Multi-mode cooperative flexible tactile buffer sensor for drone inhabitation

Abstract

The invention relates to a multi-mode cooperative flexible tactile buffer sensor for drone inhabitation, and belongs to the technical field of tactile sensors, the sensor comprises a support, a Hall sensor, an elastic layer, a first magnetic layer, a piezoelectric layer and a protective cover, the top end of the first magnetic layer is bonded to the bottom end of the elastic layer, when an inhabiting drone inhabits and bears force, the piezoelectric layer is attached to the bottom end of the elastic layer, and the piezoelectric layer is attached to the bottom end of the first magnetic layer; the shape of the elastic layer is rapidly changed, the distance between the Hall sensor and the first magnetic layer is adjusted, correspondingly, the intensity of the magnetic field sensed by the Hall sensor also changes, and the inhabiting stress of the inhabiting unmanned aerial vehicle can be calculated according to the change of the magnetic field intensity; then the top end of the piezoelectric layer is bonded to the bottom end of the first magnetic layer, when the inhabiting unmanned aerial vehicle is stressed in motion, the piezoelectric layer generates elastic deformation and generates current, and the motion stress of the inhabiting unmanned aerial vehicle is calculated, so that various states of inhabiting, landing, collision, sliding, falling, shaking and the like of the inhabiting unmanned aerial vehicle are detected at the same time; and closed-loop feedback is provided for self-adaptive inhabitation of the inhabiting unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of tactile sensor technology, and in particular to a multimodal collaborative flexible tactile buffer sensor for use in drone habitats. Background Technology

[0002] As crucial equipment for both military and civilian use, drones have been considered a key indicator of a nation's aviation industry level and technological progress. However, multi-rotor drones typically face challenges such as limited flight time in practical operations. A promising solution is to learn from birds and perch on desired objects. Inspired by bird behavior, a "resting" mode provided by perching devices allows drones to remain stationary and consume less power, significantly extending their operating time for long-duration aerial surveillance, autonomous detection, and other tasks.

[0003] However, due to the uncertainty of the natural environment, external disturbances such as wind and impacts make it extremely difficult for drones to achieve stable roosting. Research shows that birds rely on their keen perception abilities to successfully roost. In this process, sensors, as an important component of intelligent robotic systems, play a crucial role in providing real-time feedback on the stability of drone landing and roosting states, as well as in subsequent automatic adjustments.

[0004] According to literature review, most current sensing technologies applied to drone roosting rely on non-contact sensing strategies, such as inertial measurement units (IMUs) or optical cameras, with few reports on tactile sensing technologies for drone roosting devices. Literature such as "How Ornithopters Can Perch Autonomously on a Branch," "Bird-inspired Dynamic Grasping and Perching in Arboreal Environments," and "Crash-Perching on Vertical Poles with a Hugging-Wing Robot" monitor the drone's acceleration or visual signals to determine if slippage or a fall has occurred, thereby adjusting its posture for stable roosting. In fact, touch is considered a core and important means for organisms to perceive the world. Compared to traditional IMU sensors, bio-tactile sensors can more directly perceive the interaction between the robot and the tree, and effectively avoid misinterpretations of IMU signals due to dynamic changes such as acceleration and deceleration during flight. However, the enormous impact kinetic energy generated during drone descent poses a greater challenge to the stability and repeatability of tactile sensors. Furthermore, the complexity of nature leads to a variety of possible habitat states, such as landing, collision, sliding, falling, and shaking. Traditional single-function or single-modal sensors cannot provide sufficient feedback information and are difficult to meet the complex monitoring of drone habitats.

[0005] Therefore, how to design a flexible tactile sensor that is wear-resistant, has strong buffering capacity, high reliability, long service life, and is applicable to various states of in-flight drones such as perching, landing, collision, sliding, falling, shaking, and flying is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] This invention provides a multimodal collaborative flexible tactile buffer sensor for drone roosting, solving the technical problem that existing single-modal roosting drone tactile sensors cannot simultaneously detect multiple states of roosting drones such as roosting, landing, collision, sliding, falling, and shaking.

[0007] The technical solution of this invention to solve the above-mentioned technical problems is as follows: a multimodal collaborative flexible tactile buffer sensor for UAV habitat, comprising: a support, a Hall sensor, an elastic layer in a compressed state, a first magnetic layer, a piezoelectric layer, and a protective cover.

[0008] The top of the support is fixed to the perching end of the drone; the Hall sensor is fixed to the bottom of the support; the top of the elastic layer touches the bottom of the Hall sensor; the top of the first magnetic layer is bonded to the bottom of the elastic layer and generates a magnetic field, so that when the drone is subjected to force while perching, the distance between the first magnetic layer and the Hall sensor changes with the elastic deformation of the elastic layer, causing the magnetic field strength detected by the Hall sensor to change, and the force on the drone while perching is calculated; the first magnetic layer is elastically deformable; the top of the piezoelectric layer is bonded to the bottom of the first magnetic layer, so that when the drone is subjected to force while moving, the piezoelectric layer undergoes elastic deformation, generates current, and the force on the drone while moving is calculated; the opening end of the protective cover is arranged upward and covers the piezoelectric layer, the first magnetic layer, the elastic layer and the Hall sensor, and its opening end is fixed to the bottom of the support.

[0009] The beneficial effects of this invention are: it improves the traditional tactile sensor structure of a single-modal roosting drone. First, the top of the first magnetic layer is bonded to the bottom of the elastic layer. Since the Hall sensor is located above the elastic layer, when the roosting drone experiences a force (such as being blown by wind or impacted), the elastic layer rapidly changes shape, adjusting the distance between the Hall sensor and the first magnetic layer. Correspondingly, the Hall sensor senses a change in the strength of the magnetic field, and based on this change in magnetic field strength, the roosting force experienced by the drone can be calculated. Then, the top of the piezoelectric layer is bonded to the bottom of the first magnetic layer. Since the first magnetic layer can also deform elastically, when the roosting drone is subjected to force (landing, collision, sliding, falling, shaking, flying, etc.), the piezoelectric layer undergoes elastic deformation (the force on the roosting drone is small, so the deformation of the piezoelectric layer is small and no current is generated, so it is impossible to monitor the force on the roosting drone). The current is generated, and the force on the roosting drone can be calculated based on the magnitude of the current. Thus, multiple states of the roosting drone, such as roosting, landing, collision, sliding, falling, and shaking, can be detected simultaneously, providing closed-loop feedback for the adaptive roosting of the roosting drone.

[0010] Based on the above technical solution, the present invention can be further improved as follows.

[0011] Furthermore, the support includes a bracket, a support plate, and a fixing cylinder. The top end of the bracket is fixed to the perching end of the roosting UAV. The top end of the support plate is fixed to the bottom end of the bracket, and its bottom end is provided with a fixing groove. The fixing cylinder is arranged perpendicularly to the support plate, and its top end is fixed to the bottom end of the support plate corresponding to the outer periphery of the fixing groove. The Hall sensor is fixed in the fixing groove. The elastic layer is a columnar structure, and its top end is inserted into the fixing cylinder. The protective cover is placed over the fixing cylinder, and its open end is fixed to the support plate.

[0012] Furthermore, it also includes a collar, a pressure ring, and multiple fixing bolts. The support plate has multiple threaded holes distributed circumferentially. The collar is fitted around the opening end of the protective cover and has multiple through holes distributed circumferentially, with the through holes respectively arranged opposite to the multiple threaded holes. The pressure ring is movably fitted around the protective cover and has multiple fixing holes distributed circumferentially, with the fixing holes respectively arranged opposite to the multiple through holes. The multiple fixing bolts pass through the oppositely arranged fixing holes and through holes in sequence and are threaded into the corresponding threaded holes.

[0013] The further beneficial effects of the above are as follows: First, the collar is used to secure the protective cover outside the opening end, and then the pressure ring is movably sleeved on the protective cover. Since the multiple fixing holes on the pressure ring, the multiple through holes on the collar, and the multiple threaded holes on the support plate are arranged opposite to each other, when the multiple fixing bolts pass through the oppositely arranged fixing holes and through holes and are threaded into the corresponding threaded holes, the connection strength between the protective cover and the support plate can be enhanced, and the structural stability of the multimodal flexible tactile sensor can be improved.

[0014] Furthermore, the edge of the piezoelectric layer is provided with multiple notches, which are distributed at intervals along the circumference of the piezoelectric layer and all penetrate the top and bottom ends of the piezoelectric layer to increase the deformation of the piezoelectric layer.

[0015] The further beneficial effect of adopting the above is that by using multiple holes set at the edge of the piezoelectric layer, the stress distribution of the roosting UAV under impact load can be optimized, reducing bending damage caused by the lack of tensile properties of the piezoelectric layer.

[0016] Furthermore, it also includes an elastically deformable second magnetic layer, which is located inside the protective cover and whose top end is bonded to the bottom end of the piezoelectric layer to enhance the magnetic field strength.

[0017] The further beneficial effect of the above-mentioned method is that by bonding the top of the elastically deformable second magnetic layer to the bottom of the piezoelectric layer, it can, on the one hand, cooperate with the first magnetic layer to enhance the magnetic field strength, and on the other hand, wrap the piezoelectric layer between the first and second magnetic layers to protect the piezoelectric layer.

[0018] Furthermore, the bottom end of the second magnetic layer is fixed with a plurality of arrayed protrusions.

[0019] The further beneficial effect of the above is that by fixing multiple array-distributed protrusions at the bottom of the first magnetic layer, when the roosting drone roosts on an uneven location (such as a tree branch), some protrusions will contact the roosting location, while others will not. The protrusions that contact the roosting location will transmit the force to the piezoelectric layer or elastic layer, thereby improving the sensing sensitivity of the multimodal flexible tactile sensor.

[0020] Furthermore, the first magnetic layer, the second magnetic layer, and the plurality of protrusions are all made of a mixed material containing neodymium, iron, boron, and silicone.

[0021] The further beneficial effects of the above are: the first magnetic layer, the second magnetic layer and the multiple protrusions are all made of a mixed material containing neodymium, iron, boron and silicone, which will give the first magnetic layer, the second magnetic layer and the multiple protrusions elastic deformation. At the same time, the superimposed elastic layer in a compressed state can make the multimodal flexible tactile sensor have strong damage resistance and impact resistance, especially under high-speed impact, it is more stable and reliable.

[0022] Furthermore, the elastic layer is made of polyester-methylene sponge material. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a multimodal collaborative flexible tactile buffer sensor for drone occupancy installed on an occupant drone according to the present invention;

[0024] Figure 2 This is a schematic diagram of the disassembled structure of a multimodal collaborative flexible tactile buffer sensor for drone habitat according to the present invention;

[0025] Figure 3 This is a schematic diagram showing the split structure of the first magnetic layer, piezoelectric layer, and second magnetic layer in a multimodal collaborative flexible tactile buffer sensor for drone habitat according to the present invention.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1. Support, 11. Bracket, 12. Support plate, 121. Fixing groove, 122. Threaded hole, 13. Fixing cylinder, 2. Hall sensor, 3. Elastic layer, 4. First magnetic layer, 5. Piezoelectric layer, 51. Notch, 6. Protective cover, 7. Habitat drone, 8. Collar, 9. Pressure ring, 91. Fixing hole, 10. Fixing bolt, 14. Second magnetic layer, 15. Protrusion. Detailed Implementation

[0028] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0029] like Figure 1 and Figure 2 As shown, a multimodal collaborative flexible tactile buffer sensor for drone habitat includes: a support 1, a Hall sensor 2, an elastic layer 3 in a compressed state, a first magnetic layer 4, a piezoelectric layer 5, and a protective cover 6.

[0030] The top of the support 1 is fixed to the perching end of the drone 7; the Hall sensor 2 is fixed to the bottom of the support 1; the top of the elastic layer 3 touches the bottom of the Hall sensor 2; the top of the first magnetic layer 4 is bonded to the bottom of the elastic layer 3 and generates a magnetic field, so that when the drone 7 is subjected to a perching force, the distance between the first magnetic layer 4 and the Hall sensor 2 changes with the elastic deformation of the elastic layer 3, so that the magnetic field strength detected by the Hall sensor 2 changes, and the perching force of the drone 7 is calculated; the first magnetic layer 4 is elastically deformable; the top of the piezoelectric layer 5 is bonded to the bottom of the first magnetic layer 4, so that when the drone 7 is subjected to a moving force, the piezoelectric layer 5 undergoes elastic deformation, generates current, and the moving force of the drone 7 is calculated; the protective cover 6 is arranged with its opening facing upward and covers the piezoelectric layer 5, the first magnetic layer 4, the elastic layer 3 and the Hall sensor 2, and its opening is fixed to the bottom of the support 1.

[0031] like Figure 2 As shown, in some specific embodiments, the support 1 may include a bracket 11, a support plate 12, and a fixing cylinder 13. The top end of the bracket 11 is fixed to the perching end of the roosting drone 7; the top end of the support plate 12 is fixed to the bottom end of the bracket 11, and its bottom end is provided with a fixing groove 121; the fixing cylinder 13 is arranged perpendicularly to the support plate 12, and its top end is fixed to the bottom end of the support plate 12 corresponding to the outer periphery of the fixing groove 121; the Hall sensor 2 is fixed in the fixing groove 121; the elastic layer 3 is a columnar structure, and its top end is inserted into the fixing cylinder 13; the protective cover 6 is covered outside the fixing cylinder 13, and its open end is fixed on the support plate 12.

[0032] like Figure 2 As shown, in some specific embodiments, it may also include a collar 8, a pressure ring 9, and multiple fixing bolts 10. The support plate 12 is provided with multiple threaded holes 122 distributed circumferentially. The collar 8 is fitted outside the opening end of the protective cover 6 and is provided with multiple through holes distributed circumferentially, with the multiple through holes respectively arranged opposite to the multiple threaded holes 122. The pressure ring 9 is movably fitted outside the protective cover 6 and is provided with multiple fixing holes 91 distributed circumferentially, with the multiple fixing holes 91 respectively arranged opposite to the multiple through holes. The multiple fixing bolts 10 pass through the oppositely arranged fixing holes 91 and through holes in sequence and are threaded into the corresponding threaded holes 122.

[0033] like Figure 3 As shown, in some specific embodiments, the edge of the piezoelectric layer 5 may be provided with multiple holes 51. The multiple holes 51 are distributed at intervals along the circumference of the piezoelectric layer 5 and all penetrate the top and bottom ends of the piezoelectric layer 5 to increase the deformation of the piezoelectric layer 5.

[0034] like Figure 3 As shown, in some specific embodiments, a second magnetic layer 14 that can be elastically deformed may also be included. The second magnetic layer 14 is located inside the protective cover 6 and its top end is bonded to the bottom end of the piezoelectric layer 5 to enhance the magnetic field strength.

[0035] like Figure 3 As shown, in some specific embodiments, the bottom end of the second magnetic layer 14 may be fixed with a plurality of arrayed protrusions 15.

[0036] Specifically, the first magnetic layer 4, the second magnetic layer 14, and the multiple protrusions 15 can all be made of a mixed material containing neodymium, iron, boron, and silicone.

[0037] Specifically, the elastic layer 3 is made of polyester-methylene sponge material.

[0038] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multimodal collaborative flexible tactile buffer sensor for unmanned aerial vehicle (UAV) habitats, characterized in that, include: Support (1), the top of which is fixed to the resting end of the roosting drone (7); Hall sensor (2), the Hall sensor (2) is fixed at the bottom end of the support (1); The elastic layer (3) is in a compressed state, and the top end of the elastic layer (3) touches the bottom end of the Hall sensor (2); The first magnetic layer (4) is attached to the bottom of the elastic layer (3) and generates a magnetic field. When the roosting drone (7) is subjected to a roosting force, the distance between the first magnetic layer (4) and the Hall sensor (2) changes with the elastic deformation of the elastic layer (3), so that the magnetic field strength detected by the Hall sensor (2) changes and the roosting force of the roosting drone (7) is calculated. The piezoelectric layer (5) and the first magnetic layer (4) are elastically deformable; the top of the piezoelectric layer (5) is bonded to the bottom of the first magnetic layer (4) so ​​that when the roosting drone (7) is subjected to motion force, the piezoelectric layer (5) will undergo elastic deformation to generate current and calculate the motion force of the roosting drone (7); A protective cover (6) is arranged with its opening facing upward and covers the piezoelectric layer (5), the first magnetic layer (4), the elastic layer (3) and the Hall sensor (2), with its opening fixed to the bottom of the support (1).

2. The multimodal collaborative flexible tactile buffer sensor for UAV habitat according to claim 1, characterized in that, The support (1) includes a bracket (11), a support plate (12), and a fixing cylinder (13). The top end of the bracket (11) is fixed to the perching end of the roosting drone (7). The top end of the support plate (12) is fixed to the bottom end of the bracket (11), and its bottom end is provided with a fixing groove (121). The fixing cylinder (13) is arranged perpendicularly to the support plate (12), and its top end is fixed to the bottom end of the support plate (12) corresponding to the outer periphery of the fixing groove (121). The Hall sensor (2) is fixed in the fixing groove (121). The elastic layer (3) is a column structure, and its top end is inserted into the fixing cylinder (13). The protective cover (6) is placed outside the fixing cylinder (13), and its open end is fixed on the support plate (12).

3. A multimodal collaborative flexible tactile buffer sensor for UAV habitat according to claim 2, characterized in that, It also includes a collar (8), a pressure ring (9), and a plurality of fixing bolts (10). The support plate (12) is provided with a plurality of threaded holes (122) distributed circumferentially. The collar (8) is fitted outside the opening end of the protective cover (6) and is provided with a plurality of through holes distributed circumferentially. The plurality of through holes are respectively arranged opposite to the plurality of threaded holes (122). The pressure ring (9) is movably fitted outside the protective cover (6) and is provided with a plurality of fixing holes (91) distributed circumferentially. The plurality of fixing holes (91) are respectively arranged opposite to the plurality of through holes. The plurality of fixing bolts (10) pass through the oppositely arranged fixing holes (91) and through holes in sequence and are threaded into the corresponding threaded holes (122).

4. A multimodal collaborative flexible tactile buffer sensor for UAV habitat according to claim 1, characterized in that, The edge of the piezoelectric layer (5) is provided with a plurality of holes (51). The plurality of holes (51) are distributed at intervals along the circumference of the piezoelectric layer (5) and all penetrate the top and bottom ends of the piezoelectric layer (5) to increase the deformation of the piezoelectric layer (5).

5. A multimodal collaborative flexible tactile buffer sensor for UAV habitat according to claim 1, characterized in that, It also includes an elastically deformable second magnetic layer (14), which is located inside the protective cover (6) and whose top end is bonded to the bottom end of the piezoelectric layer (5) to enhance the magnetic field strength.

6. A multimodal collaborative flexible tactile buffer sensor for UAV habitat according to claim 5, characterized in that, The bottom end of the second magnetic layer (14) is fixed with a plurality of array-distributed protrusions (15).

7. A multimodal collaborative flexible tactile buffer sensor for UAV habitat according to claim 6, characterized in that, The first magnetic layer (4), the second magnetic layer (14), and the plurality of protrusions (15) are all made of a mixed material containing neodymium, iron, boron and silicone.

8. A multimodal collaborative flexible tactile buffer sensor for UAV habitat according to claim 1, characterized in that, The elastic layer (3) is made of polyester sponge material.

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