Multi-rotor unmanned aerial vehicle inclined lift device

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle inclined lifting force device, and relates to the technical field of aircrafts, the device comprises a lifting force wing device and an unmanned aerial vehicle fixing device, the lifting force wing device comprises a frame connecting structure and a lifting force wing structure, the frame connecting structure is of a hollow design, and is used for connecting the unmanned aerial vehicle fixing device and the lifting force wing structure; through dynamic optimization of aerodynamic lift assistance and an intelligent regulation and control algorithm of a lift wing structure, rotor energy consumption is reduced, battery film auxiliary power supply is matched, the cruising ability is improved, environment airflow changes are captured in real time through a sensing data acquisition assembly, lift distribution and rotor rotating speed are rapidly adjusted through the algorithm, and the reliability of the system is improved. The stability of the fuselage is enhanced by combining the aerodynamic characteristics of the lift wings, the flight speed is increased, the wind resistance performance is optimized, rotor wing faults are detected through the fault response sub-module, emergency lift force distribution is triggered, the fuselage balance is maintained by means of the emergency lift force of the lift wings, and the air crash risk caused by the rotor wing faults is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to a multi-rotor unmanned aerial vehicle tilt lift device. BACKGROUND

[0002] The multi-rotor unmanned aerial vehicle is a kind of aircraft relying on multiple rotors to generate lift and thrust, its core advantage lies in that it can realize vertical take-off and hovering in the air without special landing site, and it is flexible and convenient to operate, and can adapt to complex working environment, so it has been widely used in aerial surveying and mapping, agricultural plant protection, power inspection, emergency rescue, material delivery and other fields, and has become an important tool for modern aerial operation, the tilt lift of the multi-rotor unmanned aerial vehicle refers to the lift wing structure with fixed installation angle added to the unmanned aerial vehicle body, which utilizes the aerodynamic lift generated by the airflow flowing through the lift wing during forward flight of the unmanned aerial vehicle, and forms a cooperative lift with the rotor lift, its key significance lies in that on the basis of retaining the core advantages of the multi-rotor unmanned aerial vehicle such as vertical take-off and hovering, it makes up for the performance short board of the traditional multi-rotor which only relies on the rotor to provide lift, breaks through the bottleneck of endurance, speed and wind resistance, so that the multi-rotor unmanned aerial vehicle can not only adapt to flexible operation in short distance, but also meet the stable operation demand in long distance and complex environment, and further expand its application boundary.

[0003] However, the existing multi-rotor unmanned aerial vehicle and related lift improvement scheme still has many technical problems, the traditional multi-rotor unmanned aerial vehicle completely relies on the rotor to overcome gravity during level flight, the energy consumption is high, and it is difficult to meet the long-time and long-distance operation demand, it lacks dynamic adaptation mechanism for environmental disturbance and its own state during flight, the wind resistance is weak when facing airflow disturbance, and attitude instability problem is easy to occur, there is no effective emergency lift supplement when the rotor fails, and crash is easy to occur, the existing lift auxiliary scheme is mostly simple mechanical structure design, lacks intelligent control mechanism adapted to flight state, lift output cannot be dynamically adjusted according to real-time scene, lift utilization efficiency is low, and the role of auxiliary lift cannot be fully played, therefore, it is of great significance to develop a multi-rotor unmanned aerial vehicle tilt lift device. SUMMARY

[0004] The purpose of the present application is to make up for the shortcomings of the prior art, and provide a multi-rotor unmanned aerial vehicle tilt lift device, which can reduce the rotor energy consumption through the aerodynamic lift assistance of the lift wing structure and the dynamic optimization of the intelligent control algorithm, cooperate with the battery film auxiliary power supply, realize the endurance capacity improvement, capture the environmental airflow change in real time through the sensing data acquisition component, adjust the lift distribution and the rotor speed quickly through the algorithm, enhance the body stability combined with the aerodynamic characteristics of the lift wing, realize the flight speed improvement and the wind resistance performance optimization, detect the rotor failure through the fault response sub-module and trigger the emergency lift distribution, rely on the emergency lift of the lift wing to maintain the body balance, avoid the crash risk caused by the rotor failure, and realize the flight reliability improvement.

[0005] The application provides the following technical scheme to solve the above technical problems: a multi-rotor unmanned aerial vehicle tilt lift device, which comprises a lift wing device and an unmanned aerial vehicle fixing device;

[0006] The lift wing device comprises a frame connecting structure and a lift wing structure, the frame connecting structure is designed as a hollow structure and is used for connecting the unmanned aerial vehicle fixing device and the lift wing structure, the lift wing structure is based on a low-speed airfoil, the chord of the lift wing structure forms a fixed installation angle with a horizontal reference plane of the unmanned aerial vehicle, and the surface of the lift wing structure is paved with a battery film;

[0007] The unmanned aerial vehicle fixing device comprises a fuselage fixing structure and a lift wing connecting structure, the fuselage fixing structure is made of an adjustable strip-shaped fabric or a rigid structure, and the lift wing connecting structure supports fixed or detachable connection;

[0008] The lift wing device is integrated with a lift demand calculation unit and a cooperative control unit, the lift demand calculation unit is used for receiving data and calculating a target lift distribution ratio of the lift wing and the rotor, and the cooperative control unit is used for generating a regulation and control instruction and performing a control action;

[0009] The unmanned aerial vehicle fixing device is integrated with a sensing data acquisition assembly, the sensing data acquisition assembly is used for acquiring flight state, environment and battery related data of the unmanned aerial vehicle, the sensing data acquisition assembly is in communication connection with the lift demand calculation unit, and the cooperative control unit is in communication connection with a flight control system of the unmanned aerial vehicle.

[0010] Further, the sensing data acquisition assembly comprises a speed sensor, an attitude sensor, a wind speed and direction sensor and a battery capacity detection module, the speed sensor is used for acquiring real-time flight speed of the unmanned aerial vehicle , the attitude sensor is used for acquiring attitude data of a pitch angle , a roll angle of the unmanned aerial vehicle, the wind speed and direction sensor is used for acquiring wind speed and wind direction data in a flight environment, the battery capacity detection module is used for acquiring remaining battery capacity data of the unmanned aerial vehicle, the sensing data acquisition assembly is also used for calculating a flight environment disturbance coefficient , and the data acquired by the sensors and the detection module and the calculated are transmitted to the lift demand calculation unit through a wired or wireless communication link.

[0011] Further, the calculation formula of the flight environment disturbance coefficient is as follows: wherein is a wind speed influence weight, is a pitch angle influence weight, is a roll angle influence weight, is a power influence weight, each weight is obtained through flight test of the unmanned aerial vehicle in different environments, and is determined through iterative optimization based on a flight stability error minimization principle and a gradient descent method.

[0012] Further, the lift demand calculation unit is internally provided with a task mode parameter library, the parameter library contains lift distribution reference parameters corresponding to three basic task modes of cruising, accelerating and wind resistance, wherein the lift wing reference lift proportion in the cruising mode is , the accelerating mode is , and the wind resistance mode is The lift demand calculation unit receives the flight environment disturbance coefficient transmitted by the perception data acquisition component, matches the task mode corresponding to the current flight scene, corrects the reference parameters in combination with , and calculates the target lift distribution proportion of the lift wing and the rotor .

[0013] Further, the calculation formula of the target lift distribution proportion of the lift wing and the rotor is as follows: , wherein is the reference lift proportion corresponding to the current task mode, is the rated maximum flight speed of the unmanned aerial vehicle, is an environmental disturbance correction coefficient, is a speed correction coefficient, and are determined through multiple groups of flight experiments of the unmanned aerial vehicle under rated load, the experiments cover different and intervals, and are obtained through comparison of energy consumption data under different combination of the coefficients based on the principle of highest lift utilization efficiency.

[0014] Further, the cooperative control unit includes an instruction generation module and an execution control module, the instruction generation module generates a rotor speed adjustment instruction and a battery thin film power supply control instruction according to the lift distribution proportion output by the lift demand calculation unit, the execution control module sends the rotor speed adjustment instruction to the flight control system of the unmanned aerial vehicle through a communication interface, simultaneously connects the battery thin film on the surface of the lift wing structure through a power supply control line, adjusts the power supply power of the battery thin film according to the power supply control instruction , and the calculation formula of the power supply power is as follows: , wherein is the rated maximum output power of the battery thin film, is a lift proportion correlation coefficient, is a power correlation coefficient. With The power supply test under different With Based on the balance principle of the effect of prolonging the endurance of the unmanned aerial vehicle and the discharge efficiency of the battery film, the battery film is obtained through multiple comparison experiments.

[0015] Further, the battery film pasted on the surface of the lift wing structure is a flexible thin film battery, the battery film is fixed by conductive glue and the surface of the lift wing structure, the output end of the battery film is connected with the execution control module of the cooperative control unit through a special wiring terminal, and an anti-short circuit protection assembly is arranged at the wiring terminal.

[0016] Further, the detachable connection of the lift wing connecting structure adopts a combination structure of screws and quick buckles, the screws are used to realize the rigid positioning of the lift wing device and the unmanned aerial vehicle fixing device, the quick buckles are used to realize the quick locking and separation of the two, the quick buckles include a fixed seat and a movable clamping hook, the fixed seat is connected with the lift wing device, the movable clamping hook is connected with the unmanned aerial vehicle fixing device, and the movable clamping hook can rotate around a fixed shaft to realize clamping or separation with the fixed seat.

[0017] Further, the cooperative control unit further includes a fault response sub-module, the fault response sub-module receives the rotor speed data transmitted by the perception data acquisition component, and when it is detected that the speed of a certain rotor decreases by more than a preset threshold value under normal working conditions, it is determined that the rotor is faulty, at this time the fault response sub-module triggers an emergency lift distribution strategy, sends an adjustment signal to the instruction generation module, increases the lift ratio of the lift wing, and generates an attitude stabilization instruction and sends it to the unmanned aerial vehicle flight control system.

[0018] Further, the adjustable band fabric of the fuselage fixing structure is made of high-strength nylon material, the surface of the fabric is provided with anti-skid lines, one end of the band fabric is fixedly connected with the unmanned aerial vehicle fixing device, and the other end is provided with an adjusting buckle and a locking mechanism, the adjusting buckle is used to adjust the length of the band fabric, and the band fabric is adapted to unmanned aerial vehicles of different sizes, and the locking mechanism fixes the band fabric after the length adjustment is completed.

[0019] Compared with the prior art, the multi-rotor unmanned aerial vehicle tilt lift device has the following beneficial effects:

[0020] The application reduces the rotor energy consumption through the dynamic optimization of the aerodynamic lift assistance of the lift wing structure and the intelligent control algorithm, cooperates with the battery film auxiliary power supply, realizes the endurance capacity improvement, captures the environmental airflow changes in real time through the sensing data acquisition component, adjusts the lift distribution and the rotor speed quickly through the algorithm, enhances the fuselage stability in combination with the aerodynamic characteristics of the lift wing, realizes the flight speed improvement and the wind resistance performance optimization, detects the rotor failure through the fault response sub-module and triggers the emergency lift distribution, maintains the fuselage balance by the emergency lift of the lift wing, avoids the crash risk caused by the rotor failure, and realizes the flight reliability improvement.

[0021] Other advantages, objects, and features of the application will be understood in view of the following detailed description and will be apparent to those skilled in the art from the teachings of the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0023] Figure 1 It is a structural schematic diagram of a multi-rotor unmanned aerial vehicle tilt lift device.

[0024] Figure 2 It is a schematic diagram of the connection of each unit of a multi-rotor unmanned aerial vehicle tilt lift device.

[0025] Figure 3 It is a running control flowchart of a multi-rotor unmanned aerial vehicle tilt lift device.

[0026] In the figure: 1, lift wing device; 2, frame connection structure; 3, unmanned aerial vehicle fixing device. DETAILED DESCRIPTION

[0027] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the specific embodiments, structures, features and effects according to the present application will be described in detail below in combination with the drawings and preferred embodiments.

[0028] Embodiment one

[0029] This embodiment discloses the complete structure connection system of the multi-rotor unmanned aerial vehicle tilt lift device and the cooperative working mechanism of each component, referring to Figure 1 and Figure 2The device is efficiently adapted to the multi-rotor unmanned aerial vehicle through modular design, and has high installation convenience and running stability, and meets the lift assistance, data collection and safety protection requirements in different operation scenes.

[0030] The lift wing device and the unmanned aerial vehicle fixing device are core components of the device, and are detachably and rigidly connected through a lift wing connecting structure. The connecting structure adopts a double fixing design of "screw positioning + quick buckle locking". Four evenly distributed threaded holes are preset on a frame connecting structure of the lift wing device, and the same size through holes are provided on a main frame of the unmanned aerial vehicle fixing device. High-strength alloy steel screws are selected to pass through the through holes and the threaded holes and are screwed, and after being screwed, the screws are locked by lock nuts to avoid loosening caused by flight vibration and to realize accurate positioning. Two groups of quick buckles are arranged on the corresponding sides of the frame connecting structure and the main frame of the unmanned aerial vehicle fixing device. The buckle fixing seats are welded to the sides of the frame connecting structure, and the movable clamping hooks are arranged on the unmanned aerial vehicle fixing device through a rotating shaft. The quick locking is completed by rotating the movable clamping hooks, and the device can be separated by pressing the buckle unlocking keys. No additional tools are needed, and the device and the unmanned aerial vehicle can be disassembled and assembled within 3 minutes.

[0031] This connection mode not only ensures the structural stability, but also provides convenience for subsequent rapid deployment and maintenance of the device. The frame connecting structure is integrally formed by using a hollow carbon fiber material, and the hollow area is accurately corresponding to the position of the unmanned aerial vehicle rotor. The purpose is to ensure the connection stability while reducing the blockage of the downwash air flow of the rotor, and to lay a structural foundation for the subsequent lift wing and rotor to generate lift together.

[0032] The frame connecting structure is the core support inside the lift wing device, and wing-shaped mounting seats are symmetrically arranged at both ends of the frame connecting structure. Positioning pin holes and bolt holes are opened on the surface of the mounting seat, and positioning pins and threaded holes are arranged at the root of the lift wing structure. During installation, the positioning pins are first inserted into the positioning pin holes for preliminary positioning, and then the lift wing structure is fixed to the mounting seat by using four groups of titanium alloy bolts to ensure that there is no shaking.

[0033] The lift wing structure is composed of two low-speed airfoils symmetrically arranged on both sides of the unmanned aerial vehicle body. The chord and the horizontal reference plane of the unmanned aerial vehicle are fixedly installed at a fixed installation angle. After installation, the installation angle deviation of the two sides of the lift wing is less than 0.5°, which ensures that the lift of both sides is balanced during flight. When the unmanned aerial vehicle flies forward, the airflow and the lift wing structure form relative motion. Because the lift wing adopts a low-speed airfoil and has a fixed installation angle, the airflow forms a pressure difference on the upper and lower surfaces of the wing, generating upward aerodynamic lift. This lift cooperates with the rotor lift to bear the weight of the whole unmanned aerial vehicle, reducing the load of the rotor lift. With the increase of the forward flight speed, the aerodynamic lift increases, and the rotor speed can be correspondingly reduced, reducing energy consumption and prolonging the endurance. This lift generation and load sharing principle is realized through accurate installation of the lift wing structure and reasonable design of the frame connecting structure.

[0034] The middle of the frame connection structure is reserved with a rectangular integrated cavity, the lift demand calculation unit and the cooperative control unit are fixed in the integrated cavity by heat-conducting silica gel pads, and the two are connected by 20-pin flat cables to realize data interaction. The sidewall of the integrated cavity is provided with honeycomb-shaped heat dissipation holes, the direction of the heat dissipation holes avoids the downwash airflow of the rotor, and dust accumulation is prevented to affect heat dissipation.

[0035] The upper surface of the lift wing structure is uniformly coated with a flexible thin film battery by conductive glue, the thickness of the conductive glue is 0.1 mm, the battery thin film is tightly attached to the wing surface without air bubbles, the output end of the battery thin film is connected to a special terminal by an FPC flexible flat cable, the terminal is designed in an IP67 waterproof level buckle type, is fixed to the side of the frame connection structure, and is internally integrated with a self-resetting fuse. When the current of the line exceeds the threshold, the self-resetting fuse is automatically disconnected to realize short circuit protection. The other end of the terminal is connected to the execution control module of the cooperative control unit by a lead wire, forming a complete power supply link. This integrated connection mode enables efficient cooperation between the lift demand calculation unit, the cooperative control unit and the battery thin film. The lift demand calculation unit can send instructions to the cooperative control unit according to the subsequent collected flight data, and the cooperative control unit can control the power supply state of the battery thin film to provide auxiliary power for the unmanned aerial vehicle, further optimizing the endurance.

[0036] The body fixing structure of the unmanned aerial vehicle fixing device is made of three high-strength nylon belt fabrics, the surface of the fabric is pressed with diamond-shaped anti-slip patterns to increase the friction with the body of the unmanned aerial vehicle, one end of each belt fabric is fixed to the main frame of the unmanned aerial vehicle fixing device by high-frequency welding, and the other end is provided with a gear type adjusting buckle and a ratchet type locking mechanism. The gear of the adjusting buckle is engaged with the fabric teeth, and the effective length of the fabric can be changed by rotating the adjusting buckle to adapt to unmanned aerial vehicles of different diameters. The pawl of the locking mechanism is unidirectionally engaged with the gear of the adjusting buckle, and the pawl is automatically clamped to the gear after adjustment to prevent loosening. When unlocked, the length can be adjusted by pulling the pawl wrench. The body fixing structure is also provided with a silica gel buffer pad which is attached to the inside of the contact between the fabric and the body to avoid scratching the body and absorb flight vibration.

[0037] This body adaptation and connection design ensures the stability of the unmanned aerial vehicle during flight, avoids affecting the stability of the aerodynamic lift of the lift wing due to body shaking, and also provides a stable body environment for accurate data collection of the sensing data collection assembly.

[0038] The sensing data acquisition component includes a speed sensor, an attitude sensor, a wind speed and direction sensor, and a battery power detection module. Each sensor is mounted on a different position on the main frame of the drone's mounting device via an aluminum alloy bracket: the speed sensor and attitude sensor are integrated into the same bracket and mounted at the front of the frame, facing the flight direction to ensure that the speed sensor accurately captures airflow speed; the wind speed and direction sensor is mounted separately on a raised bracket at the top of the frame, with the bracket 10cm higher than the highest point of the drone to avoid the drone from blocking the airflow; the battery power detection module is connected to the drone's battery power interface via a DC plug to collect battery voltage and current data in real time.

[0039] All sensor data harnesses converge through internal wiring channels within the frame, with hook-and-loop fasteners lining the channels. The harnesses are secured with hook-and-loop fasteners to prevent wear, and the ends of the harnesses connect to the lift demand calculation unit via waterproof aviation connectors. During flight, each sensor operates continuously at a frequency of 10Hz. The speed sensor collects airflow velocity using a hot-wire anemometer and converts it into flight speed. The attitude sensor collects pitch and roll angle data using a combination of a three-axis gyroscope and a three-axis accelerometer, and then performs Kalman filtering to reduce noise. The wind speed and direction sensor calculates wind speed based on the wind cup rotation speed and identifies wind direction based on the wind vane deflection angle. The battery power detection module collects battery circuit current and voltage using a sampling resistor to calculate remaining battery power. The raw data is converted from analog to digital and transmitted to the lift demand calculation unit via RS485 protocol. CRC checks are used during transmission to prevent data loss errors. This data acquisition and transmission process provides accurate foundational data for the subsequent lift distribution ratio calculation by the lift demand calculation unit.

[0040] After receiving and processing sensor data, the lift demand calculation unit matches the flight scenario with mission modes such as cruise, acceleration, and wind resistance, calculates the target lift distribution ratio, and transmits it to the collaborative control unit. The collaborative control unit's command generation module generates rotor speed adjustment commands and battery film power supply commands based on this ratio. The rotor speed adjustment command is sent to the UAV flight control system via the UART interface. The flight control system adjusts the PWM signals of each rotor motor to change its speed. The battery film power supply command is sent to the execution control module via the I2C interface. The execution control module adjusts the conduction level of the MOSFETs to control the battery film's output power. Simultaneously, the collaborative control unit receives rotor speed data and battery film output current data from the flight control system in real time, dynamically fine-tuning the commands to ensure that the lift distribution and power supply strategy meet actual requirements.

[0041] The fault response submodule of the collaborative control unit continuously receives rotor speed data transmitted by the sensing data acquisition component and compares it with the preset normal speed range. When the speed of a rotor is lower than the normal range and the drop exceeds the threshold, it is determined to be a rotor fault and immediately triggers an emergency strategy: sending an emergency lift distribution signal to the command generation module to increase the lift ratio of the lifting wing, generating an attitude stabilization command to send to the flight control system to control the non-faulty rotor to maintain a high speed, adjusting the fuselage pitch angle to 5° to reduce drag, and controlling the battery film to supply power at maximum output power, so that the UAV can maintain balance by relying on the aerodynamic lift of the lifting wing, descend smoothly and land, and avoid crashing. This series of intelligent control and fault emergency mechanisms are realized through the close connection and data interaction of various components, ensuring that the device can operate stably under various operating conditions.

[0042] In summary, this embodiment, by detailing the connection methods of each structure in the tilt lift device of a multi-rotor UAV, clearly demonstrates the complete logic of the device from structural assembly to functional realization. The modular design of each component not only ensures convenient installation and adaptability but also, through precise structural fit and data interaction, realizes functions such as coordinated lift generation, real-time data acquisition, intelligent control, and emergency fault response. This provides a reliable technical solution for improving the endurance, enhancing flight stability, and ensuring safety of multi-rotor UAVs, effectively meeting the usage requirements in different operational scenarios.

[0043] Example 2

[0044] This embodiment details the complete control process of the tilt lift device of a multi-rotor UAV from startup preparation to operation completion. (See also...) Figure 1 , Figure 2 and Figure 3 It covers all aspects, including device installation, system initialization, data acquisition, lift calculation, command execution, fault handling, and data storage, to ensure that the device and the UAV operate in a coordinated and efficient manner and meet the stable flight requirements in different operational scenarios.

[0045] For device installation and system initialization, the operator first selects the appropriate lifting wing device and drone fixing device according to the drone model. The main frame of the drone fixing device is placed under the drone fuselage. The length of the three strips of fabric is adjusted so that the fabric wraps around the fuselage. The adjusting buckle is tightened until the buffer pad fits tightly against the fuselage. The ratchet wrench of the locking mechanism is then used to complete the fixation. Next, the lifting wing device frame connecting structure is aligned with the drone fixing device. The positioning pin is inserted, the four sets of screws are tightened, and the anti-loosening nut is installed. The quick-release buckle is rotated to lock the device in place. Finally, the symmetry of the lifting wing structure and the firmness of the fuselage fixation are checked to ensure that there are no loose parts.

[0046] Then connect the circuits of each electronic component: insert the aviation plug of the sensing data acquisition component into the corresponding interface of the lift demand calculation unit, connect the battery film terminal to the collaborative control unit, connect the communication interface of the collaborative control unit to the UAV flight control system through the data cable, and insert the DC plug of the battery power detection module into the UAV battery power supply interface.

[0047] After the wiring is connected and the drone power is turned on, the device is powered on, and the lift demand calculation unit and the cooperative control unit automatically start and enter the initialization program. During the initialization phase, the cooperative control unit first performs a self-test on each sensor, sends test commands to the sensors and receives feedback. If there is no feedback, the indicator light will alarm. Then, it checks the output voltage of the battery film to confirm that the power supply link is normal. Finally, it establishes a communication handshake with the flight control system to confirm support for external command control. The lift demand calculation unit loads the built-in mission mode parameter library (including lift distribution reference parameters for cruise, acceleration, and wind resistance modes) and sensor calibration parameters. After completing the initialization, the cooperative control unit sends a "ready" signal to the flight control system, and the drone enters the ready-to-fly state.

[0048] Real-time flight data acquisition and preprocessing are conducted. After the UAV takes off, the sensing data acquisition component continuously collects data at a frequency of 10Hz: the speed sensor collects real-time flight speed. The attitude sensor uses pitch angle Roll angle Wind speed and direction sensors collect ambient wind speed With wind direction The battery power detection module collects the remaining battery power. The data is transmitted in real time to the temporary buffer area of ​​the lift demand calculation unit.

[0049] The lift demand calculation unit preprocesses the data to remove outliers (such as instantaneous pulse data) and then calculates the flight environment interference coefficient according to the formula. The formula is: ,in, The influence of wind speed on weight, To influence the weight of pitch angle, The roll angle affects the weight. The weights for the impact of power consumption are obtained through flight tests of the UAV in different environments. Based on the principle of minimizing flight stability error, they are determined through iterative optimization using the gradient descent method to accurately characterize the degree of interference in the current environment. Subsequently, the lift demand calculation unit processes the preprocessed data and... A CRC check is performed. Once the check passes, the data is transmitted to the collaborative control unit via RS485 protocol. If the data is lost, it is automatically retransmitted to ensure that the collaborative control unit obtains complete and accurate real-time data.

[0050] After completing mission mode matching and lift distribution ratio calculation, the cooperative control unit receives the data and adjusts it according to flight speed. Wind speed Determine the flight scenario In the low speed range and When the speed is low, match cruise mode. Switch to acceleration mode when continuously increasing beyond the cruise speed threshold. When the wind resistance threshold is exceeded, the wind resistance mode is automatically switched. When switching modes, a mode signal is sent to the lift demand calculation unit to trigger the switching of the lift distribution reference parameters.

[0051] The lift demand calculation unit extracts the corresponding lift allocation reference parameters according to the matched task mode. The cruise mode is Acceleration mode is Wind-resistant mode is Combined with environmental interference coefficient With flight speed Correct the baseline parameters and calculate the target lift distribution ratio. The formula is: ,in, The rated maximum flight speed of the drone, For environmental interference correction coefficient, For speed correction factor, and The optimal lift demand calculation unit was determined through multiple flight experiments of UAVs under rated load, based on the principle of maximizing lift utilization efficiency, and by comparing energy consumption data under different coefficient combinations. After calculation, the lift demand calculation unit will... The data is transmitted to the coordination control unit to provide a basis for generating subsequent control commands.

[0052] The system generates and executes control commands. The command generation module of the cooperative control unit allocates lift according to the target lift ratio. Based on the current payload of the UAV, the required lift of the rotor is calculated, and a rotor speed adjustment command is generated and sent to the UAV flight control system via the UART interface. The flight control system adjusts the PWM duty cycle of each rotor motor to change the speed. The flight control system feeds back the adjusted rotor speed data to the collaborative control unit in real time. The collaborative control unit fine-tunes the speed according to the feedback command to ensure that the rotor lift is matched with the aerodynamic lift of the lifting wing and achieves overall lift balance.

[0053] Meanwhile, the collaborative control unit executes the control module according to With remaining battery power Calculate the target power supply of the battery thin film. The formula is: ,in, For the rated maximum output power of the battery film, For the lift ratio correlation coefficient, The correlation coefficient for electricity volume. and Through battery thin film in different and The power supply test determined the optimal solution based on the principle of balancing the extended drone flight time with the battery film discharge efficiency, and through optimization by comparing multiple sets of experiments. The execution control module then proceeds according to the calculated... The on-time of the MOSFET is adjusted to control the output current of the battery film and achieve precise power supply. At the same time, the output voltage and current data of the battery film are collected in real time to calculate the actual power supply and compare it with the target power. If the deviation exceeds 5%, the on-time of the MOSFET is adjusted until the actual power matches the target power.

[0054] Fault detection and emergency handling are implemented. The fault response submodule of the collaborative control unit receives rotor speed data transmitted by the sensing data acquisition component at a frequency of 5Hz, compares it with the preset normal speed range, and calculates the speed drop. ( =Normal speed - Actual speed). When a certain rotor... If the value exceeds a preset threshold, it is determined to be a rotor malfunction, and an emergency lift distribution strategy is immediately triggered: an emergency signal is sent to the command generation module, which then recalculates the lift distribution ratio. The emergency threshold is raised; an attitude stabilization command is generated and sent to the flight control system to control the UAV to adjust the pitch angle to 5° and maintain the roll angle at 0° to reduce airflow interference; an emergency power supply command is sent to the execution control module to control the battery film to... Output power to ensure electrical energy supply.

[0055] After the emergency strategy is triggered, the cooperative control unit continuously receives flight attitude data fed back by the flight control system. If the pitch angle or roll angle deviation exceeds 3°, an attitude correction command is generated and sent to the flight control system to adjust the speed of the non-faulty rotors to correct the attitude. The descent speed threshold is calculated based on the current altitude, and the UAV is controlled to descend slowly at a speed lower than the threshold. When the altitude drops to the safety threshold, the rotor speed is controlled to gradually decrease until the UAV lands smoothly.

[0056] After completing the operation and data storage, the operator guides the drone to land in the designated area, shuts off the drone's power, and then powers on the device. The collaborative control unit stops all command output, and the battery film stops supplying power. The lift demand calculation unit and the collaborative control unit's built-in storage module automatically store all data from this operation, including raw sensor data, lift distribution ratio calculation results, command execution records, and fault logs.

[0057] Operators can export data via the USB interface to the collaborative control unit for subsequent flight performance analysis, fault tracing, and parameter optimization. Afterwards, operators press the quick-release button on the lifting wing connection structure to disengage, unscrew the anti-loosening nut and screws, separate the lifting wing device from the UAV mounting device, operate the ratchet wrench on the fuselage mounting structure, adjust the adjusting buckle to loosen the fabric strip, remove the UAV mounting device, inspect the device's appearance, clean the frame's heat dissipation holes and lifting wing surface dust, and check the battery film and sensor wiring status to ensure the device is functioning correctly before next use.

[0058] In summary, this embodiment details the operation and control process of the tilt lift device for multi-rotor UAVs step by step. Each step in the process is closely linked. Data acquisition provides the basis for subsequent calculations, lift distribution calculation guides the execution of instructions, emergency fault handling ensures flight safety, and data storage provides support for subsequent optimization. The overall process is logically clear and the operation is specific, ensuring that the device can operate stably and efficiently in coordination with the UAV, fully leveraging its functions of lift assistance, endurance enhancement, and safety assurance. It is applicable to various multi-rotor UAV operation scenarios.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A tilting lift device for a multi-rotor unmanned aerial vehicle, characterized in that, The device includes a lifting wing assembly and a drone fixing device; The lifting wing device includes a frame connection structure and a lifting wing structure. The frame connection structure has a hollow design and is used to connect the UAV fixing device and the lifting wing structure. The lifting wing structure is based on a low-speed airfoil, and its chord forms a fixed installation angle with the UAV's horizontal reference plane. A battery film is applied to the surface of the lifting wing structure. The UAV fixing device includes a fuselage fixing structure and a lifting wing connecting structure. The fuselage fixing structure adopts an adjustable strip fabric or a rigid structure, and the lifting wing connecting structure supports fixed or detachable connection. The lifting wing device integrates a lift demand calculation unit and a collaborative control unit. The lift demand calculation unit is used to receive data and calculate the target lift distribution ratio between the lifting wing and the rotor. The collaborative control unit is used to generate control commands and execute control actions. The UAV fixed device integrates a sensing data acquisition component, which is used to collect data on the UAV's flight status, environment, and battery. The sensing data acquisition component is communicatively connected to the lift demand calculation unit, and the collaborative control unit is communicatively connected to the UAV flight control system.

2. The tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The sensing data acquisition component includes a speed sensor, an attitude sensor, a wind speed and direction sensor, and a battery power detection module. The speed sensor is used to collect the real-time flight speed of the UAV. The attitude sensor is used to collect the pitch angle of the UAV. Roll angle The attitude data, the wind speed and direction sensor is used to collect wind speed in the flight environment. With wind direction The data, the battery power detection module is used to collect the remaining battery power of the drone. The data acquisition component is also used to calculate the flight environment interference coefficient. The data collected and calculated by each of the sensors and detection modules The data is transmitted to the lift demand calculation unit via a wired or wireless communication link.

3. The tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 2, characterized in that, The flight environment interference coefficient The formula for calculation is: ,in The influence of wind speed on weight, To influence the weight of pitch angle, The roll angle affects the weight. The weighting is determined by the amount of electricity consumed.

4. The tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The lift demand calculation unit has a built-in mission mode parameter library, which includes lift allocation benchmark parameters corresponding to three basic mission modes: cruise, acceleration, and wind resistance. The benchmark lift percentage for the lifting wing in cruise mode is... Acceleration mode is Wind-resistant mode is The lift demand calculation unit receives the flight environment interference coefficient transmitted by the sensing data acquisition component. Then, match the mission mode corresponding to the current flight scenario, and combine it with... The baseline parameters are corrected, and the target lift distribution ratio between the lifting wing and the rotor is calculated. .

5. The tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 4, characterized in that, The target lift distribution ratio between the lifting wing and the rotor The formula for calculation is: ,in This represents the baseline lift percentage corresponding to the current mission mode. The rated maximum flight speed of the drone, For environmental interference correction coefficient, This is the speed correction factor.

6. The tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The collaborative control unit includes an instruction generation module and an execution control module. The instruction generation module calculates the lift distribution ratio output by the lift demand calculation unit. The system generates rotor speed adjustment commands and battery film power supply control commands. The execution control module sends the rotor speed adjustment commands to the UAV flight control system via a communication interface, and simultaneously connects to the battery film on the surface of the lifting wing structure via a power supply control line, adjusting the power supply power of the battery film according to the power supply control commands. .

7. The tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The battery film attached to the surface of the lifting wing structure is a flexible thin-film battery. The battery film is bonded and fixed to the surface of the lifting wing structure with conductive adhesive. The output end of the battery film is connected to the execution control module of the collaborative control unit through a dedicated terminal block. The terminal block is equipped with a short-circuit protection component.

8. The tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The detachable connection of the lifting wing connection structure adopts a combination of screws and quick-release buckles. The quick-release buckle includes a fixed base and a movable hook. The fixed base is connected to the lifting wing device, and the movable hook is connected to the UAV fixing device. The movable hook can rotate around a fixed axis.

9. A tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 6, characterized in that, The collaborative control unit also includes a fault response submodule. The fault response submodule receives rotor speed data transmitted by the sensing data acquisition component. When it detects that the rotor speed has dropped by more than a preset threshold compared to normal operating conditions, it is determined to be a rotor fault. At this time, the fault response submodule triggers an emergency lift distribution strategy, sends an adjustment signal to the command generation module to increase the lift ratio of the lifting wing, and generates an attitude stabilization command to send to the UAV flight control system.

10. A tilting lift device for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The adjustable strip fabric of the fuselage fixing structure is made of high-strength nylon material. The surface of the strip fabric has anti-slip texture. One end of the strip fabric is fixedly connected to the UAV fixing device, and the other end is provided with an adjustment buckle and a locking mechanism. The adjustment buckle is used to adjust the length of the strip fabric, and the locking mechanism fixes the strip fabric after the length adjustment is completed.

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