CN215245477U - Jet-suction air foot rest of rotor unmanned aerial vehicle - Google Patents

Abstract

The patent of the utility model discloses a rotor unmanned aerial vehicle's jet-suction foot rest, including the unmanned aerial vehicle organism and jet-suction foot rest. The air spraying and sucking foot rest comprises a horizontal rotating shaft, a connecting rod, a vertical rotating shaft, an air spraying and sucking device and a rubber gasket. The air spraying and sucking device comprises a motor, a fan, an air port, an air hole and a filter screen. The pressure sensor is arranged in the rubber gasket. Rotor unmanned aerial vehicle's jet-suction foot rest changes jet-propelled direction according to the air current direction in flight to offset the influence of air current to unmanned aerial vehicle inclination. When a certain rotor of the unmanned aerial vehicle breaks down, the air injection foot rest is sprayed towards a specific angle to deal with the emergency fault condition of the unmanned aerial vehicle, so that the reliability of the unmanned aerial vehicle is improved. Through the switching of the air injection and suction operation modes of the air injection and suction foot frame, the unmanned aerial vehicle is adsorbed on a vertical plane or an inclined plane, and can assist the unmanned aerial vehicle to stably take off on the inclined plane with the larger inclination angle.

Description

Jet-suction air foot rest of rotor unmanned aerial vehicle

Technical Field

The patent of the utility model relates to an unmanned air vehicle technique field, especially a rotor unmanned aerial vehicle's jet-suction foot rest.

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. Unmanned aerial vehicle flight in-process can't avoid the effort that wind produced unmanned aerial vehicle, and unmanned aerial vehicle can produce certain slope under this effort, and when many rotor crafts flight inclination exceeded 30, rotor lift force suddenly dropped, can lead to it to weigh down with higher speed, and unmanned aerial vehicle chance unbalance 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.

Present unmanned aerial vehicle all leans on the paddle to provide lifting force 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 weight, takes place fuselage slope and focus skew scheduling problem easily at the in-process of taking off and land. In the inclined plane take-off and landing process, if only the paddle provides lifting force, at this moment, the lifting 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 fuselage inclination and the gravity offset unbalance direction development of the unmanned aerial vehicle, increase the phenomenon of side turning of the unmanned aerial vehicle, limit the inclined plane angle of the unmanned aerial vehicle when taking off and landing, and further limit the taking-off and landing environment of the unmanned aerial vehicle.

The invention discloses an unmanned aerial vehicle adsorption device and an adsorption method thereof, wherein the unmanned aerial vehicle is designed aiming at the problem, for example, an authorized Chinese invention patent (CN110329495B) discloses the unmanned aerial vehicle adsorption device and the adsorption method thereof, wherein in the step I, the unmanned aerial vehicle is enabled to autonomously tilt, when the tilt angle of the body of the rotor wing unmanned aerial vehicle exceeds 30 degrees, the rotor wing can not provide enough lift force, and the unmanned aerial vehicle is crashed. In addition, the lift direction that the unmanned aerial vehicle rotor provided is because of unmanned aerial vehicle independently slopes, and at this moment lift is the slope and lean on to the wall, and perpendicular component is used for overcoming unmanned aerial vehicle's gravity, and horizontal component direction is towards the wall, so unmanned aerial vehicle's paddle more is close to the wall, and the absorption assembly is farther away from the wall, hardly realizes the state of berthhing the wall. How to solve the existing technical problems is urgently needed to be solved by technical personnel in the related field.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a rotor unmanned aerial vehicle's jet-suction foot rest. The air injection and suction foot rest can enable the unmanned aerial vehicle to be adsorbed on a vertical plane or an inclined plane, and can assist the unmanned aerial vehicle to stably take off on the inclined plane with the larger inclination angle, and can deal with the situation that the unmanned aerial vehicle meets strong air flow in emergency faults and flight, so that the reliability of the unmanned aerial vehicle is improved.

The utility model discloses a rotor unmanned aerial vehicle's jet-suction foot rest, including the unmanned aerial vehicle organism and jet-suction foot rest.

The air spraying and sucking foot rest comprises a horizontal rotating shaft, a connecting rod, a vertical rotating shaft, an air spraying and sucking device and a rubber gasket.

The horizontal rotating shaft and the vertical rotating shaft are controlled by a motor, the motor is connected with the controller through a lead, and the control instructions sent by the controller are received to control respective rotating angles.

The connecting rod be crooked smooth structure for connect horizontal pivot and vertical pivot, guarantee that the gas port of each air injection and suction foot rest can face same direction.

The air spraying and sucking device comprises a motor, a fan, an air port, an air hole and a filter screen. The upper and lower positions of the motor of the air spraying and sucking device are provided with fans, and double fans are arranged to improve the air spraying and sucking efficiency. A filter screen is arranged between the fan above the motor and the air hole, and when the air injection and suction device works in an air injection mode, the upper filter screen prevents dust and foreign matters from entering the fan from the air hole of the air injection and suction device. The filter screen is arranged between the fan below the motor and the air port, and when the air injection and suction device works in an air suction mode, the lower filter screen prevents dust and foreign matters from entering the fan from the air port of the air injection and suction device, so that the phenomenon that the fan stops due to blockage is avoided. The fan is driven to rotate forward and backward by the motor, so that the air injection and suction functions of the air injection and suction device are realized. The two sides of the air spraying and sucking device are respectively provided with three circular air holes which are arranged at equal intervals, and when the air spraying and sucking device works, air is sprayed out or sucked in through the air holes and the air ports. And a motor of the air spraying and absorbing device is connected with the controller by using a lead and receives a control instruction sent by the controller.

Rubber packing ring install in the bottom of spouting the air foot rest, play the effect of buffering when unmanned aerial vehicle descends, the inside pressure sensor that is equipped with of rubber packing ring, the sensor returns a signal when spouting the air foot rest contact ground.

The method for adsorbing the rotor unmanned aerial vehicle on the vertical wall surface comprises the following steps:

step one, unmanned aerial vehicle in flight switches to the absorption mode, and the size that unmanned aerial vehicle's rotor provided lift under this mode is unmanned aerial vehicle self gravity, and the controller sends the instruction and gives unmanned aerial vehicle's each air-jet foot rest.

And step two, after each air injection and suction foot rest of the unmanned aerial vehicle receives a control instruction sent by the controller, the two air injection and suction foot rests near the vertical wall surface rotate the horizontal rotating shaft and the vertical rotating shaft, the air ports of the air injection and suction foot rests near the side are enabled to be inwards perpendicular to the vertical wall surface, the two air injection and suction foot rests far away from the vertical wall surface rotate the horizontal rotating shaft and the vertical rotating shaft, and the air ports of the air injection and suction foot rests far away from the side are enabled to be outwards perpendicular to the vertical wall surface.

And step three, the controller sends an instruction to control the two air injection and suction foot rests far away from the vertical wall surface to work in an air injection mode, the unmanned aerial vehicle body is enabled to move horizontally in a horizontal air injection mode of the two air injection and suction foot rests, and when the two air injection and suction foot rests near the vertical wall surface of the unmanned aerial vehicle are in complete contact with the vertical wall surface, a pressure sensor in a rubber gasket at the bottom of the air injection and suction foot rest feeds back signals to the controller. After the controller receives the signal of pressure sensor, control this side and spout the air suction foot rest work in the mode of breathing in, make unmanned aerial vehicle one side adsorb firmly on vertical wall to horizontal rotating shaft and the vertical rotating shaft of the air suction foot rest of control in the mode of breathing in, the gas port of the air suction foot rest of messenger is vertical downwards. The unmanned aerial vehicle rotor stops rotating, and the jet-propelled required lift of unmanned aerial vehicle that provides of the jet-suction foot rest far away from vertical wall.

And step four, slowly inclining the unmanned aerial vehicle to the vertical wall surface, and in the inclining process, the air injection and suction foot rest in the air injection mode always injects air vertically downwards with the unmanned aerial vehicle body. The rotation angle of the vertical rotating shaft of the air spraying and sucking foot stand in the air suction mode changes along with the pitch angle and the roll angle of the unmanned aerial vehicle, and the air spraying and sucking foot stand is guaranteed to be perpendicular to the vertical wall all the time.

Step five, the unmanned aerial vehicle constantly inclines until the air injection and suction foot rest is completely attached to the vertical wall surface, the pressure sensor in the rubber gasket feeds back signals to the controller at the moment, the controller controls the air injection and suction foot rest to work in an air suction mode, the unmanned aerial vehicle is enabled to be firmly adsorbed on the wall surface, and the unmanned aerial vehicle is adsorbed on the vertical wall surface.

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 obtain the relation between the plane of the unmanned aerial vehicle and the horizontal plane, and the controller sends an instruction to control the air injection and suction foot stand on the high side to work in an air suction mode. The air injection and suction foot rest on the lower side of the unmanned aerial vehicle works in an air injection mode, so that the plane of the unmanned aerial vehicle is close to the horizontal position.

And step three, when the plane of the unmanned aerial vehicle reaches the horizontal position, the air injection and suction foot rests in the air suction mode are switched to the air injection mode, the pitch angle and the roll angle of the unmanned aerial vehicle are acquired in real time in the takeoff process, the state of the unmanned aerial vehicle is monitored, the controller sends corresponding instructions to control the rotating speed of a motor in the air injection and suction device according to the change degree of the pitch angle and the roll angle, and the air injection force of each air injection and suction foot rest of the unmanned aerial vehicle is adjusted in real time. After the whole horizontality that reaches of unmanned aerial vehicle, control unmanned aerial vehicle rotor and begin to rotate and provide lift, spout after unmanned aerial vehicle reaches the height of settlement from the ground and breathe in the foot rest and stop spouting, accomplish and take off.

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 and suction foot rest stops working, unbalanced torque enables the unmanned aerial vehicle to start to rotate anticlockwise, and lift force cannot be provided in the direction.

And step two, the controller sends a control instruction to control each air injection and suction foot rest to work in an air injection mode according to the position and the rotating direction of the fault rotor wing, the vertical rotating shaft of the air injection and suction foot rest under the fault rotor wing rotates inwards by a certain angle, after two adjacent air injection and suction foot rests receive the control instruction, the horizontal rotating shaft and the vertical rotating shaft rotate by a certain angle, air ports of two adjacent air injection and suction foot rests face the air injection and suction foot rest under the fault rotor wing, the air injection forces of the three air injection and suction foot rests on the horizontal component are mutually offset, and enough lift force is provided for the unmanned aerial vehicle on one side of the fault. After the control command was received to the air foot rest that spouts of the oblique opposite angle of trouble rotor, the gas port adjustment of this air foot rest that spouts 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, the air injection and suction foot frames work in an air injection mode, the air injection force of each air injection and suction foot frame is adjusted according to the changes of the pitch angle, the roll angle and the yaw angle, the pitch angle, the roll angle and the yaw angle are kept unchanged, the stability of the unmanned aerial vehicle is kept, and the unmanned aerial vehicle can land on the ground safely.

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 horizontal rotating shaft and the vertical rotating shaft according to the airflow direction, the vertical rotating shaft rotates clockwise by 90 degrees and is perpendicular to the horizontal rotating shaft, the horizontal rotating shaft rotates by a certain angle, the direction of the air port is the same as the airflow direction, and at the moment, the air injection and suction foot rest is in a wind-resistant state.

And step three, the controller sends a control command to a motor in the air injection and suction device according to the size of the air flow, the air injection and suction foot rests are all operated in an air injection mode, the air injection force of each air injection and suction foot rest of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor, and the wind resistance function is completed.

The utility model has the advantages that:

(1) through the switching of jet-propelled and the mode of breathing in of jet-suction scaffold, make unmanned aerial vehicle can directly adsorb on vertical or the wall of slope to through jet-suction foot rest horizontally jet-propelled, need not to make the slope of unmanned aerial vehicle fuselage be close to the wall, unmanned aerial vehicle keeps the horizontal attitude and is close to the absorption wall, avoids the condition that unmanned aerial vehicle's paddle is more close to the wall when unmanned aerial vehicle inclines, has strengthened unmanned aerial vehicle's adaptive capacity to environment greatly.

(2) When the unmanned aerial vehicle takes off, the air injection and suction foot rest on the high side works in an air suction mode, and the air injection and suction foot rest on the low side works in an air injection mode. After unmanned aerial vehicle is in the horizontality, the rotation of control unmanned aerial vehicle rotor provides lift, and unmanned aerial vehicle's jet-suction foot rest all works in jet-propelled mode to combine unmanned aerial vehicle's the angle of pitch and roll angle, control each jet-suction foot rest jet-suction dynamics size of unmanned aerial vehicle, guarantee that unmanned aerial vehicle is not influenced by air current change and focus skew at the in-process of taking off, supplementary unmanned aerial vehicle rises more fast steadily.

(3) When unmanned aerial vehicle rotor wherein, motor or electricity are transferred and are broken down, the rotor that breaks down can't provide lift, when leading to the unbalanced emergence of unmanned aerial vehicle lift to explode the quick-witted condition, make the air foot rest of spouting of the just below trouble rotor rotatory certain angle inwards, two adjacent air foot rest air ports of spouting all provide lift towards the air foot rest of spouting of the just below trouble rotor, supplementary unmanned aerial vehicle in one side of trouble. The gas foot rest is inhaled in spouting of trouble rotor diagonal angle adjusts the gas port 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 the original place to spin uncontrollable, avoids unmanned aerial vehicle to follow the loss that the eminence falls, has improved unmanned aerial vehicle's reliability.

(4) 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 phenomenon of crash. Through the jet-suction foot rest jet-propelled to the wind direction, the anti-wind ability of improvement unmanned aerial vehicle that can be further reduces the air current to unmanned aerial vehicle flight speed's influence, has solved when unmanned aerial vehicle meets with strong air current in the flight process that the angle of inclination is too big problem, avoids the emergence of the phenomenon of turning on one's side, ensures unmanned aerial vehicle safe flight in the air, has improved unmanned aerial vehicle's reliability.

Drawings

Figure 1 is an overall view of a rotary wing drone;

figure 2 is a diagram of an ejector-suction foot stand of a rotary-wing drone;

figure 3 is a diagram of an ejector-suction device for a rotorcraft;

fig. 4 is a schematic diagram of a first step in an adsorption method of a rotary wing drone;

fig. 5 is a schematic diagram of step two of the sorption method of the rotary-wing drone;

fig. 6 is a schematic diagram of step three of the sorption method of a rotary-wing drone;

figure 7 is a schematic diagram of step four of the sorption method of a rotary-wing drone;

fig. 8 is a schematic diagram of step five of the sorption method of a rotary-wing drone;

figure 9 is an assisted takeoff view of a rotorcraft;

figure 10 is a diagram of an emergency response to a malfunction in a rotorcraft;

figure 11 is a wind-resistant state diagram for a rotorcraft.

Detailed Description

The following describes the embodiments of the present invention with reference to the accompanying drawings.

As shown in fig. 1, the utility model discloses a rotor unmanned aerial vehicle's jet-suction foot rest, including the unmanned aerial vehicle organism and jet-suction foot rest.

As shown in fig. 2, the air injection and suction foot rest comprises a horizontal rotating shaft 1, a connecting rod 2, a vertical rotating shaft 3, an air injection and suction device 4 and a rubber gasket 5. The horizontal rotating shaft 1 and the vertical 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 control respective rotating angles. The connecting rod 2 is of a bent smooth structure and is used for connecting the horizontal rotating shaft 1 and the vertical rotating shaft 3, and the air injection of each air injection and absorption foot rest can be ensured to face the same direction. Spout 4 tops of getter device and be connected with vertical pivot 3, rubber packing ring 5 is installed in the bottom of spouting the gas foot rest, plays the effect of buffering when unmanned aerial vehicle descends.

As shown in FIG. 3, the air injection and suction device 4 comprises a motor 4-1, a fan 4-2, an air hole 4-3, an air port 4-4 and a filter screen 4-5. The upper and lower positions of a motor 4-1 of the air spraying and sucking device 4 are both provided with fans 4-2, and double fans are arranged to improve the air spraying and sucking efficiency. A filter screen 4-5 is arranged between a fan 4-2 and an air hole 4-3 above the motor 4-1, and the upper filter screen 4-5 prevents dust and foreign matters from entering the fan from the air hole 4-3 of the air injection and suction device 4 when the air injection and suction device 4 works for injecting air. A filter screen 4-5 is arranged between a fan 4-2 and an air port 4-4 below the motor 4-1, and when the air injection and suction device 4 works in an air suction mode, the lower filter screen 4-5 prevents dust and foreign matters from entering the fan 4-2 from the air port 4-4 of the air injection and suction device 4, 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 forward and backward, so that the air injection and suction functions of the air injection and suction device 4 are realized. Three circular air holes 4-3 which are arranged at equal intervals are respectively arranged at two sides of the air spraying and sucking device 4, and when the air spraying and sucking device 4 works, the air which needs to be sprayed out is sucked by the air holes 4-3 at the upper part and is sprayed out through the air holes 4-4. Gas is ejected or sucked through the gas hole 4-3 and the gas port 4-4. The motor 4-1 of the air injection and suction device 4 is connected with the controller by a lead and receives a control command sent by the controller.

The method for adsorbing the rotor unmanned aerial vehicle on the vertical wall surface comprises the following steps:

step one, as shown in fig. 4, the unmanned aerial vehicle in flight switches to the adsorption mode, the size of the lift provided by the rotor of the unmanned aerial vehicle in the mode is the gravity of the unmanned aerial vehicle, and the controller sends instructions to the air injection and suction foot rests M1, M2, M3 and M4 of the unmanned aerial vehicle.

Step two, as shown in fig. 5, after each air spraying and sucking foot stand of the unmanned aerial vehicle receives a control instruction sent by the controller, a horizontal rotating shaft of the air spraying and sucking foot stand M3 rotates 45 degrees counterclockwise, a vertical rotating shaft of the air spraying and sucking foot stand M3 rotates 90 degrees counterclockwise, a horizontal rotating shaft of the air spraying and sucking foot stand M4 rotates 45 degrees clockwise, a vertical rotating shaft of the air spraying and sucking foot stand M4 rotates 90 degrees counterclockwise, air ports 4-4 of the air spraying and sucking foot stands M3 and M4 are enabled to be inwards perpendicular to the vertical wall surface, a horizontal rotating shaft of the air spraying and sucking foot stand M1 rotates 45 degrees clockwise, a vertical rotating shaft of the air spraying and sucking foot stand M1 rotates 90 degrees clockwise, a horizontal rotating shaft of the air spraying and sucking foot stand M2 rotates 45 degrees counterclockwise, a vertical rotating shaft of the M2 rotates 90 degrees clockwise, and air ports 4-4 of the air spraying and sucking foot stands are enabled to be outwards perpendicular to the vertical wall surface.

Step three, as shown in fig. 6, the controller sends an instruction to the motor 4-1 of the air injection and suction device 4 in the air injection and suction foot rest M1 and M2, after receiving the control instruction, the motor 4-1 rotates forwards, the working modes of the air injection and suction foot rest M1 and M2 are air injection modes, the unmanned aerial vehicle body moves horizontally in an air injection mode of the air injection and suction foot rest M1 and M2, and when the air injection and suction foot rest M3 and M4 of the unmanned aerial vehicle completely contacts with a vertical wall surface, a pressure sensor in a rubber gasket 5 at the bottom of the air injection and suction foot rest feeds back a signal to the controller. After receiving a signal of the pressure sensor, the controller sends a control command to a motor 4-1 in the air injection and suction device 4, after receiving the control command, the motor 4-1 rotates reversely, the work modes of the air injection and suction foot rests M3 and M4 are air suction modes, one side of the unmanned aerial vehicle is firmly adsorbed on a vertical wall surface, the vertical rotating shafts 3 of the air injection and suction foot rests M1 and M2 in the air suction modes are controlled to rotate 90 degrees anticlockwise, and air ports 4-4 of the air injection and suction foot rests M1 and M2 are enabled to be vertically downward. The lift direction perpendicular to unmanned aerial vehicle organism that the unmanned aerial vehicle rotor provided, this lift can hinder unmanned aerial vehicle slope to press close to vertical wall, therefore the unmanned aerial vehicle rotor stops rotatory, and it provides the required lift of unmanned aerial vehicle to jet-propelled by jet-suction foot rest M1 and M2.

Step four, as shown in fig. 7, the unmanned aerial vehicle slowly inclines to the vertical wall surface, and in the process of inclining, the air injection and suction foot rests M1 and M2 in the air injection mode always inject air vertically downwards with the unmanned aerial vehicle body. The rotating angles of the vertical rotating shafts 3 of the air spraying and sucking foot rests M3 and M4 in the air suction mode change along with the pitch angle and the roll angle of the unmanned aerial vehicle, and the air spraying and sucking foot rests M3 and M4 are guaranteed to be perpendicular to the vertical wall surface all the time.

Step five, as shown in fig. 8, the unmanned aerial vehicle continuously tilts until the air injection and suction foot rests M1, M2, M3 and M4 are completely attached to the vertical wall surface, at this time, the pressure sensors in the rubber gaskets 5 in the air injection and suction foot rests M1 and M2 feed back signals to the controller, the controller sends a control instruction to the motor 4-1 in the air injection and suction device 4 after receiving the signals of the pressure sensors, the motor 4-1 rotates reversely after receiving the control instruction, and the working modes of the air injection and suction foot rests M1 and M2 are switched from an air injection mode to an air suction mode, so that the unmanned aerial vehicle is firmly adsorbed on the wall surface, and the unmanned aerial vehicle is adsorbed on the vertical wall surface.

As shown in fig. 9, the bevel assisted takeoff method for a 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 obtains initial data of the pitch angle and the roll angle to obtain the relation between the plane of the unmanned aerial vehicle and the horizontal plane, and the controller sends an instruction to control the air injection and suction foot rests M3 and M4 on the higher side to work in an air suction mode. The air injection and suction foot rests M1 and M2 on the lower side of the unmanned aerial vehicle work in an air injection mode, so that the plane of the unmanned aerial vehicle is close to the horizontal position.

And step three, when the plane of the unmanned aerial vehicle reaches the horizontal position, the controller sends a control command to a motor 4-1 in the air injection and suction device 4, after the control command is received, the motor 4-1 rotates forwards, the working modes of the air injection and suction foot rests M3 and M4 are switched from the air injection mode to the air injection mode, the pitch angle and the roll angle of the unmanned aerial vehicle are obtained in real time in the take-off process, the state of the unmanned aerial vehicle is monitored, the controller sends corresponding commands to control the rotating speed of the motor 4-1 in the air injection and suction device 4 according to the change degrees of the pitch angle and the roll angle, the air injection force of the air injection and suction foot rests M1, M2, M3 and M4 of the unmanned aerial vehicle is adjusted in real time, after the whole unmanned aerial vehicle reaches the horizontal state, the rotor of the unmanned aerial vehicle is controlled to start rotating to provide lift force, and when the unmanned aerial vehicle reaches the set height from the ground, the air injection of the air injection and the air injection of the air injection foot rests are stopped, and the take-off process is completed.

As shown in fig. 10, 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 and suction foot rest M1 stops working, and unbalanced torque enables the unmanned aerial vehicle to start rotating anticlockwise due to the lack of the rotor rotating anticlockwise, and the unmanned aerial vehicle cannot provide lift force in the direction.

And step two, the controller sends a control command to control each jet-suction foot stand to work in a jet mode according to the position and the rotating direction of the fault rotor wing, the vertical rotating shaft 3 of the jet-suction foot stand M1 rotates 25 degrees anticlockwise, the horizontal rotating shaft 1 of the jet-suction foot stand M2 rotates 120 degrees anticlockwise, the vertical rotating shaft 3 rotates 25 degrees clockwise, the horizontal rotating shaft 1 of the jet-suction foot stand M3 rotates 120 degrees clockwise, the vertical rotating shaft 3 rotates 25 degrees clockwise, the jet directions of the jet-suction foot stand M1, the jet-suction foot stand M2 and the jet-suction foot stand M3 face the same point, the jet forces of the jet-suction foot stands M1, the jet-suction foot stand M2 and the jet-suction foot stand M3 on the horizontal component are mutually counteracted, and enough lift force is provided for the unmanned aerial vehicle on one side of the fault. After the air injection and suction foot stand M4 at the oblique opposite angle of the fault rotor receives a control command, the horizontal rotating shaft 1 of the air injection foot M4 rotates clockwise by 50 degrees, the vertical rotating shaft 3 rotates clockwise by 90 degrees, and the air port 4-4 of the air injection and suction foot stand M4 is adjusted to inject air clockwise, so that the torque generated when the rotor rotates anticlockwise is offset, and the unmanned aerial vehicle is prevented from being controlled by being rotated in place.

And step three, adjusting the air injection force of each air injection and suction foot stand according to the changes 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. 11, 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 horizontal rotating shaft 1 and the vertical rotating shaft 3 according to the airflow direction, the vertical rotating shaft 3 rotates clockwise by 90 degrees and is perpendicular to the horizontal rotating shaft 1, the horizontal rotating shaft 1 rotates clockwise by 15 degrees, the direction of the air port 4-4 is the same as the airflow direction, and at the moment, the air injection and suction foot rest is in a wind-resistant state.

And step three, the controller sends a control command to a motor 4-1 in the air injection and suction device 4 according to the size of the air flow, the air injection and suction foot rests are all operated in an air injection mode, the air injection force of each air injection and suction foot rest of the unmanned aerial vehicle is controlled by controlling the rotating speed of the motor 4-1, and the wind resistance function is completed.

Claims (1)

1. The utility model provides a rotor unmanned aerial vehicle's injection-aspiration foot rest which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and an air injection and suction foot rest;

the air spraying and sucking foot rest comprises a horizontal rotating shaft, a connecting rod, a vertical rotating shaft, an air spraying and sucking device and a rubber gasket;

the horizontal rotating shaft and the vertical rotating shaft are controlled by a motor, the motor is connected with the controller through a lead, and a control instruction sent by the controller is received to control respective rotating angles;

the connecting rod is of a bent smooth structure and is used for connecting the horizontal rotating shaft and the vertical rotating shaft, so that the air ports of the air injection and absorption foot rests can face to the same direction;

the air spraying and sucking device comprises a motor, a fan, an air port, an air hole and a filter screen; fans are arranged at the upper position and the lower position of a motor of the air spraying and sucking device, and double fans are arranged to improve the air spraying and sucking efficiency; a filter screen is arranged between the fan above the motor and the air hole, and when the air injection and suction device works in an air injection mode, the upper filter screen prevents dust and foreign matters from entering the fan from the air hole of the air injection and suction device; a filter screen is arranged between the fan below the motor and the air port, and when the air injection and suction device works in an air suction mode, the lower filter screen prevents dust and foreign matters from entering the fan from the air port of the air injection and suction device, so that the fan is prevented from being blocked and stalling; the fan is driven to rotate forwards and backwards through the work of the motor, so that the air injection and suction functions of the air injection and suction device are realized; the two sides of the air spraying and sucking device are respectively provided with three circular air holes which are arranged at equal intervals, and when the air spraying and sucking device works, air is sprayed out or sucked in through the air holes and the air ports; the motor of the air spraying and absorbing device is connected with the controller by a lead and receives a control instruction sent by the controller;

rubber packing ring install in the bottom of spouting the air foot rest, play the effect of buffering when unmanned aerial vehicle descends, the inside pressure sensor that is equipped with of rubber packing ring, the sensor returns a signal when spouting the air foot rest contact ground.

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