CN117666601A - Combined unmanned aerial vehicle and control method thereof - Google Patents
Combined unmanned aerial vehicle and control method thereof Download PDFInfo
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Abstract
The invention provides a combined unmanned aerial vehicle and a control method thereof, wherein the control method comprises the following steps: under the condition that the combined unmanned aerial vehicle flies to the first cruising altitude and the illumination intensity at the t moment meets a preset threshold value, the combined unmanned aerial vehicle in a combined state climbs to the first cruising altitude by utilizing solar energy; under the condition that the combined unmanned aerial vehicle is located at a first cruising altitude and the illumination intensity meets the cruising power of the submachine, controlling the combined state of the combined unmanned aerial vehicle to be adjusted to be a separated state; controlling the sub-machines in the separated state to execute a flight task at a first cruising altitude by utilizing solar energy; and controlling the host computer in the separated state to descend to the second cruising altitude, and storing the electric energy obtained by converting the solar energy by using the battery. The combined unmanned aerial vehicle executes the control method, and the main machine and the sub-machine both comprise a machine body and wing tips positioned on two sides of the machine body; the magnetic type connecting device is used for connecting wing tips of the main machine and the sub-machines or connecting wing tips of two adjacent sub-machines.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a combined unmanned aerial vehicle and a control method thereof.
Background
The traditional solar unmanned aerial vehicle is limited by the energy density of an energy storage battery and the conversion efficiency of the solar battery, and has the limitations of low reliability, weak load capacity, strict airport take-off and landing conditions and the like. Therefore, in order to improve the task capacity and reliability of the solar unmanned aerial vehicle, a combined solar unmanned aerial vehicle is provided, modular combination and split can be realized, a plurality of solar unmanned aerial vehicles are combined into a whole, a combination state is formed when the solar energy is insufficient, energy consumption is reduced, the solar unmanned aerial vehicle is split when the sunlight is sufficient, and the task is executed by using sufficient energy. However, the thought limits the task freedom degree of the combined solar unmanned aerial vehicle, and the problem of the pain point with weak task capacity of the existing solar unmanned aerial vehicle cannot be fully solved.
Disclosure of Invention
In view of this, the embodiment of the invention provides a combined unmanned aerial vehicle and a control method thereof, wherein the method comprises the following steps:
under the condition that the combined unmanned aerial vehicle flies to a first cruising altitude and the illumination intensity at the t moment meets a preset threshold value, the combined unmanned aerial vehicle in a combined state climbs to the first cruising altitude by utilizing solar energy; under the condition that the combined unmanned aerial vehicle is located at a first cruising altitude and the illumination intensity meets the cruising power of the submachine, controlling the combined state of the combined unmanned aerial vehicle to be adjusted to be a separated state; controlling the sub-machines in the separated state to execute a flight task at a first cruising altitude by utilizing solar energy; and controlling the host computer in the separated state to descend to the second cruising altitude, and storing the electric energy obtained by converting the solar energy by using the battery.
According to the embodiment of the invention, the wing tips of the main machine and the sub-machines are respectively provided with a magnetic connection device, and the magnetic connection devices are used for switching the sub-machines and the main machine between a combined state and a separated state.
According to an embodiment of the present invention, a magnetically attractive connection device includes: at least two electromagnetic guide structures, electromagnetic guide structure includes: the electromagnetic groove is arranged on the left wing tip of the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a main machine and a sub-machine; the electromagnetic telescopic rod is arranged on the right wing tip of the unmanned aerial vehicle; in the process of adjusting the unmanned aerial vehicle from the separation state to the combination state, the electromagnetic telescopic rod of one unmanned aerial vehicle is inserted into the electromagnetic groove of the other unmanned aerial vehicle, so that the combination fixation between the two unmanned aerial vehicles is realized.
According to an embodiment of the present invention, in a case where the combined unmanned aerial vehicle flies to a first cruising altitude and the illumination intensity at a t-th time satisfies a preset threshold, the combined unmanned aerial vehicle in a combined state climbs to the first cruising altitude using solar energy, including: under the condition that the solar energy of the illumination intensity at the t moment can maintain the flat flight of the combined unmanned aerial vehicle, the host controls the battery of the host to stop supplying power, and the solar energy is utilized to provide kinetic energy; the host computer is utilized to respectively generate control instructions of the host computer and the sub-computer according to solar energy received by the host computer and the sub-computer; the main machine and the sub-machine respectively respond to the corresponding control instructions, and the motors of the main machine and the sub-machine are controlled to work in a state of maximum rotation speed, so that the combined unmanned aerial vehicle climbs to a first cruising altitude, wherein the maximum rotation speed is the maximum rotation speed of the motor corresponding to the energy of the current solar energy.
According to the embodiment of the invention, under the condition that the illumination intensity at the t+1st moment does not meet the preset threshold value, the control sub-machine is combined with the host machine at the second cruising altitude to form a combined state; and controlling the combined unmanned aerial vehicle in the combined state to fly at the second cruising altitude by utilizing the electric energy in the battery.
According to the embodiment of the invention, the waiting time length is determined according to the current time and weather data, wherein the waiting time length represents the time length between the current time and the target time, and the target time is the time when the next illumination intensity meets the preset threshold value; controlling the combined unmanned aerial vehicle to fly at the second cruising altitude under the condition that the battery maintains the flight duration of the combined unmanned aerial vehicle at the second cruising altitude to be longer than the waiting duration; and under the condition that the illumination intensity at the t+2 moment meets a preset threshold value, controlling the combined unmanned aerial vehicle to fly to the first cruising altitude so as to execute the flight task.
According to the embodiment of the invention, under the condition that the flight duration is less than or equal to the waiting duration, the combined unmanned aerial vehicle at the second cruising altitude is controlled to descend to the ground so as to charge the battery.
According to an embodiment of the present invention, the control sub-machine is combined with the host machine of the second cruising altitude to form a combined state, including: the control submachine descends from the first cruising altitude to the second cruising altitude under the action of gravity; planning a combined path according to the position of the sub-machine at the second cruising altitude; the main machine and the sub machine are controlled to fly at a second cruising altitude according to the combined path so as to complete the combination of the main machine and the sub machine, thereby forming a combined state; the number of the sub-machines is m, m is an even number greater than or equal to 2, and m/2 sub-machines are respectively connected to two sides of the host machine in a combined state.
A second aspect of an embodiment of the present invention provides a combined unmanned aerial vehicle, including: the host computer and a plurality of child machines, wherein, host computer and child machine all include: the wing tips are positioned on two sides of the machine body; the magnetic connection device is used for connecting the wing tips of the main machine and the sub-machines or connecting the wing tips of two adjacent sub-machines; wherein the combined unmanned aerial vehicle is used for executing the control method.
According to an embodiment of the present invention, the host and the child each further comprise: the energy management module of the sub-machine sends the system state of the sub-machine to the flight control machine of the host machine and responds to the control instruction to control the sub-machine; the energy management module of the host is used for controlling the dispatching of the electric energy of the host; the flight control machine of the host is used for sending control instructions to the energy management module of the sub-machine, and the flight control machine of the sub-machine is used for sending the control instructions to the energy management module of the sub-machine.
According to the embodiment of the invention, whether the illumination intensity at the current moment meets the preset threshold value is judged, different control instructions are generated, under the condition that the preset threshold value is met, the combined unmanned aerial vehicle climbs to the first cruising altitude and then is separated, the sub-aerial vehicle executes a flight task at the first cruising altitude by means of solar energy, and the host computer stores electric energy at the second cruising altitude by means of solar energy. The combined unmanned aerial vehicle is connected through the magnetic conductive structure by the host computer and a certain number of sub-machines, can connect the machine body structure, can realize energy transmission, can solve the problems of difficulty in taking off and landing of an unmanned aerial vehicle airport, weak load capacity and the like, simultaneously, as the sub-machines do not need to carry an energy storage battery, more task capacity is provided, as the number of the sub-machines is increased, the load capacity of the unmanned aerial vehicle is increased by multiple, and the task capacity of the unmanned aerial vehicle is greatly improved.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:
fig. 1 shows a flow chart of a control method of a combined unmanned aerial vehicle according to an embodiment of the invention;
FIG. 2 shows a schematic diagram of an electromagnetic groove according to an embodiment of the invention;
FIG. 3 shows a schematic view of an electromagnetic telescopic rod according to an embodiment of the present invention;
FIG. 4 is a schematic diagram showing a host and a child in a combined state according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing a host and a child in a separated state according to an embodiment of the present invention;
fig. 6 shows a schematic diagram of the host supplementing energy to the sub-host in a combined state according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
The design idea of the combined solar unmanned aerial vehicle at the present stage is to form a combined state when the solar energy is insufficient, reduce energy consumption, split the solar unmanned aerial vehicle when the sunlight is sufficient, and execute tasks by using sufficient energy. However, the thought limits the task freedom degree of the combined solar unmanned aerial vehicle, and the problem of the pain point with weak task capacity of the existing solar unmanned aerial vehicle cannot be fully solved.
The inventor finds that the combined solar unmanned aerial vehicle can realize modularized combination and separation, and combines a plurality of solar unmanned aerial vehicles into a whole. The combined mode can reduce the induced resistance formed when the air flow bypasses the wing tip, eliminate the wing tip vortex, increase the aspect ratio of the aircraft and have higher lift-drag ratio. Meanwhile, the host can be used for carrying enough energy storage batteries, the combined state is used for carrying the mover machine to fly at night, the daytime host can be used for charging the energy storage batteries by using the solar batteries paved on the surface of the machine body and providing energy required by self-flying, and the sub-machine can be used for carrying out mission flying by using the energy of the solar batteries paved on the surface of the machine body.
Therefore, in order to realize the above-mentioned combined solar unmanned aerial vehicle, a control method is required to manage the main machine and the sub-machine.
Fig. 1 shows a flow chart of a control method of a combined unmanned aerial vehicle according to an embodiment of the invention.
In view of this, an embodiment of the present invention provides a combined unmanned aerial vehicle and a control method thereof, as shown in fig. 1, the control method includes:
in operation S110, in case that the combined unmanned aerial vehicle flies to the first cruising altitude and the illumination intensity at the t-th moment satisfies the preset threshold, the combined unmanned aerial vehicle in the combined state climbs to the first cruising altitude using solar energy.
In operation S120, in a case where the combined unmanned aerial vehicle is located at the first cruising altitude and the illumination intensity satisfies the cruising power of the slave aircraft, the combined state of the combined unmanned aerial vehicle is controlled to be adjusted to the separated state.
In operation S130, the slave unit in the separated state is controlled to perform a flight mission using solar energy at the first cruising altitude.
In operation S140, the host in the separated state is controlled to descend to the second cruising altitude and the solar-converted electric energy is stored using the battery.
According to the embodiment of the invention, the main machine is used as a main body part of the combined unmanned aerial vehicle, and can be a solar unmanned aerial vehicle with a medium span and a conventional layout, a solar film battery is paved on the surface of the main body, batteries are arranged in the main body and the wings, and avionics such as an aircraft control machine, an energy management module and the like are arranged in a front cabin of the main body.
According to the embodiment of the invention, the wingspan of the sub-aircraft can be one quarter of the wingspan of the main engine or even smaller, the solar film battery is also paved on the surface of the aircraft body, but no battery or only a small amount of batteries for emergency are arranged in the aircraft body, and avionics such as the flight control aircraft, the energy management module, the load equipment and the like are arranged in the front cabin of the aircraft body.
According to an embodiment of the invention, the first cruising altitude may be a highest cruising altitude of the unmanned aerial vehicle performing a flight mission; the second cruising altitude may be a lowest cruising altitude at which the unmanned aerial vehicle performs the flight mission.
According to an embodiment of the invention, the preset threshold may be a minimum illumination intensity required to satisfy the normal flight mission of the slave units.
According to the embodiment of the invention, whether the illumination intensity at the t moment meets the preset threshold value is judged, different control instructions are generated, under the condition that the preset threshold value is met, the combined unmanned aerial vehicle climbs to the first cruising altitude and then is separated, the sub-aerial vehicle executes a flight task at the first cruising altitude by means of solar energy, and the host computer descends to the second cruising altitude and stores electric energy by means of solar energy. The combined unmanned aerial vehicle is connected through the magnetic conductive structure by the host computer and a certain number of sub-machines, can connect the machine body structure, can realize energy transmission, can solve the problems of difficulty in taking off and landing of an unmanned aerial vehicle airport, weak load capacity and the like, simultaneously, as the sub-machines do not need to carry an energy storage battery, more task capacity is provided, as the number of the sub-machines is increased, the load capacity of the unmanned aerial vehicle is increased by multiple, and the task capacity of the unmanned aerial vehicle is greatly improved.
According to the embodiment of the invention, the wing tips of the main machine and the sub-machines are respectively provided with a magnetic connection device, and the magnetic connection devices are used for switching the sub-machines and the main machine between a combined state and a separated state.
According to the embodiment of the invention, the magnetic connection device plays a role in guiding when a plurality of submachines and the host are combined, and simultaneously reinforces connection and avoids the problem of disconnection caused by external factors (such as air flow disturbance).
FIG. 2 shows a schematic view of an electromagnetic groove according to an embodiment of the invention
FIG. 3 shows a schematic view of an electromagnetic telescopic rod according to an embodiment of the present invention;
as shown in fig. 2 and 3, the magnetic attachment device 200 includes: at least two electromagnetic guide structures, electromagnetic guide structure includes: an electromagnetic groove 211 is arranged on the left wing tip 210 of the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a main machine and a sub machine; an electromagnetic telescopic rod 221 arranged on the right wing tip 220 of the unmanned aerial vehicle; in the process of adjusting from the separation state to the combination state, the electromagnetic telescopic rod 221 of one unmanned aerial vehicle is inserted into the electromagnetic groove 211 of the other unmanned aerial vehicle, so that the combination fixation between the two unmanned aerial vehicles is realized.
According to the embodiment of the invention, the electromagnetic guiding structure can be made of an electromagnet, the electromagnet is a device for generating electromagnetism by electrifying, and a conductive winding matched with the power of the electromagnet is wound outside the iron core. In order to enable the electromagnet to be demagnetized immediately after power failure, soft iron or silicon steel materials with higher demagnetization speed are often adopted for manufacturing, so that magnetism exists when power is supplied, and the magnetism disappears after power failure. In general, the magnetic field generated by the electromagnet is related to the current, the number of turns of the coil, and the central ferromagnetic body, so that the distribution of the coil and the ferromagnetic body can be selected according to actual needs when designing the electromagnetic guiding structure, which is not limited in the present invention.
According to the embodiment of the invention, in the case that the number of the electromagnetic guiding structures is two, the two electromagnetic guiding structures are positioned on the same connecting line; if the number of electromagnetic guide structures is greater than two, the plurality of electromagnetic guide structures are configured as polygonal areas.
According to the embodiment of the invention, before the unmanned aerial vehicle is docked, the electromagnetic groove 211 and the electromagnetic telescopic rod 221 are electrified, and under the magnetic attraction, the electromagnetic telescopic rod 221 is inserted into the electromagnetic groove 211, so that the wing tips of the unmanned aerial vehicle are guaranteed to be accurately docked. The electromagnetic telescopic rod 221 is extended to the maximum length in the combined state and inserted into the electromagnetic groove 211, so that the connection is further reinforced, and the problem of disconnection caused by external factors (such as air flow disturbance) in the combined process is avoided.
According to the embodiment of the invention, before the unmanned aerial vehicle is separated, the electromagnetic groove 211 and the electromagnetic telescopic rod 221 are simultaneously powered off, and the electromagnetic telescopic rod 221 is retracted to the initial position, so that the unmanned aerial vehicle is separated.
According to an embodiment of the present invention, in a case where the combined unmanned aerial vehicle flies to a first cruising altitude and the illumination intensity at a t-th time satisfies a preset threshold, the combined unmanned aerial vehicle in a combined state climbs to the first cruising altitude using solar energy, including: under the condition that the solar energy of the illumination intensity at the t moment can maintain the flat flight of the combined unmanned aerial vehicle, the host controls the battery of the host to stop supplying power, and the solar energy is utilized to provide kinetic energy; the host computer is utilized to respectively generate control instructions of the host computer and the sub-computer according to solar energy received by the host computer and the sub-computer; the main machine and the sub-machine respectively respond to the corresponding control instructions, and the motors of the main machine and the sub-machine are controlled to work in a state of maximum rotation speed, so that the combined unmanned aerial vehicle climbs to a first cruising altitude, wherein the maximum rotation speed is the maximum rotation speed of the motor corresponding to the energy of the current solar energy.
Fig. 4 shows a schematic diagram of a host and a child in a combined state according to an embodiment of the invention.
At time t, as shown in fig. 4, the solar energy under the illumination intensity can keep the combined unmanned plane flying at the current height, and the host 300 controls the battery 310 to stop supplying power to start calculating and processing solar radiation data; the sub-machine 400 transmits the solar energy received by real-time calculation to the main machine 300, and the main machine 300 gathers data and processes the data to generate a control instruction; the host 300 transmits a control command to the slave unit 400, at which time the host 300 and the slave unit 400 control the motor to increase the rotational speed until the rotational speed increases to a maximum rotational speed, and continue to maintain the maximum rotational speed until the unmanned aerial vehicle reaches the first cruising altitude.
FIG. 5 shows a schematic diagram of a host 300 and a child 400 in a separated state according to an embodiment of the invention
As shown in fig. 5, after the combined unmanned aerial vehicle climbs to the first cruising altitude, and the solar irradiance meets the flight demand power of the sub-unmanned aerial vehicle cruising at the cruising altitude, the combined unmanned aerial vehicle is split into a split state from the combined state. At this time, the host 300 reduces the resistance in a mode of sliding down with minimum power, saves the energy consumption, slides down until reaching the second cruising altitude, and the process host 300 charges the battery 310 by using solar energy, and ends with the full charge of the battery 310, and meanwhile, the split sub-machines 400 pursue the maximization of the task capacity by using all solar energy, and execute the task according to the task plan.
According to the embodiment of the invention, since the slave machine 400 does not carry an energy storage battery, tasks such as detection, communication relay and the like can be performed by utilizing electric energy converted from solar energy.
Fig. 6 shows a schematic diagram of the host 300 supplying the sub-machine 400 with energy in a combined state according to an embodiment of the present invention.
As shown in fig. 6, in the case where the illumination intensity at time t+1 does not satisfy the preset threshold, the control sub-machine 400 is combined with the main machine 300 of the second cruising altitude to form a combined state; the combined drone in the control combination state flies at the second cruising altitude using the electrical energy in the battery 310.
According to an embodiment of the present invention, the control sub-machine 400 is combined with the host machine 300 of the second cruising altitude to form a combined state, including: the control sub-aircraft 400 descends from the first cruising altitude to the second cruising altitude under the action of gravity; planning a combined path according to the position of the sub-machine 400 at the second cruising altitude; the main machine 300 and the sub machine 400 are controlled to fly at a second cruising altitude according to the combined path so as to complete the combination of the main machine 300 and the sub machine 400, thereby forming a combined state; the number of the sub-machines 400 is m, m is an even number greater than or equal to 2, and m/2 sub-machines 400 are respectively connected to two sides of the host 300 in the combined state.
According to the embodiment of the present invention, in the case that the illumination intensity at time t+1 does not satisfy the preset threshold, the slave unit 400 starts the sliding stage, which aims to fully release the mechanical energy stored by using gravitational potential energy, and performs the powered gliding by combining the power until the slave unit falls to the second cruising altitude.
According to the embodiment of the invention, after the sub-machine 400 of the solar unmanned aerial vehicle in the split state descends to the lowest cruising altitude, the main machine 300 and the sub-machine 400 start to execute the combined path planning; when two unmanned aerial vehicles are close to, energize electromagnetic recess 211 and electromagnetic telescopic link, under the magnetic attraction, electromagnetic telescopic link inserts electromagnetic recess 211, and then guarantees that the wing tip of host computer 300 and son machine 400 realizes accurate butt joint.
According to the embodiment of the invention, in the combined state, the battery 310 of the host 300 is utilized to supply power for the combined unmanned aerial vehicle, so that the combined unmanned aerial vehicle can perform the minimum power cruising at the second cruising altitude.
According to the embodiment of the invention, the waiting time length is determined according to the current time and weather data, wherein the waiting time length represents the time length between the current time and the target time, and the target time is the time when the next illumination intensity meets the preset threshold value; controlling the combined unmanned aerial vehicle to fly at the second cruising altitude under the condition that the battery 310 maintains that the flight duration of the combined unmanned aerial vehicle at the second cruising altitude is longer than the waiting duration; and under the condition that the illumination intensity at the t+2 moment meets a preset threshold value, controlling the combined unmanned aerial vehicle to fly to the first cruising altitude so as to execute the flight task.
According to the embodiment of the invention, at the time t+1, the combined unmanned aerial vehicle flies at the second cruising altitude, and according to the current time and weather data, it is judged that the waiting time from the next illumination intensity to meet the preset threshold (for example, the daytime on the second day) is 5 hours, at this time, the battery 310 of the host computer 300 can maintain the flight time of 6 hours, and then under the condition that the illumination intensity at the time t+2 meets the preset threshold, the combined unmanned aerial vehicle can fly to the first cruising altitude so as to continue to execute the flight task.
According to the embodiment of the invention, under the condition that the flight duration is less than or equal to the waiting duration, the combined unmanned aerial vehicle at the second cruising altitude is controlled to descend to the ground so as to charge the battery 310.
According to the embodiment of the invention, at the time t+1, the combined unmanned aerial vehicle flies at the second cruising altitude, according to the current time and weather data, the waiting time length from the next illumination intensity meeting the preset threshold (for example, the daytime on the second day) is judged to be 5 hours, at this time, the battery 310 of the host 300 can only maintain the flight time length of 4 hours, then the combined unmanned aerial vehicle is controlled to descend to the ground before the electric energy of the host 300 is exhausted, the battery 310 of the host 300 is subjected to energy replenishment, and after the replenishment is completed, the combined unmanned aerial vehicle flies back to the first cruising altitude again.
According to the embodiment of the invention, at the time t, solar energy under the illumination intensity can keep the combined unmanned aerial vehicle flying flatly at the current height, the host computer 300 controls the battery 310 to stop supplying power, the host computer 300 gathers data of the host computer 300 and the submachine 400 and processes the data to generate a control instruction, and the combined unmanned aerial vehicle motor rises to the maximum rotation speed and climbs to the first cruising height; after the combined unmanned aerial vehicle climbs to the first cruising altitude, the unmanned aerial vehicle is split into a separation state from the combined state, the host 300 slides down to the second cruising altitude to be charged by solar energy, and the sub-aircraft 400 executes a flight task at the first cruising altitude; under the condition that the illumination intensity at the t+1st moment does not meet the preset threshold, the slave unit 400 starts to slide down to the second cruising height to form a combined state with the host 300, and at the moment, the waiting time and the flight time of the combined unmanned aerial vehicle are judged; if the flying time length is longer than the waiting time length, controlling the combined unmanned aerial vehicle to fly at a second cruising altitude; under the condition that the illumination intensity at the t+2 moment meets a preset threshold value, controlling the combined unmanned aerial vehicle to fly to a first cruising altitude, and continuously executing a flight task; and if the flight time is less than or equal to the waiting time, controlling the combined unmanned aerial vehicle to descend to the ground, and returning to the first cruising altitude after charging.
A second aspect of an embodiment of the present invention provides a combined unmanned aerial vehicle, including: a host 300 and a plurality of sub-machines 400, wherein each of the host 300 and the sub-machines 400 includes: the wing tips are positioned on two sides of the machine body; the magnetic connection device 200, the magnetic connection device 200 is used for connecting the wing tips of the main machine 300 and the sub-machines 400, or connecting the wing tips of two adjacent sub-machines 400; wherein the combined unmanned aerial vehicle is used for executing the control method.
According to the embodiment of the invention, the combined unmanned aerial vehicle is connected by the main machine 300 and a certain number of sub-machines 400 through the magnetic conductive structure, so that the machine body structure can be connected, the energy transmission can be realized, the problems of difficulty in taking off and landing of an unmanned aerial vehicle airport, weak load capacity and the like can be solved, meanwhile, as the sub-machines 400 do not need to carry an energy storage battery, more task capacity is provided, as the number of the sub-machines 400 is increased, the load capacity of the unmanned aerial vehicle is increased by multiple times, and the task capacity of the unmanned aerial vehicle is greatly improved.
According to an embodiment of the present invention, the host 300 and the child 400 each further include: the energy management module of the sub-machine 400 transmits the system state of the sub-machine 400 to the flight control machine of the host 300 and controls the sub-machine 400 in response to the control instruction; the energy management module of the host 300 is used for controlling the dispatching of the electric energy of the host 300; the flight control machine of the host 300 is used for sending a control instruction to the energy management module of the sub-machine 400, and the flight control machine of the sub-machine 400 is used for sending the control instruction to the energy management module of the sub-machine 400.
According to the embodiment of the invention, the flight control machine is used for realizing signal exchange and gesture control between the main machine 300 and the sub machine 400 of the unmanned plane; the flight control machine can also be used for sending an energy management instruction to the energy management module to control energy scheduling and transmission.
According to the embodiment of the invention, the energy management module is used for energy scheduling and management between the main machine 300 and the sub-machine 400 of the unmanned aerial vehicle, collecting and sending the state information of the energy system to the flight control machine, and receiving the instruction of the flight control machine to control the on-off of the energy storage battery 310 and the maximum irradiance tracking of the solar battery.
According to an embodiment of the present invention, when the combined drone, which requires only solar energy enough to maintain the combined state, flies flat at the first cruising altitude, the host 300 energy management module stops the power supply of the battery 310, and starts to calculate and process solar radiation data; the energy management module of the sub-machine 400 transmits the solar energy received by real-time calculation to the host machine 300, and the energy management module of the host machine 300 gathers data and transmits the data to the flight control machine of the host machine 300 after processing; after the flight control machine of the host 300 processes the data, a command is transmitted to the flight control machine of the slave machine 400, the flight control machines of the host 300 and the slave machine 400 control the motors to increase the rotation speed until the rotation speed is increased to the maximum rotation speed, and the maximum rotation speed is continuously maintained until the combined unmanned aerial vehicle reaches the first cruising altitude.
The embodiments of the present invention are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the invention, and such alternatives and modifications are intended to fall within the scope of the invention.
Claims (10)
1. A control method of a combined unmanned aerial vehicle, the combined unmanned aerial vehicle including a main engine and a plurality of sub-engines, the method comprising:
under the condition that the combined unmanned aerial vehicle flies to a first cruising altitude and the illumination intensity at the t moment meets a preset threshold value, the combined unmanned aerial vehicle in a combined state climbs to the first cruising altitude by utilizing solar energy, wherein t is more than or equal to 0;
controlling the combination state of the combination unmanned aerial vehicle to be adjusted to be a separation state under the condition that the combination unmanned aerial vehicle is located at the first cruising altitude and the illumination intensity meets the cruising power of the sub-aircraft;
controlling the sub-machines in the separated state to execute a flight task at the first cruising altitude by utilizing solar energy;
and controlling the host computer in the separated state to descend to the second cruising altitude, and storing the electric energy obtained by converting the solar energy by using the battery.
2. The method according to claim 1, wherein the wing tips of the main machine and the sub-machines are provided with magnetic connection means for switching between a combined state and a separated state of a plurality of the sub-machines and the main machine.
3. The method of claim 2, wherein the magnetically attractable connection means comprises:
at least two electromagnetic guide structures, the electromagnetic guide structures include:
the electromagnetic groove is arranged on the left wing tip of the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises the host machine and the sub-machine;
the electromagnetic telescopic rod is arranged on the right wing tip of the unmanned aerial vehicle;
and in the process of adjusting the separation state to the combination state, the electromagnetic telescopic rod of one unmanned aerial vehicle is inserted into the electromagnetic groove of the other unmanned aerial vehicle, so that the combination fixation between the two unmanned aerial vehicles is realized.
4. The method of claim 1, wherein in the case where the combined drone flies to a first cruising altitude and the illumination intensity at time t meets a preset threshold, the combined drone in a combined state climbs to the first cruising altitude using solar energy, comprising:
under the condition that the solar energy of the illumination intensity at the t moment can maintain the flat flight of the combined unmanned aerial vehicle, the host controls the battery of the host to stop supplying power, and the solar energy is utilized to provide kinetic energy;
the host computer is utilized to respectively generate control instructions of the host computer and the sub-computers according to solar energy received by the host computer and the sub-computers;
the main machine and the sub-machine respectively respond to the corresponding control instructions, and control the motors of the main machine and the sub-machine to work in a state of maximum rotation speed, so that the combined unmanned aerial vehicle climbs to the first cruising height, wherein the maximum rotation speed is the maximum rotation speed of the motor corresponding to the energy of the current solar energy.
5. The method as recited in claim 1, further comprising:
controlling the combination of the sub-machine and the host machine of the second cruising altitude to form the combination state under the condition that the illumination intensity at the t+1 moment does not meet the preset threshold value;
and controlling the combined unmanned aerial vehicle in the combined state to fly at the second cruising altitude by utilizing the electric energy in the battery.
6. The method as recited in claim 5, further comprising:
determining a waiting time length according to the current time and weather data, wherein the waiting time length represents the time length between the current time and a target time, and the target time is the time when the next illumination intensity meets a preset threshold value;
controlling the combined unmanned aerial vehicle to fly at the second cruising altitude under the condition that the battery maintains the flight duration of the combined unmanned aerial vehicle at the second cruising altitude to be longer than the waiting duration;
and under the condition that the illumination intensity at the t+2 moment meets the preset threshold, controlling the combined unmanned aerial vehicle to fly to the first cruising altitude so as to execute a flight task.
7. The method as recited in claim 6, further comprising:
and under the condition that the flight duration is less than or equal to the waiting duration, controlling the combined unmanned aerial vehicle at the second cruising altitude to descend to the ground so as to charge the battery.
8. The method of claim 5, wherein controlling the combination of the kid with the host at the second cruising altitude to form the combined state comprises:
controlling the slave units to descend from the first cruising altitude to the second cruising altitude under the action of gravity;
planning a combined path according to the position of the sub-machine at the second cruising altitude;
controlling the main machine and the sub machine to fly at the second cruising altitude according to the combined path so as to complete the combination of the main machine and the sub machine, thereby forming the combined state;
the number of the sub-machines is m, m is an even number greater than or equal to 2, and m/2 sub-machines are respectively connected to two sides of the host machine in a combined state.
9. A combination unmanned aerial vehicle, comprising:
a host computer and a plurality of sub-machines, wherein, host computer and sub-machine all include:
the wing tips are positioned on two sides of the machine body;
the magnetic connection device is used for connecting the wing tips of the main machine and the sub-machines or connecting the wing tips of two adjacent sub-machines;
wherein the combined drone is adapted to perform the control method of any one of claims 1 to 8.
10. The combination drone of claim 9, wherein the main and sub-units each further comprise:
the energy management module is used for transmitting the system state of the sub-machine to the flight control machine of the host machine and responding to the control instruction to realize the control of the sub-machine; the energy management module of the host is used for controlling the dispatching of the electric energy of the host;
the flight control machine of the host is used for sending a control instruction to the energy management module of the sub-machine, and the flight control machine of the sub-machine is used for sending the control instruction to the energy management module of the sub-machine.
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| CN118090742A (en) * | 2024-04-18 | 2024-05-28 | 江西赣粤高速公路股份有限公司 | Image acquisition method for detecting hinge joint damage of prefabricated bridge |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118090742A (en) * | 2024-04-18 | 2024-05-28 | 江西赣粤高速公路股份有限公司 | Image acquisition method for detecting hinge joint damage of prefabricated bridge |
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