A UAV with multiple protection devices and control method thereof

Abstract

The present invention discloses a drone with multiple protective devices and a control method thereof, and belongs to the technical field of drones. The drone with multiple protective devices includes multiple buffer energy absorption devices, airbag devices and parachute devices. Each connection between a rotor and a fuselage is provided with a buffer energy absorption device. A plurality of buffer energy absorption hollow structures are provided in the buffer energy absorption device. The two ends of the buffer energy absorption device are respectively connected to the rotor and the fuselage. The buffer energy absorption device is configured to deform first when the drone is impacted. The airbag device includes at least one airbag and an inflatable structure. The inflatable structure is configured to inflate the airbag so that the airbag expands and wraps the mission equipment of the drone. The parachute device includes at least one parachute bag and an opening structure. The opening structure is configured as an ejection parachute bag. The present invention adopts a triple protective device of a parachute device, an airbag device and a buffer energy absorption device to provide multi-stage and multi-faceted protection for the drone, and has high safety.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle with multiple protection devices and a control method thereof. Background Art

[0002] Drones are a new type of aircraft that can carry some professional equipment to perform some special operations. Due to their wide application, multi-rotor drones are prone to malfunctions and accidents during use, and they need to be protected in a targeted manner to reduce losses.

[0003] The existing multi-rotor drones have a single safety protection device, with limited functions and safety protection effects, and are large in size and weight. For example, the triggering devices of existing airbags and parachutes are pyrotechnics, which require special pyrotechnic transport vehicles for transportation, and are inconvenient to carry and assemble; the gas generated by the combustion of pyrotechnics is hot and easy to damage the equipment, and the equipment can only be disassembled after the heat dissipates, which is inconvenient to operate. Furthermore, the parachute can only reduce the speed of the drone to 5-6m / s at most, and the landing speed is still relatively fast, which will still cause significant damage to the structure and equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a drone with multiple protection devices and a control method thereof, which has good safety protection effect and can better protect the drone.

[0005] In order to achieve the above objectives, the following technical solutions are provided:

[0006] A drone with multiple protection devices includes a plurality of buffering energy absorbing devices, an airbag device and a parachute device. The buffering energy absorbing device is provided at the connection between each rotor and a fuselage. A plurality of buffering energy absorbing hollow structures are provided in the buffering energy absorbing device. The two ends of the buffering energy absorbing device are respectively connected to the rotor and the fuselage. The buffering energy absorbing device is configured to deform first when the drone is impacted. The airbag device includes at least one airbag and an inflation structure. The inflation structure is configured to inflate the airbag so that the airbag expands and wraps the mission equipment of the drone. The parachute device includes at least one parachute bag and a parachute opening structure. The parachute opening structure is configured to eject the parachute bag.

[0007] Furthermore, the buffering energy absorbing device includes a buffering energy absorbing structure, which includes a substrate, on which a plurality of first through holes are opened along a first direction of the substrate, and a plurality of second through holes are opened along a second direction of the substrate, and the first through holes and the corresponding second through holes intersect to form the buffering energy absorbing hollow structure.

[0008] Furthermore, the second direction is perpendicular to the first direction, the first through hole and the second through hole are both hexagonal prism holes, and the cross-sectional areas of the two are the same, the second through hole vertically passes through the two opposite side walls of the corresponding first through hole, and the axis of the second through hole intersects with the axis of the corresponding first through hole.

[0009] Furthermore, the buffering energy absorbing device also includes a shell, the buffering energy absorbing structure is filled in the shell, and two ends of the shell are respectively connected to the rotor and the fuselage.

[0010] Furthermore, the shell and the buffer energy absorption structure are integrally formed by 3D printing.

[0011] Furthermore, the inflation structure includes a gas cylinder and a trigger assembly, and the trigger assembly is configured to open the gas cylinder to allow the high-pressure gas in the gas cylinder to enter the airbag.

[0012] Furthermore, the trigger assembly includes a driving mechanism and a ejector pin, and the driving mechanism is configured to drive the ejector pin to pierce the gas cylinder to discharge the high-pressure gas.

[0013] Furthermore, the parachute opening structure is an inflation device, and the parachute opening structure can eject the parachute bag by inflation.

[0014] Furthermore, the parachute device and the airbag device are disposed at opposite ends of the fuselage.

[0015] A control method for a drone with multiple protection devices, based on the drone with multiple protection devices as described above, comprises the following steps:

[0016] S1. When the drone flies abnormally, the parachute device's opening structure ejects the parachute bag open;

[0017] S2. When the absolute altitude of the UAV is lower than the set altitude, the inflation structure of the airbag device inflates the airbag so that the airbag expands and wraps the mission equipment of the UAV;

[0018] S3. When the UAV lands, the airbag isolates the mission equipment from ground contact objects, and the buffering energy absorbing structure of the buffering energy absorbing device first deforms and collapses to absorb energy.

[0019] Compared with the prior art, in the drone and control method thereof provided by the present invention with multiple protective devices, if an accident occurs to the drone, the parachute device is first triggered to open and the parachute bag is ejected to reduce the falling speed of the drone, but the buffering effect of the parachute device is limited, the falling speed of the drone is still relatively fast, and there is still considerable impact energy when landing and touching the ground. When the drone falls to a certain height (such as 10m) from the ground, the airbag device is further triggered to open, and the airbag expands and wraps the mission equipment of the drone to protect the mission equipment when landing. At the same time, the buffering energy absorption device connected between the rotor and the fuselage is deformed first. Due to the presence of several buffering energy absorption hollow structures, the fracture area of ​​the buffering energy absorption device is effectively increased, the deformation amount is large, the deformation time is long, and most of the impact energy is absorbed by its own energy absorption and collapse, reducing the impact energy borne by the rotor, fuselage and the entire equipment. The drone provided by the present invention has a triple protective device of a parachute device, an airbag device and a buffering energy absorption device, which provides multi-stage and multi-faceted protection for the drone and has high safety.

[0020] Furthermore, the buffering and energy-absorbing structure includes a base, and a plurality of first through holes and a plurality of second through holes penetrating the base are respectively opened along the first direction and the second direction of the base, and the second through holes and the first through holes cross and penetrate each other, thereby forming a plurality of buffering and energy-absorbing hollow structures of the same or different shapes in the base, which effectively reduces the weight of the structure, increases the inner surface area of ​​the base while ensuring the connection strength and rigidity between the rotor and the fuselage, and absorbs energy and collapses itself when subjected to the impact of landing, has a long deformation time, absorbs most of the impact energy, and has a significant protective effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the structure of a drone with multiple protection devices provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of a buffer energy absorption device provided in an embodiment of the present invention;

[0024] Figure 3 An axonometric diagram of a buffer energy absorption structure provided by an embodiment of the present invention;

[0025] Figure 4 A side view of a buffer energy absorption structure provided by an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of the assembly of the airbag device (airbag not inflated) and the mission equipment provided in an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the assembly of an airbag device (airbag inflation) and mission equipment provided in an embodiment of the present invention;

[0028] Figure 7 A partial schematic diagram of an airbag device (airbag not inflated) provided in an embodiment of the present invention;

[0029] Figure 8 A partial schematic diagram of an airbag device (airbag inflation) provided in an embodiment of the present invention;

[0030] Fig. 9 A schematic diagram of the structure of an ejector pin provided in an embodiment of the present invention;

[0031] Fig.10 A schematic structural diagram of a parachute device (not deployed) provided in an embodiment of the present invention.

[0032] Reference numerals:

[0033] 10- buffer energy absorption device;

[0034] 1-shell; 2-buffer energy absorption structure; 21-base; 22-first through hole; 23-second through hole;

[0035] 20- air bag device;

[0036] 3-airbag; 4-inflatable structure;

[0037] 41-gas cylinder; 42-trigger assembly; 43-mounting seat; 44-sealed box; 45-gas pipeline;

[0038] 411-Transition Department;

[0039] 421-driving mechanism; 4211-driving member; 4212-cam;

[0040] 422-thimble; 4221-needle; 4222-sealing ring;

[0041] 30-parachute device;

[0042] 5-parachute opening structure; 6-parachute compartment; 7-parachute compartment cover;

[0043] 40-rotor; 50-fuselage; 60-mission equipment. DETAILED DESCRIPTION

[0044] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] like Figure 1 As shown, this embodiment provides a drone with multiple protection devices, including multiple buffering and energy absorbing devices 10, airbag devices 20 and parachute devices 30. A buffering and energy absorbing device 10 is provided at the connection between each rotor 40 and the fuselage 50. Figure 2 The buffering energy absorbing device 10 includes a buffering energy absorbing structure 2, and a plurality of buffering energy absorbing hollow structures are arranged in the buffering energy absorbing structure 2. The buffering energy absorbing device 10 is a relatively weak component in the UAV, and is located at the end of the rotor 40. The force and torque it is subjected to are relatively large. Therefore, when the UAV is hit, the buffering energy absorbing device 10 is deformed first. At the same time, due to the presence of a plurality of buffering energy absorbing hollow structures, the fracture area of ​​the buffering energy absorbing device 10 is effectively increased, the deformation amount is large, the deformation time is long, and most of the impact energy can be absorbed by its own energy absorption and collapse. See Figure 5 The airbag device 20 includes at least one airbag 3 and an inflatable structure 4, wherein the inflatable structure 4 is configured to inflate the airbag 3 so that the airbag 3 expands and wraps the mission equipment 60 of the drone. Fig.10The parachute device 30 includes at least one parachute bag and a parachute opening structure 5, and the parachute opening structure 5 is configured as a launching parachute bag.

[0048] In actual use, if an accident occurs to the drone, the parachute device 30 is first triggered to open to reduce the falling speed of the drone, but the buffering effect of the parachute device 30 is limited, the falling speed of the drone is still relatively fast, and there is still considerable impact energy when landing and touching the ground. When the drone falls to a certain height from the ground (such as 10m), the airbag device 20 is further triggered to open, and the airbag 3 wraps the mission equipment 60 of the drone to protect the mission equipment 60 when landing. At the same time, the buffering energy absorption device 10 connected between the rotor 40 and the fuselage 50 absorbs energy and collapses autonomously after being impacted when landing, absorbing most of the impact energy and reducing the impact energy borne by the rotor 40, the fuselage 50 and the entire equipment. The drone provided in this embodiment has a triple protection device of a parachute device 30, an airbag device 20 and a buffering energy absorption device 10, which provides multi-stage and multi-faceted protection for the drone and has high safety.

[0049] In this embodiment, the parachute device 30 is connected to the upper part of the fuselage 50, and the airbag device 20 is connected to the lower part of the fuselage. The two protect the fuselage 20 and the entire equipment from the opposite ends of the fuselage 20. At the same time, the connection between the fuselage 20 and each rotor 40 is protected by a buffering energy absorption device 10. This triple protection device provides all-round protection for the drone.

[0050] Specifically, see Figure 2-Figure 4 The buffering energy absorbing structure 2 includes a base 21, and a plurality of buffering energy absorbing hollow structures are arranged in the base 21, which effectively reduces the weight of the structure. Under the premise of ensuring the connection strength and rigidity between the rotor 40 and the fuselage 50, the inner surface area of ​​the base 21 is increased, so that the buffering energy absorbing structure 2 has a large deformation when subjected to the impact of landing, thereby absorbing most of the impact energy, that is, reducing the impact energy of the rotor, fuselage and the entire equipment through its own energy absorption and collapse. Furthermore, a plurality of first through holes 22 penetrating the base 21 are provided along the first direction of the base 21, and a plurality of second through holes 23 penetrating the base 21 are provided along the second direction of the base 21. The second through holes 23 and the first through holes 22 intersect and penetrate each other, thereby forming a plurality of the above-mentioned buffering energy absorbing hollow structures of the same or different shapes in the base 21, thereby increasing the inner surface area of ​​the base 21.

[0051] Preferably, in order to increase the number of buffering and energy-absorbing hollow structures and thereby increase the buffering and energy-absorbing effect of the base 21, the second direction is perpendicular to the first direction, the first through hole 22 and the second through hole 23 are both hexagonal prism holes, and the cross-sectional areas of the two are the same, the second through hole 23 vertically passes through the two opposite side walls of the corresponding first through hole 22, the axis of the second through hole 23 intersects with the axis of the corresponding first through hole 22, and the shapes of the formed buffering and energy-absorbing hollow structures are made to be the same or similar as much as possible to ensure that the deformation capacity of each part of the base 21 is the same.

[0052] Furthermore, in order to reduce the entry of dust and other impurities into the buffering energy absorbing hollow structure of the buffering energy absorbing structure 2, prevent the buffering energy absorbing structure 2 from being corroded, and reduce the turbulence of the airflow passing through the buffering energy absorbing structure 2 during flight, which affects the flight of the UAV, the buffering energy absorbing device 10 also includes a shell 1, and the above-mentioned buffering energy absorbing structure 2 is filled in the shell 1, that is, the connection between the rotor 40 and the fuselage 50 is a sealed and smoothly transitioned structure. Preferably, in order to ensure the connection strength and facilitate processing, the shell 1 and the buffering energy absorbing structure 2 are integrally formed using 3D printing technology, and are manufactured using light-curing resin materials with good strength and rigidity. On the premise of meeting the connection strength, it has sufficient deformation ability, low cost, and is easy to replace. In this embodiment, the two ends of the buffering energy absorbing device 10 are respectively connected to the rotor 40 and the fuselage 50.

[0053] Optionally, the base 21 is cylindrical, and the first direction is the axial direction of the base 21, which is convenient for processing. A plurality of first through holes 22 are evenly distributed on the end face of the base 21, and the buffering energy absorption hollow structure is evenly distributed in the base 21 as much as possible, so as to ensure the overall strength and buffering energy absorption effect of the base 21. In this embodiment, the shell 1 includes a first shell 1 and a second shell 1, both of which are cylindrical. The base 21 is located in the shell 1, and basically includes a cylindrical first base 21 and a second base 21. The first base 21 is adapted to the first shell 1, and the second base 21 is adapted to the second shell 1. Of course, the shell 1 can be designed into a corresponding shape according to the specific connection situation, and the shape of the base 21 is also adaptively adjusted with the shell 1.

[0054] Further, see Figure 5-Figure 8 In the above-mentioned airbag device 20, the inflatable structure 4 includes a gas cylinder 41 and a trigger assembly 42. The gas cylinder 41 is installed on the mission equipment 60 and is filled with high-pressure gas. The trigger assembly 42 is configured to open the gas cylinder 41 so that the high-pressure gas in the gas cylinder 41 enters the airbag 3 to provide buffer protection when the drone lands. The use of the gas cylinder 41 to replace the original pyrotechnics is convenient for transportation and assembly, and avoids the damage of the high-temperature gas generated after the combustion of the pyrotechnics to the onboard mission equipment 60. Moreover, it only needs to replace the gas cylinder 41 for reuse, which is convenient for subsequent maintenance and saves maintenance costs.

[0055] Optionally, the trigger assembly 42 includes a mounting seat 43, a driving mechanism 421 and a pin 422. The mounting seat 43 is provided on the task equipment 60, the driving mechanism 421 and the pin 422 are both provided on the mounting seat 43, and the pin 422 is located between the driving mechanism 421 and the gas cylinder 41, and the driving mechanism 421 can drive the pin 422 to move toward the gas cylinder 41 to pierce the gas cylinder 41. Specifically, the driving mechanism 421 includes a driving member 4211 and a cam 4212, the driving member 4211 is provided on the mounting seat 43, and its output end is connected to the cam 4212. Due to the irregular circular profile of the cam 4212 itself, when the driving member 4211 drives the cam 4212 to rotate, it transitions from a smaller diameter portion to a larger diameter portion, thereby pushing the pin 422 to move toward the gas cylinder 41 until the pin 422 opens the gas cylinder 41. In this way, the gas cylinder 41 is effectively opened.

[0056] The driving member 4211 is preferably a steering gear. The steering gear can bear a certain load without a reducer, and can meet the need to drive the cam 4212 to rotate. At the same time, the steering gear can perform precise angle control, which is convenient for controlling the steering gear to drive the ejector pin 422 to open the gas cylinder 41. In other embodiments, the driving member 4211 can also be a cylinder or other device, which is not limited here.

[0057] Optionally, a reset device (not shown in the figure) is provided between the ejector pin 422 and the gas cylinder 41 to reset the ejector pin 422 after piercing the gas cylinder 41. The reset device is preferably a spring, which is convenient and reliable to use and has low cost. When the gas cylinder 41 is opened, the spring is compressed, and when the gas cylinder 41 is closed, the ejector pin 422 is reset under the action of the spring.

[0058] See also Fig. 9 Preferably, a needle 4221 is provided at one end of the ejector pin 422 facing the gas cylinder 41 , and the needle 4221 is a semi-cylindrical inclined opening structure, so that the ejector pin 422 can quickly and effectively pierce the gas cylinder 41 .

[0059] Furthermore, in order to prevent leakage of high-pressure gas and ensure rapid inflation, the first inflation component may optionally further include a hollow sealed box 44 and a gas pipeline 45. The sealed box 44 is arranged on the mounting seat 43, and the two are preferably integrally formed, that is, the sealed box 44 is a hollow convex block structure on the mounting seat 43. The sealed box 44 is provided with a first hole and a second hole. The end of the gas cylinder 41 to be pierced extends into the sealed box 44 through the first hole. The end of the ejector pin 422 used to pierce the gas cylinder 41 extends movably into the sealed box 44 through the second hole, and the reset device may be arranged in the sealed box 44 or outside the sealed box 44. One end of the gas pipeline 45 is connected to the airbag 3, and the other end is connected to the cavity of the sealed box 44. The high-pressure gas in the gas cylinder 41 enters the airbag 3 after passing through the cavity of the sealed box 44 and the gas pipeline 45.

[0060] In order to ensure the sealing between the body of the gas cylinder 41 and the sealed box 44, the portion of the body of the gas cylinder 41 that extends out of the sealed box 44 and close to the first hole is set as the transition portion 411, and the transition portion 411 is conical, that is, the outer diameter of each part of the transition portion 411 increases with the increase of the distance from the sealed box 44. In other embodiments, the transition portion 411 can also be set to a cylindrical shape, and the outer diameter is greater than the aperture of the first hole, which is not limited here. In addition, a first sealing device can also be set between the transition portion 411 and the sealed box 44.

[0061] In order to ensure the sealing between the ejector pin 422 and the sealed box 44, a sealing ring 4222 is provided on the ejector pin 422. The circumference of the sealing ring 4222 is in contact with the inner side of the sealed box 44. The sealing ring 4222 and the ejector pin 422 divide the sealed box 44 into two cavities to ensure the sealing of the cavity filled with high-pressure gas. The sealing ring 4222 is preferably a rubber ring with good sealing effect and low cost. In addition, a second sealing device can also be provided between the ejector pin 422 and the second hole.

[0062] Preferably, in this embodiment, the high pressure gas in the gas cylinder 41 is carbon dioxide. The advantage of using carbon dioxide is that it will not pollute the environment. Of course, in other embodiments, inert gas can also be used, and there is no excessive restriction here.

[0063] In order to enable the airbag 3 to provide effective protection for the mission equipment 60 when it lands, optionally, two airbags 3 are provided, and both are L-shaped airbags 3. The horizontal part and the vertical part of the L-shaped airbag 3 respectively protect the horizontal part and the vertical part of the mission equipment 60. Using two L-shaped airbags 3 can provide all-round protection for the mission equipment 60, thereby improving the safety of the mission equipment 60.

[0064] Further, see Fig.10 The parachute device 30 includes a parachute compartment 6, a parachute compartment cover 7, at least one parachute bag (not shown in the figure) and a parachute opening structure 5. The parachute compartment 6 is a conical cover structure with two ends open. The bottom end of the large-diameter parachute compartment 6 is fixed to the fuselage 50. The parachute compartment cover 7 is set on the upper end of the small-diameter parachute compartment 6 and is pressed and fixed with the bumper of the parachute compartment 6. When the parachute is not opened, the parachute compartment cover 7, the parachute compartment 6 and the fuselage 50 form a containing space. The parachute opening structure 5 and the parachute bag are both set in the containing space. The parachute bag is close to the parachute compartment cover 7, and the parachute opening structure 5 is located between the parachute compartment 6 and the fuselage 50. That is, under normal conditions, the parachute compartment 6 is covered with the parachute opening structure 5 to protect the parachute opening structure 5.

[0065] Optionally, the parachute opening structure 5 is an inflatable device that can inflate the parachute bag, so that the parachute bag breaks through the parachute compartment cover 7 and is ejected from the fuselage 50, thereby achieving parachute opening. It should be noted that the parachute opening structure 5 of this embodiment is the same as the inflatable structure 4 in the above-mentioned airbag device 20. After the parachute opening structure 5 is triggered, the parachute bag is ejected out of the parachute compartment 6 to achieve parachute opening. In this embodiment, 20 parachute bags are provided. The parachute bag is preferably round and has a good landing cushioning effect. The parachute bag is preferably made of lightweight fabric, and each parachute bag does not exceed 300g, which effectively reduces the weight of the entire structure.

[0066] This embodiment also provides a control method for a drone with multiple protection devices, using the above-mentioned drone with multiple protection devices, comprising the following steps:

[0067] S1. When the drone flies abnormally, the parachute device's opening structure ejects the parachute bag open;

[0068] S2. When the absolute altitude of the UAV is lower than the set altitude, the inflation structure of the airbag device inflates the airbag, so that the airbag expands and wraps the mission equipment of the UAV;

[0069] S3. When the UAV lands, the airbag isolates the mission equipment from the ground contact objects, and the buffer energy absorption structure of the buffer energy absorption device first deforms and collapses to absorb energy.

[0070] Specifically, the drone also includes an electrically connected detection module and a controller. When the detection module detects that the drone is flying abnormally, the controller controls the inflatable structure 4 to start.

[0071] For example, the detection module can detect the flight trajectory of the drone in real time and compare it with the preset trajectory. When the two are different, it indicates that the drone is flying abnormally; or the detection module detects the flight attitude of the drone in real time. When the drone tilts to a preset angle, it indicates that the drone is flying abnormally. It should be noted that the detection module is a prior art and will not be described in detail here.

[0072] When the detection module detects that the UAV is flying abnormally, it sends an abnormal signal to the controller, or when the ground personnel observe that the UAV is flying abnormally, the controller controls the parachute opening structure 5 in the parachute device 30 to start, eject the parachute bag, and open the parachute through the wireless communication control of the ground remote control device. At the same time, the controller controls the motor of the UAV to stop, and the UAV is in the process of parachute opening and landing; thereafter, when the absolute height of the UAV is reduced to the set height (such as 10m), the controller controls the inflation structure 4 in the airbag device 20 to start, the airbag 3 is inflated and opened, and the mission equipment 60 is protected when landing; during the landing process, the UAV still has a large vertical descent speed (about 5-6m / s), and there is still considerable impact energy when landing. The buffer energy absorption device 10 connected to the rotor 40 and the fuselage 50 uses its internal buffer energy absorption structure 2 to absorb the impact load and reduce the impact load on the rotor 40, the fuselage 50 and the entire equipment.

[0073] In the control method of the drone with multiple protection devices provided in this embodiment, a triple protection device of a parachute device 30, an airbag device 20 and a buffer energy absorption device 10 is used to provide multi-stage and multi-faceted protection for the drone, which has high safety.

[0074] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A drone with multiple protective devices, characterized in that: The invention comprises a plurality of buffering energy absorbing devices (10), an airbag device (20) and a parachute device (30), wherein each connection between a rotor (40) and a fuselage (50) is provided with the buffering energy absorbing device (10), wherein a plurality of buffering energy absorbing hollow structures are provided inside the buffering energy absorbing device (10), wherein two ends of the buffering energy absorbing device (10) are respectively connected to the rotor (40) and the fuselage (50), wherein the buffering energy absorbing device (10) is configured to deform first when the drone is impacted, wherein the airbag device (20) comprises at least one airbag (3) and an inflatable structure (4), wherein the inflatable structure (4) is configured to inflate the airbag (3) so that the airbag (3) expands and wraps the mission equipment (60) of the drone, and wherein the parachute device (30) comprises at least one parachute bag and a parachute opening structure (5), wherein the parachute opening structure (5) is configured to eject the parachute bag; The buffering energy absorbing device (10) comprises a buffering energy absorbing structure (2), wherein the buffering energy absorbing structure (2) comprises a base (21), on which a plurality of first through holes (22) are provided along a first direction of the base (21), and a plurality of second through holes (23) are provided along a second direction of the base (21), wherein the first through holes (22) and the corresponding second through holes (23) intersect to form the buffering energy absorbing hollow structure; The second direction is perpendicular to the first direction, the first through hole (22) and the second through hole (23) are both hexagonal prism holes, and the cross-sectional areas of the two are the same, the second through hole (23) vertically passes through two opposite side walls of the corresponding first through hole (22), and the axis of the second through hole (23) intersects with the axis of the corresponding first through hole (22); The buffering energy absorbing device (10) further comprises a shell (1), the buffering energy absorbing structure (2) being filled in the shell (1), and the two ends of the shell (1) being respectively connected to the rotor (40) and the fuselage (50).

2. The drone with multiple protection devices according to claim 1, characterized in that: The shell (1) and the buffer energy absorption structure (2) are integrally formed by 3D printing.

3. The drone with multiple protection devices according to any one of claims 1-2, characterized in that: The inflatable structure (4) comprises a gas cylinder (41) and a trigger assembly (42), wherein the trigger assembly (42) is configured to open the gas cylinder (41) so that the high-pressure gas in the gas cylinder (41) enters the airbag (3).

4. The drone with multiple protection devices according to claim 3, characterized in that: The trigger assembly (42) comprises a driving mechanism (421) and a ejector pin (422), wherein the driving mechanism (421) is configured to drive the ejector pin (422) to pierce the gas cylinder (41) to discharge high-pressure gas.

5. The drone with multiple protection devices according to claim 1 or 4, characterized in that: The parachute opening structure (5) is an inflation device, and the parachute opening structure (5) can eject the parachute bag by inflation.

6. The drone with multiple protection devices according to claim 1, characterized in that: The parachute device (30) and the airbag device (20) are respectively arranged at two opposite ends of the fuselage (50).

7. A control method for a drone with multiple protection devices, characterized in that: The drone with multiple protection devices according to any one of claims 1 to 6 comprises the following steps: S1. When the UAV flies abnormally, the parachute opening structure (5) of the parachute device (30) ejects the parachute bag to open; S2. When the absolute altitude of the UAV is lower than the set altitude, the inflation structure (4) of the airbag device (20) inflates the airbag (3), so that the airbag (3) expands and wraps the mission equipment (60) of the UAV; S3. When the drone lands, the airbag (3) isolates the mission equipment (60) from ground contact objects, and the buffering energy absorbing structure (2) of the buffering energy absorbing device (10) first deforms and collapses to absorb energy.

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