An unmanned aerial vehicle cluster auxiliary control device and control method

Abstract

The application relates to the technical field of unmanned aerial vehicle auxiliary control devices, in particular to an unmanned aerial vehicle cluster auxiliary control device and a control method, which comprises a device box, the upper part of the device box is respectively provided with a lower balloon and an upper balloon used for filling inert gas, the inner end of the device box is fixedly connected with an integrated controller, the bottom end of the lower balloon is connected with a sealing plate, the upper end of the sealing plate is connected with a central pipe, the upper end of the central pipe is sleeved with a supporting pipe, a slow descent device is arranged between the supporting pipe and the upper balloon, a gas exchange device is arranged in the device box, the device box is suspended in the air, an air signal transceiver can provide stable signal support for unmanned aerial vehicle clusters in a larger range, the anti-interference capability is further enhanced, meanwhile, the device box can flexibly adjust the suspension height through the buoyancy adjustment of the upper balloon and the lower balloon, different task requirements can be adapted to, and a traction line fixes the device box at a predetermined height, so that the device box can avoid deviating from the position due to the influence of air flow or wind force.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) auxiliary control device technology, specifically to an UAV swarm auxiliary control device and control method. Background Technology

[0002] With the rapid development of drone technology, drones are increasingly widely used in various fields such as military, agriculture, and logistics. In particular, drone swarm technology has become an important direction for promoting the development of drone applications. Drone swarms can complete more complex and large-scale tasks through the cooperation of multiple drones, such as large-scale monitoring, search and rescue, environmental monitoring, and logistics delivery. However, existing drone swarm control systems still face many challenges in terms of large-scale cooperation, dynamic task allocation, and swarm behavior coordination.

[0003] A search revealed that the prior art publication number CN117525884B discloses a drone swarm auxiliary control device, belonging to the field of drones. It includes a base, a support plate fixedly connected to the upper surface of the base, a motor mounted on the upper surface of the support plate, an output rod fixedly connected to the output end of the motor, a shell fixedly connected to the upper surface of the base, a protective plate attached to the upper surface of the shell, a first bevel gear fixedly connected to the left end of the output rod, a second bevel gear meshing with the outer surface of the first bevel gear, a power rod sleeved on the inner wall of the second bevel gear, and a rotatable connection between the lower end of the power rod and the upper surface of the base. This solution uses a motor to drive a threaded rod to rotate, allowing the antenna mounted on the outer surface of the threaded rod to rise while rotating 360 degrees and freely adjusting the angle between the antennas. A single motor can achieve freely adjustable height, direction, and angle for the radar receiving device, saving manufacturing costs and increasing the strength of radar signal reception.

[0004] Therefore, based on the above search and combined with existing technologies, the above solutions are affected by obstacles such as terrain and buildings on the ground signal transceiver, and the signal coverage weakens with increasing distance. The ground needs to communicate directly with each drone, which is a heavy communication burden and can easily lead to signal delay or loss. In scenarios such as large-scale drone performances, a large number of ground signal enhancers need to be deployed to maintain stable signal output. However, ground signals are easily affected by electromagnetic interference or terrain obstruction, resulting in unstable communication. To address this, we propose a drone swarm auxiliary control device. Summary of the Invention

[0005] The purpose of this invention is to provide an auxiliary control device for unmanned aerial vehicle (UAV) swarms to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a drone swarm auxiliary control device, comprising a device box, wherein a lower balloon and an upper balloon for filling with inert gas are respectively disposed on the upper part of the device box, and the device box and the lower balloon are connected by a binding ring; an integrated controller for receiving and transmitting drone swarm signals is fixedly connected to the inner end of the device box; a winder is disposed at the bottom of the device box, and a traction line is wound inside the winder, with the free end of the traction line connected to the bottom end of the device box; a sealing plate is fixedly connected to the inner bottom end of the lower balloon, and a central tube is fixedly connected to the upper end of the sealing plate; a support tube is sleeved on the upper end of the central tube, and the support tube is located inside the upper balloon; a slow-descent device is disposed between the support tube and the upper balloon; after the traction line breaks, the upper balloon and the lower balloon can separate, and after separation, the contact area between the upper balloon and the air increases, thus slowing down the descent speed of the device box; a ventilation device is provided inside the device box to adjust the gas concentration inside the upper and lower balloons.

[0007] As a further embodiment of the present invention, a stabilizing sleeve is fixedly fitted on the outer surface of the support tube. Multiple support frames are rotatably connected to the outer surface of the stabilizing sleeve. The multiple support frames are arranged in a ring. The outer surface of each support frame is fixedly connected to the inner wall of the upper balloon. Two adjacent support frames are fixedly connected by a connecting strap. A support rod is inserted through the inner end of the connecting strap. The support rod is fixedly connected to the central tube by a connecting line. By setting the structure of the stabilizing sleeve, support frame, connecting strap and support rod, the stability and deformation resistance of the upper balloon are enhanced.

[0008] As a further embodiment of the present invention, the descent device includes a drive sleeve slidably connected to the inner end of a support tube. A traction ring is disposed above the support tube and is fixedly connected to the inner wall of the upper balloon. The drive sleeve and the traction ring are connected by a traction rod. An unlocking sleeve is inserted through the inner end of the support tube and is located below the drive sleeve. A spiral rod is inserted through the inner end of the unlocking sleeve and is rotatably connected to the support tube. By setting the structure of the drive sleeve, traction ring, traction rod, unlocking sleeve, and spiral rod, the function of descent when the upper and lower balloons separate is realized.

[0009] As a further embodiment of the present invention, the inner end of the drive sleeve is provided with multiple clamping plates, which are arranged in a ring and the upper ends of the clamping plates are fixedly connected to each other. The clamping plates are made of elastic metal material, and the outer surface of each clamping plate is fixedly connected with a limiting protrusion. The outer surface of the drive sleeve is provided with multiple movable holes, which correspond to the multiple clamping plates, and the limiting protrusions pass through the interior of the movable holes.

[0010] As a further embodiment of the present invention, a locking rod is fixedly installed on the inner end of the unlocking sleeve, and a retaining ring is fixedly installed on the outer surface of the locking rod. The locking rod is connected to the support tube by a traction spring. A sealing retaining ring is provided between the upper balloon and the lower balloon, and the upper and lower ends of the sealing retaining ring are respectively engaged with the bottom end of the upper balloon and the upper end of the lower balloon. By setting the structure of the locking rod, the retaining ring and the traction spring, the stable connection and rapid separation function between the upper balloon and the lower balloon are realized.

[0011] As a further embodiment of the present invention, a movable sleeve is slidably fitted on the outer surface of the central tube, and a plurality of auxiliary rods are passed through the inner end of the sealing ring. A venting line is connected between the movable sleeve and the auxiliary rods. After the movable sleeve moves downward, it pulls the auxiliary rods through the venting line, causing the sealing ring to deform. A rotating plate is rotatably connected to the bottom end of the sealing plate, and a transmission rod is fixedly installed on the upper end of the rotating plate, and the transmission rod passes through the interior of the central tube.

[0012] As a further embodiment of the present invention, a traction block is provided at the bottom inner side of the device box. The traction block is connected to the device box by a return spring. The elastic force of the return spring is greater than that of the spring sheet. The traction line is fixedly connected to the traction block. An unlocking line is fixedly connected to the upper end of the traction block. The free end of the unlocking line is wound around the outer surface of the hook rotation shaft. When the device box floats in the air, the traction line pulls the traction block downward, causing the traction block to move downward and compress the return spring. Then, the unlocking line pulls the hook to rotate.

[0013] As a further embodiment of the present invention, the ventilation device includes an air guide tube, which is fixedly connected to the inner end of the device box. A through hole is provided on the outer surface of the sealing plate, and the upper end of the air guide tube passes through the through hole. Two air outlet tubes are provided at the upper end of the air guide tube. The two air outlet tubes have different lengths, with the shorter air outlet tube extending into the interior of the lower balloon and the longer air outlet tube extending into the interior of the upper balloon.

[0014] As a further embodiment of the present invention, an air guide chamber is provided at the bottom end of the air guide pipe. The inner end of the air guide chamber is divided into two chambers by a partition plate, which are respectively connected to air outlet pipes of different lengths. An air exchange box is fixedly connected to the inner right end of the device box by bolts, and an outer protective sleeve is fixedly connected to the right end of the air exchange box.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. When using this invention, the device box is suspended in the air. The airborne signal transceiver can provide stable signal support for a large number of drone clusters, which is especially suitable for large-area monitoring, search and rescue and other scenarios, further enhancing the anti-interference capability. At the same time, the device box can flexibly adjust the suspension height through the buoyancy adjustment of the upper and lower balloons to adapt to different mission requirements. The traction line fixes the device box at the predetermined height to avoid deviation from the position due to airflow or wind.

[0017] 2. When the traction line breaks during use of this invention, the upper balloon and the lower balloon separate. The increased air resistance inside the upper balloon slows down the falling speed of the device box, thus preventing damage to the internal devices due to high-speed impact. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an auxiliary control device for a drone swarm;

[0019] Figure 2 This is a schematic diagram of the internal structure of the device box;

[0020] Figure 3 This is a schematic diagram of the internal structure of the upper and lower balloons;

[0021] Figure 4 This is a disassembly diagram of the descent control device;

[0022] Figure 5 This is a schematic diagram of the internal structure of the support tube;

[0023] Figure 6 This is a schematic diagram of the internal structure of the drive sleeve;

[0024] Figure 7 This is a cross-sectional view of the sealing ring;

[0025] Figure 8 This is a schematic diagram of the internal structure of the central tube;

[0026] Figure 9 This is an enlarged structural diagram of the internal structure of the device box;

[0027] Figure 10 This is a schematic diagram of the internal structure of the air duct;

[0028] Figure 11 This is a schematic diagram of the internal structure of the outer sheath.

[0029] In the diagram: 1. Device box; 2. Integrated controller; 3. Lower balloon; 4. Upper balloon; 5. Traction line; 6. Winder; 11. Binding ring; 21. Unlocking line; 22. Traction block;

[0030] 101. Sealing ring; 102. Vent line; 103. Movable sleeve; 104. Center tube; 105. Sealing plate; 106. Auxiliary rod; 107. Trigger spring; 108. Transmission rod; 109. Unlocking spring; 110. Hook; 111. Actuating rod; 112. Rotating plate; 113. Connecting sleeve;

[0031] 201. Air duct; 202. Air chamber; 203. Skid plate; 204. Vent plug;

[0032] 301. Traction ring; 302. Support frame; 303. Connecting line; 304. Connecting belt; 305. Support tube; 306. Stabilizing sleeve; 307. Traction rod; 308. Drive sleeve; 309. Traction spring; 310. Locking rod; 311. Unlocking sleeve; 312. Helical rod; 313. Clamping plate; 314. Moving block; 315. Limiting protrusion; 316. Snap ring;

[0033] 401. Air exchange box; 402. Air exchange pipe; 403. Ventilation pipe; 404. Air pump;

[0034] 501. Extraction pipe; 502. Outer sheath; 503. Conductor pipe. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1: Please refer to Figure 1 - Figure 3A drone swarm auxiliary control device includes a device box 1. A lower balloon 3 and an upper balloon 4, filled with inert gas, are respectively disposed on the top of the device box 1. The device box 1 and the lower balloon 3 are connected by a binding ring 11. The inert gas is typically helium, which has a lower density than air and can provide sufficient buoyancy to lift the device box 1. Both the upper balloon 4 and the lower balloon 3 are made of rubber and have a certain degree of elasticity. An integrated controller 2 is fixedly connected to the inner end of the device box 1 by bolts. This controller is used to transmit and receive drone swarm signals. The integrated controller 2 contains a signal transceiver (for receiving ground signals and distributing them to the aerial drone swarm), a battery (for power supply), a positioning device, and a control circuit. The working principle of the above device is a mature existing technology and will not be described in detail here. A winder 6 is disposed below the device box 1. A traction line 5 is wound inside the winder 6, and the free end of the traction line 5 is connected to the bottom end of the device box 1. When the device box 1 floats in the air, the traction line 5 pulls it, fixing the device box 1 at a predetermined height and preventing it from being blown away by airflow, thus avoiding signal loss.

[0037] A sealing plate 105 is fixedly connected to the bottom inner side of the lower balloon 3. A central tube 104 is fixedly connected to the upper end of the sealing plate 105. A support tube 305 is sleeved on the upper end of the central tube 104. The support tube 305 is located inside the upper balloon 4 and is fixedly connected to it. A slow-descent device is provided between the support tube 305 and the upper balloon 4. When the traction line 5 breaks, the upper balloon 4 and the lower balloon 3 separate. The contact area between the upper balloon 4 and the air increases, thereby slowing down the falling speed of the device box 1 and reducing the impact force. The device box 1 is equipped with a ventilation device to adjust the gas concentration inside the upper balloon 4 and the lower balloon 3.

[0038] like Figure 3 As shown, a stabilizing sleeve 306 is fixedly fitted on the outer surface of the support tube 305. Multiple support frames 302 are rotatably connected to the outer surface of the stabilizing sleeve 306. The multiple support frames 302 are arranged in a ring. The outer surface of each support frame 302 is fixedly connected to the inner wall of the upper balloon 4 by hot melt adhesive. Two adjacent support frames 302 are fixedly connected by a connecting strap 304, so that the support frames 302 pull each other to prevent uneven force. A support rod is inserted through the inner end of the connecting strap 304. The support rod is fixedly connected to the central tube 104 by a connecting line 303. When the upper balloon 4 and the lower balloon 3 are separated, the air resistance of the upper balloon 4 can be reduced by the pulling action of the connecting line 303 to prevent it from flipping over. Specifically, the support tube 305 and the central tube 104 are both made of lightweight materials (such as carbon fiber composite materials) to further reduce their weight.

[0039] Example 2: Please refer to Figure 3 - Figure 6A drone swarm auxiliary control device, differing from Embodiment 1, in that the descent device includes a drive sleeve 308, which is slidably connected to the inner end of a support tube 305. A traction ring 301 is disposed above the support tube 305, and the traction ring 301 is fixedly connected to the inner wall of the upper balloon 4. When the upper balloon 4 is subjected to force, it will displace upward a certain distance, causing the traction ring 301 to move upward. The drive sleeve 308 and the traction ring 301 are connected by a traction rod 307. An unlocking sleeve 311 is inserted and connected to the inner end of the support tube 305. The unlocking sleeve 311 is located below the drive sleeve 308. A spiral rod 312 is inserted through the inner end and is rotatably connected to the support tube 305. A protrusion is fixedly installed on the inner end of the unlocking sleeve 311. The protrusion passes through the groove on the outer surface of the spiral rod 312. When the unlocking sleeve 311 moves upward, the spiral rod 312 rotates due to the sliding action of the protrusion in the groove on the outer surface of the spiral rod 312. A limit ring is fixedly connected to the inner end of the support tube 305 to limit the movement space of the unlocking sleeve 311. After the unlocking sleeve 311 moves upward to contact the limit ring, the spiral rod 312 rotates ninety degrees. The bottom end of the spiral rod 312 passes through the upper end of the central tube 104.

[0040] Specifically, two arc plates are fixedly welded to the upper inner side of the central tube 104, and two abutment blocks are fixedly welded to the bottom of the spiral rod 312. The abutment blocks are located inside the central tube 104 and are engaged with the two arc plates. When the spiral rod 312 rotates ninety degrees, the arc plates and abutment blocks intersect each other, and then the central tube 104 can move downward.

[0041] The inner end of the drive sleeve 308 is provided with a plurality of ring-shaped clamping plates 313. The upper ends of the clamping plates 313 are fixedly connected to each other. The clamping plates 313 are made of elastic metal material, and the outer surface of the plate is welded with limiting protrusions 315. The outer surface of the drive sleeve 308 is provided with a plurality of movable holes, which correspond to the plurality of clamping plates 313. The limiting protrusions 315 are inserted inside the movable holes. After the drive sleeve 308 moves downward, it completely covers the clamping plates 313. At this time, the clamping plates 313 cannot expand outward under force. Then the drive sleeve 308 moves upward, and the clamping plates 313 are exposed. At this time, the clamping plates 313 can expand outward. The inner end of the unlocking sleeve 311 is fixedly welded with a locking rod 310. The outer surface of the locking rod 310 is equipped with a retaining ring 316. The locking rod 310 is connected to the support tube 305 by a traction spring 309.

[0042] A triangular block is fixedly installed at the bottom of the locking plate 313. The slope of the triangular block corresponds to the retaining ring 316. After the retaining ring 316 moves upward, it contacts the slope of the triangular block, causing the locking plate 313 to expand outward. Then, under the action of elasticity, the triangular block is locked below the retaining ring 316. A movable block 314 is fixedly connected to the inner end of the locking plate 313. The movable block 314 is located above the locking rod 310.

[0043] like Figure 3 , Figure 7 , Figure 8 As shown, a sealing ring 101 is provided between the upper balloon 4 and the lower balloon 3, and the upper and lower ends of the sealing ring 101 are respectively engaged with the bottom end of the upper balloon 4 and the upper end of the lower balloon 3. Specifically, the sealing ring 101 is made of rubber, and a triangular block is provided at the inner end of the sealing ring 101. The bottom end of the upper balloon 4 and the upper end of the lower balloon 3 are both engaged by the triangular block. The outer surface of the sealing ring 101 is provided with an anti-slip coating to enhance the friction between the upper balloon 4 and the lower balloon 3 and improve the airtightness.

[0044] A movable sleeve 103 is slidably fitted on the outer surface of the central tube 104. Multiple auxiliary rods 106 are inserted through the inner end of the sealing ring 101. The auxiliary rods 106 are arranged in a ring. A venting line 102 is connected between the movable sleeve 103 and the auxiliary rods 106. After the movable sleeve 103 moves downward, it pulls the auxiliary rods 106 through the venting line 102, causing the sealing ring 101 to deform. A rotating plate 112 is rotatably connected to the bottom end of the sealing plate 105. A transmission rod 108 is fixedly installed on the upper end of the rotating plate 112, and the transmission rod 108 passes through the interior of the central tube 104.

[0045] A connecting sleeve 113 is fitted on the outer surface of the transmission rod 108. The movable sleeve 103 is fixedly connected to the connecting sleeve 113. The connecting sleeves 113 are connected by a trigger spring 107. A limit block is fixedly installed on the outer surface of the transmission rod 108. A movable groove is opened at the inner end of the connecting sleeve 113. The limit block and the movable groove are interlocked. After the transmission rod 108 rotates, the limit block and the movable groove correspond to each other. At this time, the movable sleeve 103 moves downward.

[0046] A toggle lever 111 is fixedly connected to the outer surface of the rotating plate 112, and the toggle lever 111 is connected to the sealing plate 105 through an unlocking spring 109. A hook 110 is rotatably installed at the bottom end of the sealing plate 105, and the hook 110 is connected to the sealing plate 105 through a spring piece. The hook 110 is engaged with the outer surface of the toggle lever 111.

[0047] A traction block 22 is inserted through the bottom inner side of the device box 1. The traction block 22 is connected to the device box 1 by a return spring. The spring force of the return spring is greater than that of the spring sheet. The traction line 5 is fixedly connected to the traction block 22 by a clamp. Specifically, the upper end of the traction block 22 is fixedly connected to an unlocking line 21. The free end of the unlocking line 21 is wound around the outer surface of the rotating shaft of the hook 110. When the device box 1 floats in the air, the traction line 5 pulls the traction block 22 downward, causing the traction block 22 to move downward and compress the return spring. Then, the unlocking line 21 pulls the hook 110 to rotate, so that the hook 110 always remains in the latched state against the lever 111.

[0048] Example 3: Please refer to Figure 2 , Figure 9 , Figure 10 , Figure 11 A drone swarm auxiliary control device, which differs from Embodiment 1 in that the ventilation device includes an air duct 201, which is fixedly connected to the inner end of the device box 1 by a clamp. The outer surface of the sealing plate 105 is provided with a through hole, and the upper end of the air duct 201 passes through the through hole. Specifically, the upper end of the air duct 201 is provided with two air outlet pipes of different lengths. The shorter air outlet pipe extends into the interior of the lower balloon 3, and the longer air outlet pipe extends into the interior of the upper balloon 4. The bottom end of the air duct 201 is provided with an air chamber 202, and the inner end of the air chamber 202 is divided into two chambers by a partition plate, which are respectively connected to the air outlet pipes of different lengths.

[0049] The bottom end of the air chamber 202 is fixedly connected to an air exchange pipe 402 and an air vent pipe 403. The air exchange pipe 402 is connected to the left chamber and the air vent pipe 403 is connected to the right chamber. The bottom end of the air chamber 202 is slidably connected to a vent plug 204. The vent plug 204 and the air chamber 202 are connected by a spring. After the vent plug 204 moves downward, the gas in the air chamber 202 flows out through the gap between the vent plug 204 and the air chamber 202. The inner end of the air chamber 202 is rotatably installed with a pry plate 203. The left end of the pry plate 203 abuts against the upper end of the air exchange pipe 402 and the right end abuts against the upper end of the vent plug 204. A sealing ring is fixedly sleeved on the outer surface of the left end of the pry plate 203 to increase air tightness.

[0050] An air exchange box 401 is bolted to the right side of the inner side of device box 1. An outer sheath 502 is bolted to the right end of air exchange box 401. A guide pipe 503 is slidably connected to the inner end of the outer sheath 502. An air pump 404 is bolted to the inner pipe of air exchange box 401. An electric motor is installed inside the air pump 404 to convert electrical energy into mechanical energy. The specific internal structure is based on existing mature technology and will not be described in detail here. The input end of the air pump 404 is connected to the guide pipe 503. The air pipes 503 are connected by an air extraction pipe 501, and the output end of the air pump 404 is fixedly connected to the air exchange pipe 402. The input end of the air pipe 403 passes through the inside of the guide pipe 503. Specifically, the outer surface of the air pipe 403 has a through hole. After the guide pipe 503 moves to the left, the through hole is exposed inside the guide pipe 503. The outer surface of the air pipe 403 is fitted with a sealing ring and fits against the inner wall of the guide pipe 503 to increase air tightness.

[0051] The working principle of this invention is:

[0052] In use, press the connecting tube 503 to the left and connect it to the gas cylinder. Fill it with inert gas (helium). The gas will flow in from the through hole on the outer surface of the vent tube 403 and into the air delivery tube 201. Then it will fill the upper balloon 4 until the upper balloon 4 and the lower balloon 3 are completely filled. Then return the connecting tube 503 to its original position. At this time, the device box 1 will be lifted into the air by buoyancy. Then the winder 6 will release the traction line 5. When the device box 1 floats to the predetermined height, the air pump 404 will start to work. At this time, air will enter the air delivery chamber 202 from the air exchange tube 402. Then, under the push of the gas, the left side of the pry plate 203 will be pushed upward. Then the right side of the pry plate 203 will push the vent plug 204 downward.

[0053] At this time, air flows into the lower balloon 3 from the short outlet tube on the left side of the air duct 201. Since the mass of the inert gas inside the upper balloon 4 and the lower balloon 3 is less than that of air, the inert gas inside the upper balloon 4 will be squeezed. The excess inert gas will enter the long outlet tube on the right side of the air duct 201. At this time, the pry plate 203 presses the vent plug 204 down. The inert gas flows out through the gap between the vent plug 204 and the air chamber 202. Since the purity of the inert gas inside the upper balloon 4 and the lower balloon 3 is different, the device box 1 will not be in a state of continuous rise. When the device box 1 is suspended at the preset height, the air pump 404 stops working.

[0054] If the traction line 5 of the traction device box 1 breaks, the traction block 22 will no longer be subject to traction force and will move upward under the action of the return spring. Subsequently, the hook 110 will disengage from the lever 111 under the action of the spring. The lever 111 will drive the rotating plate 112 to rotate under the action of the unlocking spring 109. After the rotating plate 112 rotates, the transmission rod 108 will rotate accordingly, so that the limit block corresponds to the movable groove. At this time, the movable sleeve 103 will move downward under the action of the trigger spring 107 and pull the auxiliary rod 106 through the vent line 102, causing the sealing ring 101 to deform. The deformation of the sealing ring 101 will cause the upper balloon 4 and the lower balloon 3 to separate from their outer surfaces. As the device box 1 begins to fall, the contact area between the inner wall of the upper balloon 4 and the air will increase. The direction of air resistance is opposite to the direction of gravity of the device box 1, forming an upward force to offset part of the gravity and finally achieve a stable falling speed.

[0055] At the same time, when the upper balloon 4 is subjected to force, it will move upward a certain distance, and drive the traction ring 301 to move upward. When the unlocking sleeve 311 moves upward, the protrusion slides in the groove on the outer surface of the spiral rod 312, causing the spiral rod 312 to rotate. The inner end of the support tube 305 is fixed with a limit ring to limit the movement space of the unlocking sleeve 311. When the unlocking sleeve 311 moves upward to contact the limit ring, the spiral rod 312 rotates ninety degrees, and the support tube 305 moves upward accordingly. Under the traction of the connecting line 303, the upper balloon 4 fully unfolds, causing the device box 1 to slowly descend, thereby avoiding damage to the internal device due to high-speed impact.

[0056] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An unmanned aerial vehicle cluster assisted control device comprising a device box (1), characterized in that: The device box (1) is provided with a lower balloon (3) and an upper balloon (4) for filling inert gas on the top, and the device box (1) and the lower balloon (3) are connected by a binding ring (11). An integrated controller (2) for receiving and transmitting UAV cluster signals is fixedly connected to the inner end of the device box (1). A winder (6) is provided at the bottom of the device box (1). A traction line (5) is wound inside the winder (6), and the free end of the traction line (5) is connected to the bottom end of the device box (1). A sealing plate (105) is fixedly connected to the inner bottom end of the lower balloon (3). (105) has a central tube (104) fixedly connected to its upper end. The upper end of the central tube (104) is fitted with a support tube (305). The support tube (305) is located inside the upper balloon (4). A slow-descent device is provided between the support tube (305) and the upper balloon (4). After the traction line (5) breaks, the upper balloon (4) and the lower balloon (3) can be separated. After separation, the contact area between the upper balloon (4) and the air increases, which slows down the falling speed of the device box (1). The device box (1) is equipped with a ventilation device to adjust the gas concentration inside the upper balloon (4) and the lower balloon (3). The descent device includes a drive sleeve (308), which is slidably connected to the inner end of a support tube (305). A traction ring (301) is provided above the support tube (305). The traction ring (301) is fixedly connected to the inner wall of the upper balloon (4). The drive sleeve (308) and the traction ring (301) are connected by a traction rod (307). An unlocking sleeve (311) is passed through the inner end of the support tube (305). The unlocking sleeve (311) is located below the drive sleeve (308). A spiral rod (312) is passed through the inner end of the unlocking sleeve (311). The spiral rod (312) is rotatably connected to the support tube (305). The inner end of the drive sleeve (308) is provided with multiple retaining plates (313), which are arranged in a ring and the upper ends of the retaining plates (313) are fixedly connected to each other. The retaining plates (313) are made of elastic metal material, and the outer surface of each retaining plate (313) is fixedly connected with a limiting protrusion (315). The outer surface of the drive sleeve (308) is provided with multiple movable holes, which correspond to the multiple retaining plates (313), and the limiting protrusion (315) passes through the interior of the movable holes. A locking rod (310) is fixedly installed on the inner end of the unlocking sleeve (311), and a retaining ring (316) is fixedly installed on the outer surface of the locking rod (310). The locking rod (310) is connected to the support tube (305) by a traction spring (309). A sealing ring (101) is provided between the upper balloon (4) and the lower balloon (3), and the upper and lower ends of the sealing ring (101) are respectively engaged with the bottom end of the upper balloon (4) and the upper end of the lower balloon (3). The outer surface of the central tube (104) is slidably fitted with a movable sleeve (103). The inner end of the sealing ring (101) is provided with multiple auxiliary rods (106). The movable sleeve (103) and the auxiliary rods (106) are connected by a venting line (102). After the movable sleeve (103) moves downward, it pulls the auxiliary rods (106) through the venting line (102), causing the sealing ring (101) to deform. The bottom end of the sealing plate (105) is rotatably connected to a rotating plate (112). The upper end of the rotating plate (112) is fixedly installed with a transmission rod (108), and the transmission rod (108) passes through the inside of the central tube (104). A connecting sleeve (113) is fitted onto the outer surface of the transmission rod (108). The movable sleeve (103) is fixedly connected to the connecting sleeve (113). A trigger spring (107) is connected to the connecting sleeve (113). A limit block is fixedly installed on the outer surface of the transmission rod (108). A movable groove is opened at the inner end of the connecting sleeve (113). The limit block and the movable groove are interlocked. After the transmission rod (108) rotates, the limit block and the movable groove correspond to each other. The movable sleeve (103) The rotating plate (112) moves downward under the elastic force of the trigger spring (107). The outer surface of the rotating plate (112) is fixedly connected to the toggle rod (111), and the toggle rod (111) is connected to the sealing plate (105) by the unlocking spring (109). The bottom end of the sealing plate (105) is rotatably installed with a hook (110), and the hook (110) is connected to the sealing plate (105) by a spring piece. The hook (110) is engaged with the outer surface of the toggle rod (111). A traction block (22) is provided on the inner bottom of the device box (1). The traction block (22) is connected to the device box (1) by a return spring. The spring force of the return spring is greater than that of the spring sheet. The traction line (5) is fixedly connected to the traction block (22). The upper end of the traction block (22) is fixedly connected to an unlocking line (21). The free end of the unlocking line (21) is wound around the outer surface of the rotating shaft of the hook (110). When the device box (1) floats in the air, the traction line (5) pulls the traction block (22) downward, causing the traction block (22) to move downward and compress the return spring. Then, the hook (110) is pulled to rotate by the unlocking line (21).

2. The unmanned aerial vehicle (UAV) swarm auxiliary control device according to claim 1, characterized in that: The outer surface of the support tube (305) is fixedly fitted with a stabilizing sleeve (306). The outer surface of the stabilizing sleeve (306) is rotatably connected with multiple support frames (302). The multiple support frames (302) are arranged in a ring. The outer surface of each support frame (302) is fixedly connected to the inner wall of the upper balloon (4). Two adjacent support frames (302) are fixedly connected by a connecting strap (304). The inner end of the connecting strap (304) is provided with a support rod. The support rod is fixedly connected to the central tube (104) by a connecting line (303).

3. The unmanned aerial vehicle (UAV) swarm auxiliary control device according to claim 1, characterized in that: The ventilation device includes an air guide tube (201), which is fixedly connected to the inner end of the device box (1). The outer surface of the sealing plate (105) is provided with a through hole. The upper end of the air guide tube (201) passes through the through hole. The upper end of the air guide tube (201) is provided with two air outlet tubes. The two air outlet tubes are of different lengths. The shorter air outlet tube extends into the interior of the lower balloon (3), and the longer air outlet tube extends into the interior of the upper balloon (4).

4. The unmanned aerial vehicle (UAV) swarm auxiliary control device according to claim 3, characterized in that: The bottom end of the air guide pipe (201) is provided with an air guide chamber (202). The inner end of the air guide chamber (202) is divided into two chambers by a partition plate, which are connected to air outlet pipes of different lengths respectively. The right side of the inner side of the device box (1) is fixedly connected to an air exchange box (401) by bolts. The right side of the air exchange box (401) is fixedly connected to an outer sheath (502).

5. A control method for an unmanned aerial vehicle (UAV) swarm auxiliary control device, used in any one of claims 1-4, characterized in that, Includes the following steps: S1: Air flows into the lower balloon (3) from the short outlet tube on the left side of the air duct (201). Since the mass of the inert gas inside the upper balloon (4) and the lower balloon (3) is less than that of air, the inert gas inside the upper balloon (4) will be squeezed, and the excess inert gas will flow out through the air duct (201). Since the purity of the inert gas inside the upper balloon (4) and the lower balloon (3) is different, the device box (1) will not be in a state of continuous rise. S2: If the traction line (5) of the traction device box (1) breaks, the traction block (22) will no longer be subject to traction force. The movable sleeve (103) moves downward under the elastic force of the trigger spring (107) and pulls the auxiliary rod (106) through the vent line (102), causing the sealing ring (101) to deform. The deformation of the sealing ring (101) causes the upper balloon (4) and the lower balloon (3) to separate from their outer surfaces. As the device box (1) begins to fall, the contact area between the inner wall of the upper balloon (4) and the air increases. The direction of air resistance is opposite to the direction of gravity of the device box (1), forming an upward force to offset part of the gravity and finally achieve a stable falling speed.

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