Flapping wing bionic unmanned aerial vehicle meteorological detection system

Abstract

The invention discloses a flapping wing bionic unmanned aerial vehicle meteorological detection system, which relates to the field of aircraft meteorological detection and comprises a flapping wing bionic unmanned aerial vehicle platform, a flight control subsystem, a data chain subsystem, a temperature, humidity and pressure sensor, a weather vane sensor, a data processing module and a meteorological display subsystem. The flapping wing bionic unmanned aerial vehicle platform comprises a nose, a fuselage, wings, an empennage and a flapping mechanism. The machine head is in a bionic bird shape; the wings are bionic flapping wings; the wings are mounted above the fuselage through flapping mechanisms; the flight control subsystem performs flight control on the flapping wing bionic unmanned aerial vehicle platform; the temperature, humidity and atmospheric pressure sensor collects the temperature, humidity and atmospheric pressure of a set area; the weather vane sensor collects the wind direction of a set area; the data processing module calculates the wind speed and the wind direction of a set area according to the ground speed; the meteorological display subsystem displays the temperature, humidity, atmospheric pressure, wind speed and wind direction of a set area. According to the invention, the concealment and maneuverability of the unmanned aerial vehicle during meteorological detection operation are improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft weather detection, and in particular to a flapping-wing bionic unmanned aerial vehicle weather detection system. Background Art

[0002] At present, the unmanned aerial vehicles on the market are mainly small drones, and they are widely used. Among them, various small drones also shine in the field of meteorological detection with their unique advantages. However, the research on the intersection of bionic flapping-wing aircraft and meteorological detection operations in the market has not yet received corresponding development. The concealment and maneuverability of existing unmanned aerial vehicles when performing meteorological detection operations are relatively poor. Summary of the invention

[0003] The purpose of this application is to provide a flapping-wing bionic UAV weather detection system to improve the concealment and maneuverability of the UAV when performing weather detection operations.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a flapping-wing bionic UAV weather detection system, comprising: a flapping-wing bionic UAV platform, a flight control subsystem, a data link subsystem, a temperature, humidity and pressure sensor, a wind vane sensor, a data processing module and a weather display subsystem;

[0006] The flapping-wing bionic UAV platform comprises a nose, a fuselage, wings, a tail and a flapping mechanism; wherein the nose is in the shape of a bionic bird; the wings are bionic flapping wings; the nose, the fuselage, the wings and the tail are all made of carbon fiber material; the nose is connected to one end of the fuselage; the tail is connected to the other end of the fuselage; the wing is installed above the fuselage through the flapping mechanism;

[0007] The flight control subsystem is arranged inside the fuselage; the flight control subsystem is connected to the weather display subsystem through the data link subsystem; the temperature, humidity and pressure sensor and the wind vane sensor are both arranged above the fuselage; the data processing module is built into the weather display subsystem; the temperature, humidity and pressure sensor and the wind vane sensor are both connected to the weather display subsystem;

[0008] The flight control subsystem is used to perform flight control on the flapping-wing bionic UAV platform;

[0009] The temperature, humidity and pressure sensor is used to collect the temperature, humidity and atmospheric pressure of a set area;

[0010] The wind vane sensor is used to collect the wind direction in a set area;

[0011] The data processing module is used to calculate the wind speed and wind direction of the set area according to the ground speed stored in the meteorological display subsystem;

[0012] The weather display subsystem is used to display the temperature, humidity, atmospheric pressure, wind speed and wind direction of a set area.

[0013] Optionally, it also includes: an energy module; the energy module is arranged inside the fuselage; the energy module is used to power the flapping mechanism, the flight control subsystem, the temperature, humidity and pressure sensor, the wind vane sensor and the data processing module.

[0014] Optionally, the flapping mechanism includes: a gear set and a crank; the motor output shaft drives the gear set to rotate, the gear set drives the crank to move up and down, and the crank drives the bionic flapping wing to move up and down.

[0015] Optionally, the fuselage and the tail wing are connected by a single tail support carbon fiber square tube.

[0016] Optionally, the temperature, humidity and pressure sensor integrates a temperature sensor, a humidity sensor, an air pressure sensor and an atmospheric data calculation unit; the temperature sensor, the humidity sensor and the air pressure sensor are all connected to the atmospheric data calculation unit;

[0017] The temperature sensor is used to collect the temperature of a set area;

[0018] The humidity sensor is used to collect the humidity of a set area;

[0019] The air pressure sensor is used to collect the atmospheric pressure of a set area.

[0020] Optionally, the air pressure sensor is connected to the air data calculation unit via a static pressure air circuit and a total pressure air circuit.

[0021] Optionally, a connecting piece is further included; the temperature, humidity and pressure sensor and the wind vane sensor are arranged above the fuselage through the connecting piece; and the connecting piece is an L-shaped connecting piece.

[0022] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0023] The present application provides a flapping-wing bionic UAV meteorological detection system, including a flapping-wing bionic UAV platform, a flight control subsystem, a data link subsystem, a temperature, humidity and pressure sensor, a wind vane sensor, a data processing module and a meteorological display subsystem; the flapping-wing bionic UAV platform includes a nose, a fuselage, wings, a tail and a flapping mechanism; the nose is in the shape of a bionic bird; the wings are bionic flapping wings; the nose, fuselage, wings and tail are all made of carbon fiber materials; the nose is connected to one end of the fuselage; the tail is connected to the other end of the fuselage; the wing is installed above the fuselage through a flapping mechanism; the flight control subsystem is used to control the flight of the flapping-wing bionic UAV platform; the temperature, humidity and pressure sensor is used to collect the temperature, humidity and atmospheric pressure of the set area; the wind vane sensor is used to collect the wind direction of the set area; the data processing module is used to solve the wind speed and wind direction of the set area according to the ground speed stored in the meteorological display subsystem; the meteorological display subsystem is used to display the temperature, humidity, atmospheric pressure, wind speed and wind direction of the set area. The present application improves the concealment and maneuverability of the unmanned aerial vehicle when performing meteorological detection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A structural block diagram of a flapping-wing bionic drone weather detection system provided in one embodiment of the present application;

[0026] Figure 2 A schematic diagram of the structure of a flapping-wing bionic drone weather detection system provided in one embodiment of the present application;

[0027] Figure 3 This is the structural block diagram of the temperature, humidity and pressure sensor.

[0028] Figure numerals: 1.1, nose; 1.2, flapping mechanism; 1.3, wing; 1.4, fuselage; 1.5, tail; 2, flight control subsystem; 3, data link subsystem; 4, wind vane sensor. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0031] In order to ensure concealment and mobility while meeting the needs of meteorological detection in various climates and environments, a new type of bionic flapping-wing aircraft needs to be developed for meteorological detection. At the same time, since the bionic flapping wing has a significant interference effect on the flow field around the fuselage during the reciprocating motion, the meteorological detection system needs to reasonably avoid large disturbance areas, which increases the design requirements of the meteorological detection system. Therefore, it is necessary to optimize the conventional distributed meteorological detection system and consider adopting a highly integrated design to achieve the purpose of reducing the total volume and weight of the system.

[0032] In summary, it is necessary to design a UAV platform system that is compatible with the integrated meteorological detection system while ensuring appropriate interface connections and corresponding digital display systems, etc.

[0033] The present application provides a flapping-wing bionic UAV weather detection system, which can covertly perform weather detection tasks in a manner that imitates the flapping flight of birds, and can transmit, display and make quality control judgments of detection data in real time, while also having the function of real-time identification of sensitive ground targets.

[0034] The flapping-wing bionic UAV weather detection system consists of a flapping-wing bionic UAV platform, temperature, humidity and pressure sensors, wind speed / direction solving software (data processing module), weather detection flight control and data display system (weather display subsystem).

[0035] The flapping-wing bionic UAV platform is composed of an energy module, a flapping mechanism 1.2, a wing 1.3, a fuselage 1.4, and a tail 1.5; the temperature, humidity, and pressure sensor is composed of a multifunctional atmospheric data sensor and an atmospheric data computer; the wind speed / wind direction solving software combines the analytical wind measurement algorithm model with programmed processing to obtain a software that can directly estimate the average wind speed / wind direction from the ground speed; the meteorological detection flight control and data display system has the flight control of the UAV platform, and has the functions of real-time feedback, display, and quality control judgment of detection data, and can also identify ground targets in real time.

[0036] In an exemplary embodiment, Figure 1 and Figure 2 As shown, a flapping-wing bionic UAV weather detection system is provided, including: a flapping-wing bionic UAV platform, a flight control subsystem 2, a data link subsystem 3, a temperature, humidity and pressure sensor, a wind vane sensor 4, a data processing module and a weather display subsystem.

[0037] The flapping-wing bionic UAV platform includes a nose 1.1, a fuselage 1.4, wings 1.3, a tail 1.5 and a flapping mechanism 1.2; wherein the nose 1.1 is in the shape of a bionic bird; the wings 1.3 are bionic flapping wings; the nose 1.1, the fuselage 1.4, the wings 1.3 and the tail 1.5 are all made of carbon fiber material; the nose 1.1 is connected to one end of the fuselage 1.4; the tail 1.5 is connected to the other end of the fuselage 1.4; the wing 1.3 is installed above the fuselage 1.4 through the flapping mechanism 1.2.

[0038] In actual application, the aerodynamic layout of the flapping wing bionic UAV platform adopts a conventional layout. The nose 1.1 adopts a bionic bird shape design, and the wing 1.3 adopts a bionic flapping wing structure design. The bionic flapping wing is controlled by a gear set and a crank transmission to reciprocate. The motor output shaft drives the gear set to rotate, and the gear set drives the crank to move up and down, and the crank drives the bionic flapping wing to move up and down. The fuselage 1.4 and the tail wing 1.5 are connected by a single tail support carbon fiber square tube. The tail wing 1.5 cancels the rudder surface and retains the elevator surfaces on the left and right sides of the horizontal stabilizer. The role of the rudder can be replaced by differential control. The fuselage 1.4 is equipped with corresponding connectors for installing a meteorological detection system. The flight control subsystem 2 in the machine adopts a mature integrated flight control software and hardware layout on the market. This application does not describe the flight control end in detail. The UAV platform system is equipped with two meteorological detection systems, namely the atmospheric data system (temperature, humidity and pressure sensor) and the wind vane sensor 4.

[0039] This application uses flapping-wing bionic drone as a weather detection platform, first of all, to ensure the feasibility of the whole system. The drone platform adopts a bionic bird design, adapted to the natural environment of detection, and has sufficient concealment. The frame and main connectors are designed with carbon fiber to ensure the strength and weight requirements of the drone. The connector placed above the nose 1.1 can well protect the weather detection system while also avoiding the interference of the surrounding flow field of the flapping wing. The connector is an L-shaped connector that connects the sensor to the fuselage of the flapping-wing bionic drone platform.

[0040] The flight control subsystem 2 is arranged inside the fuselage 1.4; the flight control subsystem 2 is connected to the meteorological display subsystem through the data link subsystem 3; the temperature, humidity and pressure sensor and the wind vane sensor 4 are both arranged above the fuselage 1.4; the data processing module is built into the meteorological display subsystem; the temperature, humidity and pressure sensor and the wind vane sensor 4 are both connected to the meteorological display subsystem.

[0041] The flight control subsystem 2 is used to perform flight control on the flapping-wing bionic UAV platform.

[0042] The temperature, humidity and pressure sensor is used to collect the temperature, humidity and atmospheric pressure of a set area.

[0043] As an optional implementation, the temperature, humidity and pressure sensor integrates a temperature sensor, a humidity sensor, an air pressure sensor and an atmospheric data calculation unit; the temperature sensor, the humidity sensor and the air pressure sensor are all connected to the atmospheric data calculation unit.

[0044] The temperature sensor is used to collect the temperature of a set area.

[0045] The humidity sensor is used to collect the humidity of a set area.

[0046] The air pressure sensor is used to collect the atmospheric pressure of a set area.

[0047] The air pressure sensor is connected to the air data calculation unit through a static pressure air path and a total pressure air path.

[0048] In practical applications, such as Figure 3 As shown, temperature, humidity and atmospheric pressure can be directly measured by sensors. In order to reduce the distribution area of ​​sensors as much as possible, it is considered to use a temperature, humidity and pressure integrated data system (temperature, humidity and pressure sensor) for meteorological data collection. The entire system is still connected to the flight control port in the form of a sensor. The air pressure sensor is divided into two air hoses, the static pressure air circuit and the total pressure air circuit, which are connected to the atmospheric data computer (atmospheric data calculation unit). The two are also connected by a communication data line.

[0049] The wind vane sensor 4 is used to collect the wind direction in a set area.

[0050] The data processing module is used to calculate the wind speed and wind direction of a set area according to the ground speed stored in the meteorological display subsystem.

[0051] In practical applications, wind speed and wind direction need to be solved by a difference between the ground speed and the relative air speed of the aircraft. For operational needs in the field of meteorological detection, it is generally only necessary to obtain the horizontal average wind speed and wind direction in a certain area. Therefore, it is possible to consider solving the wind speed based on the relationship between wind speed, ground speed and air speed. An analytical wind measurement method is given and a complete wind speed / wind direction solution software (data processing module) is formed. The software is based on the analytical wind measurement method. The following is a brief introduction to the analytical wind measurement method.

[0052] The average wind speed and direction in a certain airspace can be calculated by hovering a small drone horizontally. Then the relationship between wind speed, ground speed and air speed can be analyzed by the velocity vector relationship of the circular motion of a fixed radius of the drone relative to the air speed. Taking the X and Y directions given by the flight control GPS as the reference, usually the X direction is north and the Y direction is east. Let V WX , V WY are the X and Y components of the wind speed vector, V X and V Y For the components of the ground speed vector in the X and Y directions given by the flight control GPS, an initial phase α is proposed, the UAV hovering radius is set to r, and the angular velocity is set to w. The wind speed in the X and Y directions in circular motion can be obtained by the wind speed being equal to the ground speed minus the airspeed:

[0053] V WX =V X +rwsin(wt+α).

[0054] V WY =V Y -rwcos(wt+α).

[0055] In the above formula, the wind speed, drone hovering radius, angular velocity, and phase are regarded as fluctuating variables. Since the ground speed value is directly given by the flight control, the ground speed is moved to the left side of the equation and the partial derivatives of each variable are calculated. Finally, the initial wind speed value and the initial values ​​of each fluctuating variable are substituted into the above formula to obtain an initialized ground speed value. Then, the actual ground speed given by the flight control is Taylor expanded to the first order at this initial ground speed to ensure a linear relationship. In summary, the following formula can be obtained:

[0056]

[0057] The above formula is iterated by introducing the fluctuation variable △, △ is the difference between the two calculations, and it is iterated by the initialized speed, drone hovering radius, angular velocity, and phase. It can be seen that this formula has five variables, and multiple sample points need to be taken so that the number of twice the sample points is greater than five before a least squares solution can be obtained. The iterative convergence condition should be that the difference △ is less than the set value. Finally, the initial value of each wind speed is added to the △ of each iteration to get the average wind speed in a certain airspace. In order to minimize random errors, more sample points can be taken for solution. At the same time, the closer the distribution of sample points is to a full circle, the more accurate the solution result will be.

[0058] The weather display subsystem is used to display the temperature, humidity, atmospheric pressure, wind speed and wind direction of a set area.

[0059] In practical applications, temperature, humidity, and atmospheric pressure are directly obtained by temperature, humidity, and pressure sensors, and wind speed / direction is obtained by wind speed / direction calculation software. The meteorological detection data display system (meteorological display subsystem) can display temperature, humidity, air pressure, wind speed, and wind direction data in two ways: real-time value and data curve.

[0060] As an optional implementation, the flapping-wing bionic UAV platform of the present application also includes: an energy module; the energy module is arranged inside the fuselage 1.4; the energy module is used to power the flapping mechanism 1.2, the flight control subsystem 2, the temperature, humidity and pressure sensor, the wind vane sensor 4 and the data processing module.

[0061] The flapping-wing bionic drone weather detection system of the present application has the following advantages:

[0062] 1. The drone platform adopts a bionic bird design, which has sufficient concealment effect compared with previous detection drones.

[0063] 2. Using drones as a meteorological detection platform has many advantages, such as real-time data collection, aerial cruise monitoring, space image generation, temperature and humidity distribution analysis, aerial image analysis, etc.

[0064] 3. Integrate flight control and data display on the ground station. Compared with the distributed atmospheric data sensor system, the atmospheric data system is highly integrated, small in size and light in weight. It integrates functions such as total static pressure detection and temperature and humidity measurement. After solution, it outputs atmospheric data parameters such as pressure altitude, temperature and humidity, total temperature, Mach number, indicated airspeed, and atmospheric density ratio in the form of a bus, which can achieve comprehensive measurement of various meteorological data with the same parameters and from multiple angles.

[0065] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A flapping-wing bionic drone weather detection system, characterized in that: include: Flapping-wing bionic UAV platform, flight control subsystem, data link subsystem, temperature, humidity and pressure sensor, wind vane sensor, data processing module and meteorological display subsystem; The flapping-wing bionic UAV platform comprises a nose, a fuselage, wings, a tail and a flapping mechanism; wherein the nose is in the shape of a bionic bird; the wings are bionic flapping wings; the nose, the fuselage, the wings and the tail are all made of carbon fiber material; the nose is connected to one end of the fuselage; the tail is connected to the other end of the fuselage; the wing is installed above the fuselage through the flapping mechanism; The flight control subsystem is arranged inside the fuselage; the flight control subsystem is connected to the weather display subsystem through the data link subsystem; the temperature, humidity and pressure sensor and the wind vane sensor are both arranged above the fuselage; the data processing module is built into the weather display subsystem; the temperature, humidity and pressure sensor and the wind vane sensor are both connected to the weather display subsystem; The flight control subsystem is used to perform flight control on the flapping-wing bionic UAV platform; The temperature, humidity and pressure sensor is used to collect the temperature, humidity and atmospheric pressure of a set area; The wind vane sensor is used to collect the wind direction in a set area; The data processing module is used to calculate the wind speed and wind direction of the set area according to the ground speed stored in the meteorological display subsystem; The weather display subsystem is used to display the temperature, humidity, atmospheric pressure, wind speed and wind direction of a set area.

2. The flapping-wing bionic drone weather detection system according to claim 1 is characterized in that: Also includes: Energy module; The energy module is arranged inside the fuselage; the energy module is used to supply power to the flapping mechanism, the flight control subsystem, the temperature, humidity and pressure sensor, the wind vane sensor and the data processing module.

3. The flapping-wing bionic drone weather detection system according to claim 1, characterized in that: The flapping mechanism comprises: a gear set and a crank; the motor output shaft drives the gear set to rotate, the gear set drives the crank to move up and down, and the crank drives the bionic flapping wing to move up and down.

4. The flapping-wing bionic drone weather detection system according to claim 1, characterized in that: The fuselage and the tail wing are connected by a single tail support carbon fiber square tube.

5. The flapping-wing bionic drone weather detection system according to claim 1, characterized in that: The temperature, humidity and pressure sensor integrates a temperature sensor, a humidity sensor, an air pressure sensor and an atmospheric data calculation unit; the temperature sensor, the humidity sensor and the air pressure sensor are all connected to the atmospheric data calculation unit; The temperature sensor is used to collect the temperature of a set area; The humidity sensor is used to collect the humidity of a set area; The air pressure sensor is used to collect the atmospheric pressure of a set area.

6. The flapping-wing bionic drone weather detection system according to claim 5, characterized in that: The air pressure sensor is connected to the air data calculation unit through a static pressure air path and a total pressure air path.

7. The flapping-wing bionic drone weather detection system according to claim 1, characterized in that: It also includes a connecting piece; the temperature, humidity and pressure sensor and the wind vane sensor are arranged above the fuselage through the connecting piece; the connecting piece is an L-shaped connecting piece.

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