Foldable multi-wing unmanned aerial vehicle system suitable for polar region environment

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a foldable multi-wing unmanned aerial vehicle system suitable for a polar region environment. The four folding assemblies are arranged on the front side, the rear side, the left side and the right side of the unmanned aerial vehicle body correspondingly; the wing assembly is arranged at the end, away from the unmanned aerial vehicle body, of the folding assembly and used for being matched with the folding assembly to complete folding action; the flight control module is arranged in the unmanned aerial vehicle body and located at the top of the unmanned aerial vehicle body, the flight control module is connected with the folding assembly and the wing assembly, and the flight control module is used for controlling the flight state of the unmanned aerial vehicle; the temperature control module is arranged in the unmanned aerial vehicle body; the number of the landing racks is two, the two landing racks are obliquely arranged at the bottom of the unmanned aerial vehicle body in the vertical direction, and the top ends of the landing racks are connected with the unmanned aerial vehicle body. According to the invention, reliable and efficient flight performance and stable operation in an extreme environment are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a foldable multi-wing unmanned aerial vehicle system suitable for use in polar environments. Background Art

[0002] With the rapid advancement of drone technology, this technology has been widely used in many fields, especially in environmental monitoring, resource exploration, emergency rescue and other fields, showing incomparable advantages. In recent years, the application of drones in polar regions has gradually become the focus of research, especially in scientific research and exploration missions in extreme climate environments.

[0003] However, the harsh conditions of the polar environment pose great challenges to the design and application of drones. First, traditional drones are usually designed with emphasis on flight performance and load capacity, but in polar environments, their large size becomes a significant disadvantage. The cameras, sensors, onboard computers and other equipment carried by large drones will take up a lot of storage space and increase the weight of the load, and their large size may cause inconvenience in operation during transportation and deployment. Especially in the polar environment where resources are scarce and remote, the transportation and storage conditions are relatively simple, and the problem of drones being too large is particularly prominent. Secondly, the harsh weather conditions in the polar environment, such as extremely low temperatures, strong winds and snow, pose a huge challenge to the stability and reliability of drones. The equipment and batteries in drones are usually designed for warmer environments, but in low temperature environments, the battery performance will drop significantly, resulting in a significantly shortened flight time. The low temperature in the polar environment may also damage the drone's electronic equipment, sensors and other onboard systems, seriously affecting the normal operation of the drone.

[0004] To overcome these challenges, current solutions mainly include expanding the scale of drone base stations, reducing the size of drones, or improving the adaptability of drones through other methods. The method of expanding the scale of drone base stations is usually to build more complex drone control centers or ground base stations to provide sufficient power and communication support. However, this solution often requires more physical space and resources, which may be difficult to implement in polar environments, especially in the absence of sufficient infrastructure, and relying on large ground stations is not practical. In addition, reducing the size of drones has become a common solution. By reducing the size of drones, it can be convenient to carry and deploy, and in some cases it can improve its maneuverability. However, the reduction in size is often accompanied by a reduction in payload capacity, which may not be suitable for environmental monitoring tasks in polar environments. Because polar environmental monitoring usually requires high-precision cameras, onboard computers, environmental sensors, positioning systems, and large-capacity batteries, and these devices usually require a large space to install. If the size of the drone is reduced to a certain extent, it may not meet the mission requirements.

[0005] Therefore, it is necessary to design a foldable multi-wing UAV system suitable for polar environments to solve the problems existing in current technology. Summary of the invention

[0006] In view of this, the present invention proposes a foldable multi-wing UAV system suitable for polar environments, aiming to solve the problem that UAVs in current technology have poor adaptability in polar environments. Although they have excellent performance, they are overly dependent on large base stations, making it difficult to achieve long-term stable operation.

[0007] The present invention proposes a foldable multi-wing UAV system suitable for use in polar environments, comprising:

[0008] UAV fuselage;

[0009] There are four groups of folding components, one group of folding components is provided on the front side, the rear side, the left side and the right side of the drone fuselage, and one end of the folding components close to the drone fuselage is connected to the drone fuselage;

[0010] A wing assembly is arranged at one end of the folding assembly away from the UAV fuselage, and the wing assembly is used to cooperate with the folding assembly to complete the folding action;

[0011] A flight control module is arranged inside the UAV fuselage and located on the top of the UAV fuselage, the flight control module is connected to the folding assembly and the wing assembly, and the flight control module is used to control the flight state of the UAV; wherein the flight state includes take-off, flight and landing;

[0012] A temperature control module is arranged inside the drone body, and the temperature control module is used to control the internal temperature of the drone body;

[0013] There are two landing gears, which are tilted in the vertical direction at the bottom of the UAV fuselage, and the top of the landing gear is connected to the UAV fuselage.

[0014] Furthermore, the UAV fuselage comprises:

[0015] A carbon fiber shielded fuselage shell is arranged on the outside of the UAV fuselage, and the carbon fiber shielded fuselage shell is used to protect the flight control module and the temperature control module;

[0016] A thermal insulation layer, arranged on the inner side of the carbon fiber shielding fuselage shell;

[0017] The heating layer is arranged on the inner side of the heat-insulating layer, and the heating layer is provided with a heating component.

[0018] Furthermore, the folding assembly comprises:

[0019] A fixing frame and a folding steering gear, wherein the fixing frame is connected to the fuselage of the UAV and is used to fix the folding steering gear; the folding steering gear is used to drive the wing assembly to perform a folding action;

[0020] A protective shell, which is sleeved on the outer sides of the fixing frame and the folding steering gear, and is used to protect the folding steering gear;

[0021] A folding stopper is arranged at the top of the protective shell and away from one side of the drone fuselage, and the folding stopper is rigidly connected to the fixing frame;

[0022] A folding arm, one end of which is connected to the output end of the folding servo;

[0023] There are two DC electromagnets, which are arranged on both sides of the folding machine arm and located in the middle of the folding machine arm. The DC electromagnets are rigidly connected to the folding machine arm.

[0024] Furthermore, the wing assembly comprises:

[0025] A rotating motor connected to an output end of the folding steering gear;

[0026] A propeller clamp, the center of which is connected to the output end of the rotating motor;

[0027] There are two carbon fiber blades, and the two carbon fiber blades are arranged at two ends of the blade clamp;

[0028] A permanent magnet is embedded in one end of the carbon fiber blade away from the blade clamp.

[0029] Furthermore, the temperature control module comprises:

[0030] A drone battery is disposed inside the drone body and located at the bottom of the drone body;

[0031] A temperature control system board is arranged on one side of the drone battery. The temperature control system board is rigidly connected to the drone body. The temperature control system board is used to control the internal temperature of the drone body.

[0032] Furthermore, the temperature control module also includes:

[0033] A sensor group is arranged inside the drone body, and the sensor group includes a first temperature sensor, a second temperature sensor and a third temperature sensor;

[0034] The first temperature sensor is arranged on the top of the drone battery;

[0035] The second temperature sensor is arranged on one side of the drone battery and located on the top of the heating layer;

[0036] The third temperature sensor is disposed above the flight control module.

[0037] Furthermore, the temperature control module also includes:

[0038] A collection unit is configured to collect temperature data of the sensor group and calculate an internal temperature index of the drone fuselage according to the temperature data; and is further configured to construct a temperature index time series based on the time series and the internal temperature index, and determine an internal temperature change rate and a predicted temperature index of the drone fuselage based on the temperature index time series;

[0039] The judgment unit is configured to judge whether to perform a heating operation / cooling operation on the interior of the drone body according to the internal temperature change rate and the predicted temperature index.

[0040] Further, when calculating the internal temperature index of the drone body according to the temperature data, it includes:

[0041] The internal temperature index is obtained by the following formula:

[0042]

[0043] Among them, T j Indicates the internal temperature index, w i represents the weight coefficient of the i-th temperature sensor; e i,j represents the temperature data of the i-th temperature sensor at time j, and n represents the total number of temperature sensors in the sensor group.

[0044] Further, when determining the internal temperature change rate of the drone fuselage and the predicted temperature index based on the temperature index time series, it includes:

[0045] The internal temperature change rate is obtained by the following formula:

[0046]

[0047] t j =j-1;

[0048] Where s represents the internal temperature change rate; m represents the total number of time points in the time series; t j represents the jth time point, T j represents the internal temperature index corresponding to the jth time point; k represents the constant coefficient;

[0049] The predicted temperature index is obtained by the following formula:

[0050] f = st + b;

[0051] Among them, f represents the predicted temperature index at time t; t represents time; and b represents the initial temperature.

[0052] Further, judging whether to perform a heating operation / cooling operation on the interior of the drone fuselage according to the internal temperature change rate and the predicted temperature index includes:

[0053] Comparing the predicted temperature index with the ideal temperature index, and determining whether to perform a heating operation / cooling operation on the interior of the drone fuselage according to the comparison result;

[0054] When the internal temperature change rate is greater than 0 and the predicted temperature index is greater than the ideal temperature index, it is determined to perform a cooling operation on the interior of the drone fuselage;

[0055] When the internal temperature change rate is less than 0 and the predicted temperature index is less than the ideal temperature index, it is determined to perform a cooling operation on the interior of the drone fuselage;

[0056] When the internal temperature change rate is equal to 0 and the predicted temperature index is equal to the ideal temperature index, it is determined that no heating operation / cooling operation is performed on the interior of the drone fuselage.

[0057] Compared with the prior art, the beneficial effects of the present invention are: the foldable multi-wing UAV system for polar environments provided by the present invention solves many problems faced by traditional UAVs in polar environments, and achieves reliable and efficient flight performance and stable operation in extreme environments. Through the innovative design of the foldable wing system, the present invention can significantly reduce the volume of the UAV during transportation and storage, and improve the portability and deployment efficiency of the UAV; the use of propeller clips and carbon fiber propeller blades not only reduces the overall weight, but also can further reduce the volume by folding, ensuring that the UAV still maintains good flight stability under polar conditions; the combination of DC electromagnets and permanent magnets enables the wing assembly to achieve precise control and efficient power transmission during the folding and unfolding process, while the coordinated work of the folding servo, folding arm and folding limiter ensures the rapidity and reliability of wing unfolding; the temperature control module and the UAV fuselage effectively cope with the low temperature challenge in the polar environment; the sensor group monitors the temperature of key equipment inside the fuselage in real time to ensure that the temperature control module can adjust the temperature control strategy in time according to environmental changes; the carbon fiber shielded fuselage shell not only provides structural strength, but also has good heat insulation and protection performance, and together with the insulation layer and the heating layer, it constructs a multiple temperature control barrier; the heating component actively heats the key components in the fuselage in a low temperature environment to prevent the performance of electronic equipment and batteries from being greatly attenuated by cold; the efficient regulation of the temperature control system board makes the entire temperature control system more intelligent, ensuring that the UAV can perform tasks for a long time and stably in the polar environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0059] Figure 1 An overall schematic diagram of a foldable multi-wing UAV system suitable for use in polar environments provided by an embodiment of the present invention;

[0060] Figure 2 A top view of the structure of a foldable multi-wing UAV system suitable for use in polar environments provided by an embodiment of the present invention;

[0061] Figure 3 A top view of a foldable multi-wing UAV system suitable for use in polar environments provided by an embodiment of the present invention.

[0062] Figure 4 A schematic diagram of the folded state of the wings of a foldable multi-wing UAV system suitable for use in polar environments provided by an embodiment of the present invention;

[0063] Figure 5 An internal cross-sectional view of a UAV fuselage of a foldable multi-wing UAV system suitable for use in polar environments provided by an embodiment of the present invention;

[0064] Figure 6 An upper internal plan view of a drone fuselage of a foldable multi-wing drone system suitable for use in polar environments provided by an embodiment of the present invention;

[0065] Figure 7 A top view of the lower interior of a drone fuselage of a foldable multi-wing drone system suitable for use in polar environments provided by an embodiment of the present invention;

[0066] Figure 8 A cross-sectional view of a UAV fuselage of a foldable multi-wing UAV system suitable for use in polar environments provided by an embodiment of the present invention.

[0067] Among them: 1. Carbon fiber blades; 2. Rotating motor; 3. Propeller clamp; 4. Folding servo; 5. DC electromagnet; 6. Folding arm; 7. Folding limiter; 8. Protective shell; 9. Fixed frame; 10. UAV fuselage; 11. Landing gear; 12. Permanent magnet; 13. Flight control module; 14. Sensor group; 15. Carbon fiber shielded fuselage shell; 16. Insulation layer; 17. Heating layer; 18. UAV battery; 19. Temperature control system board; 20. Heating component. DETAILED DESCRIPTION

[0068] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0069] See also Figure 1-8 As shown, in some embodiments of the present application, this embodiment provides a foldable multi-wing UAV system suitable for use in polar environments, including:

[0070] UAV fuselage 10;

[0071] There are four groups of folding components, one group of folding components is provided on the front side, the rear side, the left side, and the right side of the drone fuselage 10, and one end of the folding component close to the drone fuselage 10 is connected to the drone fuselage 10;

[0072] A wing assembly is arranged at one end of the folding assembly away from the drone fuselage 10, and the wing assembly is used to cooperate with the folding assembly to complete the folding action;

[0073] The flight control module 13 is arranged inside the drone body 10 and located at the top of the drone body 10. The flight control module 13 is connected to the folding assembly and the wing assembly. The flight control module 13 is used to control the flight state of the drone; wherein the flight state includes take-off, flight and landing;

[0074] A temperature control module is disposed inside the drone body 10 , and the temperature control module is used to control the internal temperature of the drone body 10 ;

[0075] There are two landing gears 11 , which are tilted along the vertical direction at the bottom of the UAV fuselage 10 , and the top ends of the landing gears 11 are connected to the UAV fuselage 10 .

[0076] It can be understood that the foldable multi-wing UAV system for polar environments provided by this embodiment solves many problems faced by traditional UAVs in polar environments, and achieves reliable and efficient flight performance and stable operation in extreme environments. Through the innovative design of the foldable wing system, this embodiment can significantly reduce the size of the UAV during transportation and storage, and improve the portability and deployment efficiency of the UAV; the use of propeller clips 3 and carbon fiber blades 1 not only reduces the overall weight, but also can further reduce the size by folding, ensuring that the UAV still maintains good flight stability under polar conditions; the combination of DC electromagnets 5 and permanent magnets 12 enables the wing assembly to achieve precise control and efficient power transmission during the folding and unfolding process, while the coordinated work of the folding servo 4, folding arm 6 and folding limiter 7 ensures the rapidity and reliability of wing deployment; the temperature control module and the UAV fuselage 10 effectively The sensor group 14 monitors the temperature of key equipment inside the fuselage in real time to ensure that the temperature control module can adjust the temperature control strategy in time according to environmental changes; the carbon fiber shielded fuselage shell 15 not only provides structural strength, but also has good heat insulation and protection performance, and together with the insulation layer 16 and the heating layer 17, it constructs a multiple temperature control barrier; the heating component 20 actively heats the key components in the fuselage in a low temperature environment to prevent the performance of electronic equipment and batteries from being greatly attenuated due to cold; the efficient regulation of the temperature control system board 19 makes the entire temperature control system more intelligent, ensuring that the UAV can perform tasks in a polar environment for a long time and stably.

[0077] Specifically, the drone body 10 includes:

[0078] A carbon fiber shielding fuselage shell 15 is arranged on the outside of the UAV fuselage 10, and the carbon fiber shielding fuselage shell 15 is used to protect the flight control module 13 and the temperature control module;

[0079] The heat-insulating layer 16 is arranged on the inner side of the carbon fiber shielding fuselage shell 15;

[0080] The heat generating layer 17 is disposed inside the heat-insulating layer 16 , and the heat generating layer 17 is provided with a heat generating component 20 .

[0081] It can be seen that the UAV fuselage 10 is used to carry and protect the key components of the UAV, including the flight control module 13, the temperature control module, etc.; the design of the UAV fuselage 10 takes into account the particularity of the polar environment, and therefore adopts carbon fiber material, which is not only lightweight but also high in strength, and can effectively resist the severe cold and wind in the polar environment; the carbon fiber shielded fuselage shell 15 not only provides physical protection for the internal components, but also has good thermal insulation properties, which helps to maintain the temperature stability inside the UAV; the thermal insulation layer 16 further enhances the thermal insulation effect of the fuselage, ensuring the normal operation of the electronic equipment inside the UAV under extremely low temperature conditions; the heating component 20 can cope with the low temperature challenges in the polar environment and ensure the normal operation of the UAV in a low temperature environment, and the heating component 20 is preferably a carbon fiber heating material, which has good thermal conductivity and corrosion resistance, and can ensure the heating efficiency and long-term stable operation of the equipment.

[0082] Specifically, the folding components include:

[0083] A fixing frame 9 and a folding steering gear 4, wherein the fixing frame 9 is connected to the UAV fuselage 10, and the fixing frame 9 is used to fix the folding steering gear 4; the folding steering gear 4 is used to drive the wing assembly to perform a folding action;

[0084] A protective shell 8 is sleeved on the outer sides of the fixing frame 9 and the folding steering gear 4, and the protective shell 8 is used to protect the folding steering gear 4;

[0085] A folding stopper 7 is arranged at the top of the protective shell 8 and away from the side of the drone body 10, and the folding stopper 7 is rigidly connected to the fixing frame 9;

[0086] A folding arm 6, one end of which is connected to the output end of the folding steering gear 4;

[0087] There are two DC electromagnets 5 , which are arranged on both sides of the folding arm 6 and located in the middle of the folding arm 6 . The DC electromagnets 5 are rigidly connected to the folding arm 6 .

[0088] It can be understood that the folding assembly includes a fixing frame 9 and a folding servo 4, wherein the fixing frame 9 is connected to the UAV fuselage 10 and is used to fix the folding servo 4; the folding servo 4 is used to drive the wing assembly to fold; the protective shell 8 is sleeved on the outside of the fixing frame 9 and the folding servo 4 to protect the folding servo 4 from the harsh environment; the folding limiter 7 is set at the top of the protective shell 8 to ensure the accuracy and reliability of the folding action. One end of the folding arm 6 is connected to the output end of the folding servo 4, and the DC electromagnet 5 is located in the middle of the folding arm 6 to assist the folding action of the wing assembly, which can ensure that the UAV can quickly adapt to and perform monitoring tasks in polar environments, while ensuring the stability of the structure and the ease of operation.

[0089] Specifically, the wing assembly includes:

[0090] The rotating motor 2 is connected to the output end of the folding steering gear 4;

[0091] A propeller clamp 3, the center of which is connected to the output end of the rotating motor 2;

[0092] The carbon fiber blades 1 are provided with two carbon fiber blades 1, and the two carbon fiber blades 1 are arranged at two ends of the blade clamp 3;

[0093] The permanent magnet 12 is embedded in one end of the carbon fiber blade 1 away from the blade clamp 3 .

[0094] In this embodiment, the permanent magnet 12 is an ultra-thin permanent magnet 12 .

[0095] It can be seen that the cooperation between the rotating motor 2 and the folding servo 4 ensures that the wing assembly can quickly respond to the instructions of the flight control module 13 and achieve precise flight control; the use of the carbon fiber blade 1 not only reduces the weight of the wing assembly, but also improves its strength and durability, so that it can still maintain good performance under the low temperature and strong wind conditions of the polar regions;

[0096] See also Figure 3 As shown, the permanent magnet 12 and the DC electromagnet 5 completely overlap when the blades are folded, and the polarities of the magnets at corresponding positions are opposite, so that during the landing process of the UAV, the blades lose power drive, and the temperature control system board 19 energizes the DC electromagnet 5 to generate an attraction for the blades to achieve folding of the blades.

[0097] See also Figure 4 As shown, after all the blades are folded, the temperature control system board 19 energizes the folding servo 4 to reverse so that all the carbon fiber blades 1 of the UAV are folded to a predetermined folding position.

[0098] Specifically, the temperature control module includes:

[0099] The drone battery 18 is disposed inside the drone body 10 and is located at the bottom of the drone body 10;

[0100] The temperature control system board 19 is arranged on one side of the drone battery 18 . The temperature control system board 19 is rigidly connected to the drone body 10 . The temperature control system board 19 is used to control the internal temperature of the drone body 10 .

[0101] Specifically, the temperature control module also includes:

[0102] A sensor group 14 is disposed inside the drone body 10 , and the sensor group 14 includes a first temperature sensor, a second temperature sensor, and a third temperature sensor;

[0103] The first temperature sensor is disposed on top of the drone battery 18;

[0104] The second temperature sensor is disposed on one side of the drone battery 18 and is located on the top of the heating layer 17;

[0105] The third temperature sensor is disposed above the flight control module 13 .

[0106] It can be seen that the sensor group 14 is used to monitor the temperature of key equipment inside the drone body 10 to ensure that the temperature control module can adjust the temperature control strategy in time according to environmental changes; the real-time data feedback of the sensor group 14 enables the temperature control system board 19 to accurately control the working state of the heating component 20, thereby maintaining the internal temperature of the drone stable in the extreme temperature changes of the polar environment, ensuring that the performance of electronic equipment and batteries is not affected; the temperature control system board 19 can automatically adjust the power output of the heating component 20 according to the flight status of the drone and external environmental conditions, so as to optimize the energy efficiency ratio and extend the flight time of the drone in the polar environment.

[0107] Specifically, the temperature control module also includes:

[0108] A collection unit is configured to collect temperature data of the sensor group 14 and calculate the internal temperature index of the drone fuselage 10 according to the temperature data; and is also configured to construct a temperature index time series based on the time series and the internal temperature index, and determine the internal temperature change rate and predicted temperature index of the drone fuselage 10 based on the temperature index time series;

[0109] The determination unit is configured to determine whether to perform a temperature increase operation / temperature decrease operation on the interior of the drone fuselage 10 according to the internal temperature change rate and the predicted temperature index.

[0110] It can be seen that the acquisition unit is further configured to send a heating instruction to the temperature control system board 19 when it is determined that a heating operation is required. The temperature control system board 19 activates the heating component 20 according to the heating instruction, thereby heating the inside of the drone body 10; and when it is determined that a cooling operation is required, the temperature control system board 19 will reduce the power output of the heating component 20 or stop the operation of the heating component 20 to reduce the temperature inside the drone body 10; the acquisition unit is also responsible for monitoring the external ambient temperature, and using these data to assist in determining whether it is necessary to adjust the temperature control strategy inside the drone body 10. Through this intelligent temperature control mechanism, the drone can maintain the normal operating temperature of its key components in polar environments, ensuring the stability and reliability of the drone when performing missions.

[0111] Specifically, when calculating the internal temperature index of the drone body 10 according to the temperature data, it includes:

[0112] The internal temperature index is obtained by the following formula:

[0113]

[0114] Among them, T j Indicates the internal temperature index, w i represents the weight coefficient of the i-th temperature sensor; e i,j represents the temperature data of the i-th temperature sensor at time j, and n represents the total number of temperature sensors in the sensor group 14.

[0115] It can be seen that the internal temperature index is the temperature data of the sensor group 14. By assigning different weight coefficients to different temperature sensors, the overall temperature condition inside the drone fuselage 10 can be more accurately reflected. This weighted calculation method takes into account the importance of different sensor positions to temperature measurement, ensuring that the temperature control module can make more reasonable temperature adjustment decisions based on the actual temperature distribution. For example, as the power source of the drone, the temperature change of the battery is crucial to the performance and safety of the drone, so the temperature sensor above the battery (the first temperature sensor) is assigned a higher weight coefficient (w1=0.5). The weight coefficients of the second and third temperature sensors are evenly distributed (w2=0.5, w3=0.5), ensuring that the temperature control module can comprehensively consider the data of each sensor and realize accurate control of the internal temperature of the drone fuselage 10. Through this intelligent temperature control strategy, the drone can maintain the normal operating temperature of its key components in polar environments, ensuring the stability and reliability of the drone when performing tasks.

[0116] Specifically, when determining the internal temperature change rate of the drone fuselage 10 and predicting the temperature index based on the temperature index time series, it includes:

[0117] The internal temperature change rate is obtained by the following formula:

[0118]

[0119] t j =j-1;

[0120] Where s represents the internal temperature change rate; m represents the total number of time points in the time series; t j represents the jth time point, T j represents the internal temperature index corresponding to the jth time point; k represents the constant coefficient;

[0121] The predicted temperature index is obtained by the following formula:

[0122] f = st + b;

[0123] Among them, f represents the predicted temperature index at time t; t represents time; and b represents the initial temperature.

[0124] In this embodiment, the value of m is preferably 10. Through such a mathematical model, the temperature control module can predict the temperature change trend inside the drone body 10 according to the temperature index time series analysis, so as to make temperature increase or decrease adjustments in advance.

[0125] In this embodiment, the value of k is preferably 1.

[0126] It is understandable that, through such a mathematical model, the temperature control module can predict the temperature change trend inside the drone body 10 according to the temperature index time series analysis, so as to make temperature increase or decrease adjustments in advance. Through this intelligent temperature control mechanism, the drone can maintain the normal operating temperature of its key components in the polar environment, ensuring the stability and reliability of the drone when performing tasks.

[0127] Specifically, when determining whether to perform a heating operation / cooling operation on the interior of the drone fuselage 10 according to the internal temperature change rate and the predicted temperature index, the method includes:

[0128] The predicted temperature index is compared with the ideal temperature index, and whether to perform a heating operation / cooling operation on the interior of the drone fuselage 10 is determined according to the comparison result;

[0129] When the internal temperature change rate is greater than 0 and the predicted temperature index is greater than the ideal temperature index, it is determined to perform a cooling operation on the interior of the drone fuselage 10;

[0130] When the internal temperature change rate is less than 0 and the predicted temperature index is less than the ideal temperature index, it is determined to perform a cooling operation on the interior of the drone fuselage 10;

[0131] When the internal temperature change rate is equal to 0 and the predicted temperature index is equal to the ideal temperature index, it is determined that the interior of the drone fuselage 10 is not subjected to a temperature increase operation or a temperature decrease operation.

[0132] It is understandable that judging whether to perform a heating operation / cooling operation on the interior of the drone body 10 according to the internal temperature change rate and the predicted temperature index can accurately identify the temperature state inside the drone body 10, thereby taking corresponding temperature adjustment measures. Such a design ensures the stable operation of the drone under extreme temperature conditions, prolongs the service life of the drone, and improves its reliability in complex environments.

[0133] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0134] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0135] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A foldable multi-wing UAV system suitable for use in polar environments, characterized in that: include: UAV fuselage; There are four groups of folding components, one group of folding components is provided on the front side, the rear side, the left side and the right side of the drone fuselage, and one end of the folding components close to the drone fuselage is connected to the drone fuselage; A wing assembly is arranged at one end of the folding assembly away from the UAV fuselage, and the wing assembly is used to cooperate with the folding assembly to complete the folding action; A flight control module is arranged inside the UAV fuselage and located on the top of the UAV fuselage, the flight control module is connected to the folding assembly and the wing assembly, and the flight control module is used to control the flight state of the UAV; wherein the flight state includes take-off, flight and landing; A temperature control module is arranged inside the drone body, and the temperature control module is used to control the internal temperature of the drone body; There are two landing gears, which are tilted in the vertical direction at the bottom of the UAV fuselage, and the top ends of the landing gears are connected to the UAV fuselage.

2. The foldable multi-wing UAV system suitable for use in polar environments according to claim 1, characterized in that: The UAV fuselage comprises: A carbon fiber shielded fuselage shell is arranged on the outside of the UAV fuselage, and the carbon fiber shielded fuselage shell is used to protect the flight control module and the temperature control module; A thermal insulation layer, arranged on the inner side of the carbon fiber shielding fuselage shell; The heating layer is arranged on the inner side of the heat-insulating layer, and the heating layer is provided with a heating component.

3. The foldable multi-wing UAV system suitable for use in polar environments according to claim 2, characterized in that: The folding assembly comprises: A fixing frame and a folding steering gear, wherein the fixing frame is connected to the fuselage of the UAV and is used to fix the folding steering gear; the folding steering gear is used to drive the wing assembly to perform a folding action; A protective shell, which is sleeved on the outer sides of the fixing frame and the folding steering gear, and is used to protect the folding steering gear; A folding stopper is arranged at the top of the protective shell and away from one side of the drone fuselage, and the folding stopper is rigidly connected to the fixing frame; A folding arm, one end of which is connected to the output end of the folding servo; There are two DC electromagnets, which are arranged on both sides of the folding machine arm and located in the middle of the folding machine arm. The DC electromagnets are rigidly connected to the folding machine arm.

4. The foldable multi-wing UAV system suitable for use in polar environments according to claim 3, characterized in that: The wing assembly comprises: A rotating motor connected to an output end of the folding steering gear; A propeller clamp, the center of which is connected to the output end of the rotating motor; There are two carbon fiber blades, and the two carbon fiber blades are arranged at two ends of the blade clamp; A permanent magnet is embedded in one end of the carbon fiber blade away from the blade clamp.

5. The foldable multi-wing UAV system suitable for use in polar environments according to claim 4, characterized in that: The temperature control module comprises: A drone battery is disposed inside the drone body and located at the bottom of the drone body; A temperature control system board is arranged on one side of the drone battery. The temperature control system board is rigidly connected to the drone body. The temperature control system board is used to control the internal temperature of the drone body.

6. The foldable multi-wing UAV system suitable for use in polar environments according to claim 5, characterized in that: The temperature control module also includes: A sensor group is arranged inside the drone body, and the sensor group includes a first temperature sensor, a second temperature sensor and a third temperature sensor; The first temperature sensor is arranged on the top of the drone battery; The second temperature sensor is arranged on one side of the drone battery and located on the top of the heating layer; The third temperature sensor is disposed above the flight control module.

7. The foldable multi-wing UAV system suitable for use in polar environments according to claim 6, characterized in that: The temperature control module also includes: A collection unit is configured to collect temperature data of the sensor group and calculate an internal temperature index of the drone fuselage according to the temperature data; and is further configured to construct a temperature index time series based on the time series and the internal temperature index, and determine an internal temperature change rate and a predicted temperature index of the drone fuselage based on the temperature index time series; The judgment unit is configured to judge whether to perform a heating operation / cooling operation on the interior of the drone body according to the internal temperature change rate and the predicted temperature index.

8. The foldable multi-wing UAV system suitable for use in polar environments according to claim 7, characterized in that: Calculating the internal temperature index of the drone body according to the temperature data includes: The internal temperature index is obtained by the following formula: Among them, T j Indicates the internal temperature index, w i represents the weight coefficient of the i-th temperature sensor; e i,j represents the temperature data of the i-th temperature sensor at time j, and n represents the total number of temperature sensors in the sensor group.

9. The foldable multi-wing UAV system suitable for use in polar environments according to claim 7, characterized in that: Determining the internal temperature change rate of the drone fuselage and the predicted temperature index based on the temperature index time series includes: The internal temperature change rate is obtained by the following formula: t j =j-1; Where s represents the internal temperature change rate; m represents the total number of time points in the time series; t j represents the jth time point, T j represents the internal temperature index corresponding to the jth time point; k represents the constant coefficient; The predicted temperature index is obtained by the following formula: f = st + b; Among them, f represents the predicted temperature index at time t; t represents time; and b represents the initial temperature.

10. The foldable multi-wing UAV system suitable for use in polar environments according to claim 7, characterized in that: When judging whether to perform a heating operation / cooling operation on the interior of the drone body according to the internal temperature change rate and the predicted temperature index, the method includes: Comparing the predicted temperature index with the ideal temperature index, and determining whether to perform a heating operation / cooling operation on the interior of the drone fuselage according to the comparison result; When the internal temperature change rate is greater than 0 and the predicted temperature index is greater than the ideal temperature index, it is determined to perform a cooling operation on the interior of the drone fuselage; When the internal temperature change rate is less than 0 and the predicted temperature index is less than the ideal temperature index, it is determined to perform a cooling operation on the interior of the drone fuselage; When the internal temperature change rate is equal to 0 and the predicted temperature index is equal to the ideal temperature index, it is determined that no heating operation / cooling operation is performed on the interior of the drone fuselage.

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