performs operation processing on the change degree of the pitch angle and the roll angle to obtain the air flow direction and the air flow magnitude of the air flow acting on the unmanned aerial vehicle.
And step two, the controller sends corresponding control instructions to the base and the rotating shaft according to the airflow direction, the rotating shaft rotates clockwise by 90 degrees and is vertical to the base, the base rotates by a certain angle, the air injection direction is the same as the airflow direction, and at the moment, the air injection auxiliary device is in a wind-resistant state.
And step three, the controller sends a control command to a motor in the air injection device according to the size of the air flow, and the air injection force of each air injection auxiliary device of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor, so that the wind resistance function is completed.
The obstacle avoidance method of the rotor unmanned aerial vehicle comprises the following steps:
when the unmanned aerial vehicle flies in the air, the camera judges that an object is on the path, and the controller performs operation processing on the flying track of the object to obtain the relative movement direction and the relative movement speed of the object.
And step two, the controller sends corresponding control instructions to the base and the rotating shaft according to the relative movement direction of the object, and the base and the rotating shaft rotate for a certain angle to enable the air injection direction to be vertical to the relative movement direction of the object.
And step three, the controller sends a control command to a motor in the air injection device according to the relative movement speed of the object, and the air injection force of each air injection auxiliary device of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor, so that the obstacle avoidance function is realized.
The emergency coping method for the faults of the rotor unmanned aerial vehicle comprises the following steps:
step one, the controller detects that a motor above a certain air injection auxiliary device stops working, unbalanced torque enables the unmanned aerial vehicle to rotate anticlockwise, and lift force cannot be provided in the direction.
And step two, the controller sends a control command to control the state of each air injection auxiliary device according to the position and the rotating direction of the fault rotor wing, the air injection auxiliary devices below the fault rotor wing vertically inject air downwards, and two adjacent air injection auxiliary devices are kept unchanged. After the jet-propelled auxiliary device of the oblique diagonal angle of trouble rotor received control command, this jet-propelled auxiliary device's air jet adjustment was the rotatory opposite direction of trouble rotor, offsets the moment of torsion that produces when this rotor is rotatory, prevents that unmanned aerial vehicle from beating in situ and changeing uncontrollable.
And step three, adjusting the air injection force of each air injection auxiliary device according to the change of the pitch angle, the roll angle and the yaw angle, keeping the pitch angle, the roll angle and the yaw angle unchanged, keeping the stability of the unmanned aerial vehicle, and safely landing the unmanned aerial vehicle to the ground.
The inclined plane assisted take-off method of the rotor unmanned aerial vehicle comprises the following steps:
step one, after the unmanned aerial vehicle is placed on an inclined plane and unlocked, initial data of a pitch angle and a roll angle are obtained.
And step two, the controller obtains initial data of a pitch angle and a roll angle to judge the relation between the plane of the unmanned aerial vehicle and the horizontal plane, and obtains plane correction compensation quantity through operation processing, wherein the compensation quantity gives the corresponding initial force of air injection of the air injection auxiliary device when taking off, and is used for compensating the plane of the unmanned aerial vehicle to the horizontal plane.
Step three, send the instruction of taking off, acquire unmanned aerial vehicle pitch angle and roll angle and monitor unmanned aerial vehicle's state in real time at the in-process of taking off, the controller is according to the change degree of pitch angle and roll angle, send corresponding instruction to control the motor speed among the air jet system, adjust each air jet auxiliary device of unmanned aerial vehicle jet-propelled dynamics size in real time, after the whole horizontality that reaches of unmanned aerial vehicle, control the unmanned aerial vehicle rotor and begin to rotate and provide lift. When unmanned aerial vehicle leaves ground and reaches the height of settlement, jet-propelled auxiliary device reduces the jet-propelled dynamics gradually, and the steady take-off of unmanned aerial vehicle on the inclined plane is accomplished to stopping jetting.
The slope-assisted landing method of the rotor unmanned aerial vehicle comprises the following steps:
step one, the unmanned aerial vehicle operation mode is switched to a landing mode, the unmanned aerial vehicle in the landing mode slowly descends, the controller acquires the pitch angle and the roll angle of the unmanned aerial vehicle in real time and monitors the state of the unmanned aerial vehicle, and the pitch angle and the roll angle are basically kept unchanged at the moment.
And step two, when the pitch angle and the roll angle are changed, the result is that a part of foot rests of the unmanned aerial vehicle contacts the ground. The controller sends control instructions according to the pitch angle and the roll angle to control the rotating speed of a motor in the air injection device, and the air injection force and the air injection angle of each air injection auxiliary device of the unmanned aerial vehicle are adjusted in real time. And meanwhile, the rotating speed of the rotor wing is slowly reduced, and the unmanned aerial vehicle keeps the current pitch angle and roll angle unchanged.
Step three, when the paddle of rotor stopped rotating, further slowly reduced each jet-propelled auxiliary device's of unmanned aerial vehicle jet-propelled dynamics size to utilize pitch angle and roll angle real-time adjustment jet-propelled angle, let each jet-propelled auxiliary device's of unmanned aerial vehicle jet-propelled direction vertical downwards all the time, until pitch angle and roll angle do not change, jet-propelled auxiliary device accomplishes the work and stops spouting the gas, realizes unmanned aerial vehicle's steady landing.
When the load of unmanned aerial vehicle loading equipment exceeded the limit that unmanned aerial vehicle can bear, the jet-propelled auxiliary device of unmanned aerial vehicle can be under the state of supplementary takeoff, and each jet-propelled auxiliary device is vertical jet-propelled downwards simultaneously, further promotes unmanned aerial vehicle's maximum load.
The invention has the beneficial effects that:
(1) the anti-wind ability of unmanned aerial vehicle at the flight in-process has been promoted, and when unmanned aerial vehicle's pitch angle and roll angle reached 30, unmanned aerial vehicle anti-wind ability this moment reached the limit, provided that the wind speed continues to increase, then unmanned aerial vehicle can't provide sufficient lift and maintain self balance, takes place the crash phenomenon. Through jet-propelled auxiliary device to the wind direction jet-propelled, can further improve unmanned aerial vehicle's anti-wind ability, reduce the air current to unmanned aerial vehicle flight speed's influence, solved unmanned aerial vehicle and encountered the too big problem of angle of inclination when strong air current at the flight in-process, avoid the emergence of the phenomenon of turning on one's side, guarantee unmanned aerial vehicle is at aerial safe flight, improved unmanned aerial vehicle's reliability.
(2) The unmanned aerial vehicle initiative obstacle avoidance ability has been promoted, unmanned aerial vehicle carries on triaxial cloud platform and camera, judge with the vision whether there is the object on the flight path, compare in the method that changes unmanned aerial vehicle's the angle of pitch and roll angle, jet-propelled mode through jet-propelled auxiliary device, change unmanned aerial vehicle's direction of flight in the time that can be extremely short, the response speed that unmanned aerial vehicle kept away the obstacle has been promoted by a wide margin, and the direction that unmanned aerial vehicle was avoidd is selected according to object orbit and direction, make unmanned aerial vehicle keep away the obstacle response rapider.
(3) Combine unmanned aerial vehicle's angle of pitch and roll angle, control each jet-propelled auxiliary device of unmanned aerial vehicle's jet-propelled dynamics size, make unmanned aerial vehicle reach the rotor rotation again and provide lift behind the horizontality, guarantee that unmanned aerial vehicle is not changed or the influence of focus skew by the air current at the in-process of taking off, supplementary unmanned aerial vehicle takes off more fast steadily, more level and smooth stability when descending, avoid unmanned aerial vehicle because of descending speed too fast and can't steadily descend, prevent that unmanned aerial vehicle from taking place to turn on one's side.
(4) When unmanned aerial vehicle rotor wherein, motor or electricity were transferred when breaking down, the rotor that breaks down can't provide lift, leads to the unbalanced emergence of unmanned aerial vehicle lift to explode the quick-witted condition. The air injection auxiliary devices below the fault rotor wing inject air vertically downwards, and two adjacent air injection auxiliary devices are kept unchanged. The jet-propelled auxiliary device at trouble rotor diagonal angle adjusts the air jet for the rotatory opposite direction of trouble rotor, offsets the moment of torsion that produces when this rotor is rotatory, prevents that unmanned aerial vehicle from in situ beating to rotate uncontrollable, avoids unmanned aerial vehicle to follow the loss that the eminence falls, has improved unmanned aerial vehicle's reliability.
(5) When the air jet of unmanned aerial vehicle jet-propelled mouth jet-propelled downwards, can effectively promote unmanned aerial vehicle's load-carrying capacity.
Drawings
Figure 1 is an overall view of a rotary wing drone;
figure 2 is a diagram of a jet assist apparatus for a rotary-wing drone;
figure 3 is a diagram of a jet assembly of a rotorcraft;
fig. 4 is a wind-resistant state diagram of a rotorcraft;
fig. 5 is an obstacle avoidance state diagram for a rotorcraft;
figure 6 is a state diagram of emergency handling of a rotorcraft fault;
figure 7 is an assisted takeoff view of a rotorcraft;
figure 8 is an auxiliary landing diagram for a rotary wing drone;
figure 9 is a lift load diagram for a rotorcraft.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the jet assisting device of the rotor unmanned aerial vehicle of the invention comprises an unmanned aerial vehicle body, a vision module and a jet assisting device. The vision module comprises a three-axis holder and a camera, wherein the three-axis holder comprises three mutually perpendicular pitching shafts, a transverse rolling shaft, a yawing shaft and a base. The base is fixed with the fuselage top of unmanned aerial vehicle main part. The roll axis and the pitch axis are used for keeping the camera in a horizontal position, the yaw axis realizes 360-degree rotation of the camera, and the orientation of the camera is always consistent with the flying direction of the unmanned aerial vehicle. The camera is installed on the triaxial cloud platform directly over unmanned aerial vehicle, is connected with the controller with the wire.
As shown in fig. 2, the air injection assisting device includes a base 1, a connecting rod 2, a rotating shaft 3, and an air injection device 4. The base 1 and the rotating shaft 3 respectively realize rotation at any angle in the horizontal direction and the vertical direction, the base 1 and the rotating shaft 3 are controlled by a motor, the motor is connected with a controller through a lead, and control instructions sent by the controller are received to realize control of respective rotation angles. The top of the connecting rod 2 is fixed with the base 1, and the bottom of the connecting rod 2 is provided with a bearing connected with the rotating shaft 3. The top of the air injection device 4 is connected with the rotating shaft 3.
As shown in fig. 3, the air injection device 4 comprises a motor 4-1, a fan 4-2, an air inlet 4-3, an air injection port 4-4 and a filter screen 4-5. The upper and lower positions of a motor 4-1 of the air injection device 4 are both provided with fans 4-2, and double fans are arranged to improve air injection efficiency. A filter screen 4-5 is arranged between a fan 4-2 above the motor 4-1 and the air inlet 4-3, and the upper filter screen 4-5 prevents the blockage of the sucked dust and foreign matters when the air injection device 4 works. A filter screen 4-5 is arranged between a fan 4-2 and an air nozzle 4-4 below the motor 4-1, and the lower filter screen 4-5 prevents dust and foreign matters from entering the fan 4-2 from the air nozzle 4-4 of the air injection device 4 when the air injection device 4 does not work, so that the fan 4-2 is prevented from being blocked and stalling. The motor 4-1 works to drive the fan 4-2 to rotate, so that the air injection function of the air injection device 4 is realized. Six circular air inlets 4-3 arranged at equal intervals are arranged at the upper end of the air injection device 4, and air required to be injected when the air injection device 4 works is sucked by the air inlets 4-3 above and then injected through the air injection ports 4-4. The motor 4-1 of the air injection device 4 is connected with the controller by a lead and receives a control command sent by the controller.
As shown in fig. 4, a method of resisting wind for a rotorcraft, comprising the steps of:
step one, when the unmanned aerial vehicle encounters air flow in the air flight process, the controller performs operation processing on the change degree of the pitch angle and the roll angle to obtain the air flow direction and the air flow magnitude of the air flow acting on the unmanned aerial vehicle.
And step two, the controller sends corresponding control instructions to the base 1 and the rotating shaft 3 according to the airflow direction, the rotating shaft 3 rotates clockwise by 90 degrees and is vertical to the base 1, the base 1 rotates clockwise by 15 degrees, the air injection direction is the same as the airflow direction, and at the moment, the air injection auxiliary device is in a wind-resistant state.
And step three, the controller sends a control command to a motor 4-1 in the air injection device 4 according to the size of the air flow, and the air injection force of each air injection auxiliary device of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor 4-1, so that the wind resistance function is completed.
As shown in fig. 5, the obstacle avoidance method for the rotorcraft includes the following steps:
when the unmanned aerial vehicle flies in the air, the camera judges that an object is on the path, and the controller performs operation processing on the flying track of the object to obtain the relative movement direction and the relative movement speed of the object.
And step two, the controller sends a corresponding control instruction to the base 1 and the rotating shaft 3 according to the relative movement direction of the object, the unmanned aerial vehicle is set by default to avoid the obstacle towards the right side of the head direction, the base 1 rotates clockwise by 90 degrees, the rotating shaft 3 rotates clockwise by 90 degrees, and the air injection direction is perpendicular to the relative movement direction of the object.
And step three, the controller sends a control command to a motor 4-1 in the air injection device 4 according to the relative movement speed of the object, and the air injection force of each air injection auxiliary device of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor 4-1, so that the obstacle avoidance function is realized.
As shown in fig. 6, the method for emergency handling of a rotorcraft fault includes the following steps:
step one, the controller detects that a motor rotating anticlockwise above the air injection auxiliary device M1 stops working, and unbalanced torque enables the unmanned aerial vehicle to start rotating anticlockwise due to the fact that the rotor rotating anticlockwise is lacked, and lift force cannot be provided in the direction.
And step two, the controller sends a control command to control the state of each air injection auxiliary device according to the position and the rotating direction of the fault rotor, the air injection port of the air injection auxiliary device M1 faces downwards vertically, and the air injection auxiliary device M2 and the air injection auxiliary device M3 are kept unchanged. After the air injection auxiliary device M4 of the oblique diagonal angle of the fault rotor receives a control command, the base 1 of the air injection foot M4 rotates clockwise by 45 degrees, the rotating shaft 3 rotates clockwise by 90 degrees, the air injection port 4-4 of the air injection auxiliary device M4 is adjusted to inject air clockwise, the torque generated when the rotor rotates anticlockwise is offset, and the unmanned aerial vehicle is prevented from being uncontrollable when being beaten in place.
And step three, adjusting the air injection force of each air injection auxiliary device according to the change of the pitch angle, the roll angle and the yaw angle, keeping the pitch angle, the roll angle and the yaw angle unchanged, keeping the stability of the unmanned aerial vehicle, and safely landing the unmanned aerial vehicle to the ground.
As shown in fig. 7, the bevel assisted takeoff method of the rotorcraft includes the following steps:
step one, after the unmanned aerial vehicle is placed on an inclined plane and unlocked, the controller obtains initial data of a pitch angle and a roll angle.
And step two, the controller judges the relationship between the plane of the unmanned aerial vehicle and the horizontal plane according to the initial data of the pitch angle and the roll angle, and obtains plane correction compensation quantity through operation processing, wherein the compensation quantity gives the corresponding initial force of air injection of the air injection auxiliary device during takeoff for compensating the plane of the unmanned aerial vehicle to the horizontal plane.
And step three, sending a takeoff instruction, acquiring the pitch angle and the roll angle of the unmanned aerial vehicle in real time in the takeoff process, monitoring the state of the unmanned aerial vehicle, sending a corresponding instruction to control the rotating speed of a motor 4-1 in an air injection device 4 by a controller according to the change degrees of the pitch angle and the roll angle, adjusting the air injection force of each air injection auxiliary device of the unmanned aerial vehicle in real time, and controlling the rotor of the unmanned aerial vehicle to rotate to provide lift force after the whole unmanned aerial vehicle reaches the horizontal state. When unmanned aerial vehicle leaves ground and reaches the height of settlement, jet-propelled auxiliary device reduces the jet-propelled dynamics gradually, and the steady take-off of unmanned aerial vehicle on the inclined plane is accomplished to stopping jetting.
As shown in fig. 8, the method for assisting in landing a rotorcraft on a slope includes the following steps:
step one, the unmanned aerial vehicle operation mode is switched to a landing mode, the unmanned aerial vehicle in the landing mode slowly descends, the controller acquires the pitch angle and the roll angle of the unmanned aerial vehicle in real time and monitors the state of the unmanned aerial vehicle, and the pitch angle and the roll angle are basically kept unchanged at the moment.
And step two, when the pitch angle and the roll angle are changed, the result is that a part of foot rests of the unmanned aerial vehicle contacts the ground. The controller sends a control command to control the rotating speed of a motor 4-1 in the air injection device 4 according to the pitch angle and the roll angle, and adjusts the air injection force and the air injection angle of each air injection auxiliary device of the unmanned aerial vehicle in real time. And meanwhile, the rotating speed of the rotor wing is slowly reduced, and the unmanned aerial vehicle keeps the current pitch angle and roll angle unchanged.
Step three, when the paddle of rotor stopped rotating, further slowly reduced each jet-propelled auxiliary device's of unmanned aerial vehicle jet-propelled dynamics size to utilize pitch angle and roll angle real-time adjustment jet-propelled angle, let each jet-propelled auxiliary device's of unmanned aerial vehicle jet-propelled direction vertical downwards all the time, until pitch angle and roll angle do not change, jet-propelled auxiliary device accomplishes the work and stops spouting the gas, realizes unmanned aerial vehicle's steady landing.
As shown in fig. 9, when the load of the unmanned aerial vehicle, which requires the loading device, exceeds the limit that the unmanned aerial vehicle can bear, the jet auxiliary devices of the unmanned aerial vehicle can jet air vertically downwards at the same time in the state of auxiliary takeoff, so that the maximum load of the unmanned aerial vehicle is improved.
Claims (7)
1. The utility model provides a rotor unmanned aerial vehicle's jet-propelled auxiliary device which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a vision module and an air injection auxiliary device; the vision module comprises a three-axis holder and a camera, the three-axis holder is arranged right above the unmanned aerial vehicle, and the orientation of the camera is always consistent with the flight direction of the unmanned aerial vehicle or the camera rotates by 360 degrees to observe the surrounding environment of the unmanned aerial vehicle; the camera is arranged on the three-axis pan-tilt and is connected with the controller by a wire;
the air injection auxiliary device comprises a base, a rotating shaft, a connecting rod and an air injection device;
the base and the rotating shaft respectively rotate at any angle in the horizontal direction and the vertical direction, the rotating angles of the base and the rotating shaft are controlled by a motor, the motor is connected with a controller through a wire, and a control instruction sent by the controller is received to control the rotating angles of the base and the rotating shaft;
the top of the connecting rod is fixed with the base, and the bottom of the connecting rod is provided with a bearing connected with the rotating shaft;
the air injection device comprises a motor, a fan, an air inlet, an air injection port and a filter screen; fans are arranged at the upper position and the lower position of a motor of the air injection device, and double fans are arranged to improve air injection efficiency; a filter screen is arranged between the fan above the motor and the air inlet, and the upper filter screen prevents the blockage of dust and foreign matters when the air injection device works; a filter screen is arranged between the fan below the motor and the air jet, and when the air jet device does not work, the lower filter screen prevents dust and foreign matters from entering the fan from the air jet of the air jet device, so that the fan is prevented from being blocked and stalling; the fan is driven to rotate by the working of the motor, so that the air injection function of the air injection device is realized; the motor of the air injection device is connected with the controller by using a lead and receives a control instruction sent by the controller;
the air jet system is characterized in that three circular air inlets are arranged on two sides of the upper end of the air jet system at equal intervals, and air required to be ejected by the air inlet above the air jet system is sucked in and ejected out through the air jet ports.
2. A jet assist device for a rotary-wing drone according to claim 1, characterized in that: a method of resisting wind for a rotorcraft, comprising the steps of:
step one, when the unmanned aerial vehicle encounters air flow in the air flight process, the controller performs operation processing on the change degrees of the pitch angle and the roll angle to obtain the air flow direction and the air flow magnitude of the air flow acting on the unmanned aerial vehicle;
step two, the controller sends corresponding control instructions to the base and the rotating shaft according to the airflow direction, the rotating shaft rotates clockwise by 90 degrees and is vertical to the base, the base rotates by a certain angle, the air injection direction is the same as the airflow direction, and the air injection auxiliary device is in a wind-resistant state;
and step three, the controller sends a control command to a motor in the air injection device according to the size of the air flow, and the air injection force of each air injection auxiliary device of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor, so that the wind resistance function is completed.
3. A jet assist device for a rotary-wing drone according to claim 1, characterized in that: the obstacle avoidance method of the rotor unmanned aerial vehicle comprises the following steps:
when the unmanned aerial vehicle flies in the air, the camera judges that an object is on the path, and the controller performs operation processing on the flying track of the object to obtain the relative movement direction and the relative movement speed of the object;
secondly, the controller sends corresponding control instructions to the base and the rotating shaft according to the relative movement direction of the object, and the base and the rotating shaft rotate for a certain angle to enable the air injection direction to be vertical to the relative movement direction of the object;
and step three, the controller sends a control command to a motor in the air injection device according to the relative movement speed of the object, and the air injection force of each air injection auxiliary device of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor, so that the obstacle avoidance function is realized.
4. A jet assist device for a rotary-wing drone according to claim 1, characterized in that: the emergency coping method for the faults of the rotor unmanned aerial vehicle comprises the following steps:
the method comprises the following steps that firstly, a controller detects that a motor above a certain air injection auxiliary device stops working, unbalanced torque enables an unmanned aerial vehicle to start to rotate anticlockwise, and lift force cannot be provided in the direction;
secondly, the controller sends a control command to control the state of each air injection auxiliary device according to the position and the rotating direction of the fault rotor wing, the air injection auxiliary devices below the fault rotor wing vertically inject air downwards, and two adjacent air injection auxiliary devices are kept unchanged; after the air injection auxiliary device at the oblique opposite angle of the fault rotor receives the control instruction, the air injection port of the air injection auxiliary device is adjusted to the direction opposite to the rotation direction of the fault rotor, so that the torque generated when the rotor rotates is offset, and the unmanned aerial vehicle is prevented from being uncontrollable when rotating in situ;
and step three, adjusting the air injection force of each air injection auxiliary device according to the change of the pitch angle, the roll angle and the yaw angle, keeping the pitch angle, the roll angle and the yaw angle unchanged, keeping the stability of the unmanned aerial vehicle, and safely landing the unmanned aerial vehicle to the ground.
5. A jet assist device for a rotary-wing drone according to claim 1, characterized in that: the inclined plane assisted take-off method of the rotor unmanned aerial vehicle comprises the following steps:
the method comprises the following steps that firstly, after the unmanned aerial vehicle is placed on an inclined plane and unlocked, initial data of a pitch angle and a roll angle are obtained;
the controller obtains initial data of a pitch angle and a roll angle to judge the relation between the plane of the unmanned aerial vehicle and the horizontal plane, and plane correction compensation quantity is obtained through operation processing, and the compensation quantity gives corresponding initial force of air injection of the air injection auxiliary device during takeoff and is used for compensating the plane of the unmanned aerial vehicle to the horizontal plane;
sending a takeoff instruction, acquiring a pitch angle and a roll angle of the unmanned aerial vehicle in real time in the takeoff process, monitoring the state of the unmanned aerial vehicle, sending a corresponding instruction to control the rotating speed of a motor in an air injection device by a controller according to the change degrees of the pitch angle and the roll angle, adjusting the air injection force of each air injection auxiliary device of the unmanned aerial vehicle in real time, and controlling a rotor wing of the unmanned aerial vehicle to rotate to provide lift force after the whole unmanned aerial vehicle reaches a horizontal state; when unmanned aerial vehicle leaves ground and reaches the height of settlement, jet-propelled auxiliary device reduces the jet-propelled dynamics gradually, and the steady take-off of unmanned aerial vehicle on the inclined plane is accomplished to stopping jetting.
6. A jet assist device for a rotary-wing drone according to claim 1, characterized in that: the slope-assisted landing method of the rotor unmanned aerial vehicle comprises the following steps:
firstly, switching an unmanned aerial vehicle operation mode into a landing mode, slowly descending the unmanned aerial vehicle in the landing mode, acquiring a pitch angle and a roll angle of the unmanned aerial vehicle in real time by a controller, and monitoring the state of the unmanned aerial vehicle, wherein the pitch angle and the roll angle are basically kept unchanged;
step two, when the pitch angle and the roll angle change, the result is that a part of foot rests of the unmanned aerial vehicle contacts the ground; the controller sends a control command to control the rotating speed of a motor in the air injection device according to the pitch angle and the roll angle, and adjusts the air injection force and the air injection angle of each air injection auxiliary device of the unmanned aerial vehicle in real time; meanwhile, the rotating speed of the rotor wing is slowly reduced, and the unmanned aerial vehicle keeps the current pitch angle and roll angle unchanged;
step three, when the paddle of rotor stopped rotating, further slowly reduced each jet-propelled auxiliary device's of unmanned aerial vehicle jet-propelled dynamics size to utilize pitch angle and roll angle real-time adjustment jet-propelled angle, let each jet-propelled auxiliary device's of unmanned aerial vehicle jet-propelled direction vertical downwards all the time, until pitch angle and roll angle do not change, jet-propelled auxiliary device accomplishes the work and stops spouting the gas, realizes unmanned aerial vehicle's steady landing.
7. A jet assist device for a rotary-wing drone according to claim 1, characterized in that: when the load of unmanned aerial vehicle loading equipment surpassed the limit that unmanned aerial vehicle can bear, the jet-propelled auxiliary device of unmanned aerial vehicle was under the state of supplementary take-off, and the vertical jet-propelled downwards of each jet-propelled auxiliary device further promotes unmanned aerial vehicle's maximum load.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113428371A (en) * | 2021-07-23 | 2021-09-24 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle capable of performing emergency treatment and unmanned aerial vehicle emergency treatment method |
| CN114132487A (en) * | 2021-12-06 | 2022-03-04 | 重庆交通大学绿色航空技术研究院 | Protection device applied to fire-fighting unmanned aerial vehicle and protection device control method |
| CN115009515A (en) * | 2022-06-20 | 2022-09-06 | 南京航空航天大学 | High-wind-resistance multi-duct type mooring unmanned aerial vehicle and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113428371A (en) * | 2021-07-23 | 2021-09-24 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle capable of performing emergency treatment and unmanned aerial vehicle emergency treatment method |
| CN114132487A (en) * | 2021-12-06 | 2022-03-04 | 重庆交通大学绿色航空技术研究院 | Protection device applied to fire-fighting unmanned aerial vehicle and protection device control method |
| CN114132487B (en) * | 2021-12-06 | 2024-03-08 | 重庆交通大学绿色航空技术研究院 | Protection device applied to fire-fighting unmanned aerial vehicle and protection device control method |
| CN115009515A (en) * | 2022-06-20 | 2022-09-06 | 南京航空航天大学 | High-wind-resistance multi-duct type mooring unmanned aerial vehicle and control method thereof |
| CN115009515B (en) * | 2022-06-20 | 2024-06-14 | 南京航空航天大学 | High-wind-resistance multi-duct type tethered unmanned aerial vehicle and control method thereof |
| CN116605427A (en) * | 2023-07-20 | 2023-08-18 | 山东高烽畜牧科技有限公司 | Atomizing and spraying device based on agricultural plant protection unmanned aerial vehicle and application method thereof |
| CN116605427B (en) * | 2023-07-20 | 2023-09-26 | 山东高烽畜牧科技有限公司 | Atomizing and spraying device based on agricultural plant protection unmanned aerial vehicle and application method thereof |
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