Perching method and device for unmanned aerial vehicle

Abstract

The invention discloses an inhabiting method and device for an unmanned aerial vehicle, and the method comprises the following steps: S1, obtaining the feature information of a target inhabiting object; s2, selecting corresponding inhabitation mechanisms and inhabitation actions according to the feature information; s3, executing an inhabitation mechanism and an inhabitation action; s4, the inhabitation state is monitored in real time; by acquiring the feature information of the target inhabiting object, the inhabiting environment can be accurately identified, and a solid foundation is laid for the subsequent inhabiting process. According to the characteristic information, the appropriate inhabitation mechanism and inhabitation action are selected, flexible adaptation to different inhabitation environments is achieved, it is ensured that the unmanned aerial vehicle can inhabit in the most appropriate mode, and therefore the inhabitation success rate and stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a perching method and device for unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, drones have been widely used in many fields, such as environmental monitoring, agricultural management, inspection missions, and search and rescue work. However, existing drones still face a series of challenges in practical applications, especially in terms of energy consumption, endurance, and noise pollution in long-term missions. Traditional drones usually rely on continuous flight to complete missions, which not only consumes a lot of energy, but also easily generates high noise, especially in urban or natural environments, which has a negative impact on the surrounding environment and mission efficiency. At present, although some drone systems have improved endurance by optimizing the design, control algorithm or power system of the aircraft, most technologies only focus on improving energy efficiency in flight mode. There is a lack of "habitating" methods that can effectively reduce energy consumption and improve endurance, especially in flight or in complex terrain, and the ability to effectively utilize the surface habitat in the environment cannot be effectively utilized. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a perching method and device for a UAV which can reduce energy consumption and improve endurance.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a perching method for a drone, comprising the following steps: S1: Obtain characteristic information of target habitat; S2: Select corresponding perching mechanism and perching action according to feature information; S3: Execute perching mechanisms and perching movements; S4: Real-time monitoring of habitat status.

[0005] In order to solve the above technical problems, the present invention also provides a perching device for a UAV, which is used to execute the above perching method for a UAV.

[0006] The beneficial effects of the present invention are as follows: the perching method and device for unmanned aerial vehicles provided by the present invention can accurately identify the perching environment by acquiring the characteristic information of the target perching object, laying a solid foundation for the subsequent perching process. By selecting the appropriate perching mechanism and perching action according to the characteristic information, flexible adaptation to different perching environments is achieved, ensuring that the unmanned aerial vehicle can perch in the most suitable way, thereby improving the success rate and stability of perching. When executing the perching mechanism and perching action, the unmanned aerial vehicle can accurately complete the perching task according to the predetermined process, reduce human intervention, and improve the automation degree of perching. Real-time monitoring of the perching state can timely discover problems that may occur during the perching process, such as unstable perching, insufficient bonding force, etc., so as to take corresponding measures for adjustment or early warning, and ensure the safety and reliability of the unmanned aerial vehicle during the entire perching process. This all-round monitoring mechanism provides a strong guarantee for the long-term stable perching of the unmanned aerial vehicle, enabling it to continuously perform tasks in various complex environments, such as environmental monitoring, inspection, reconnaissance, etc., and has broad application prospects and important practical significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 This is a flow chart of a perching method for a drone according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the perching action of the perching method for a drone according to the first embodiment of the present invention when the surface of the target perching object is in a vertical state; Figure 3 This is a working principle block diagram of the binding force monitoring of the perching method for a drone according to the first embodiment of the present invention; Figure 4 This is a schematic structural diagram of a perch device for a drone according to a second embodiment of the present invention; Figure 5 for Figure 4 Detailed view of point A in the middle; Figure 6 for Figure 4 Detailed view of point B in the middle; Figure 7 It is a schematic diagram of the structure of the attachment device of the second embodiment of the present invention.

[0008] Description of labels: 1. Machine body; 11. Motor seat; 12. Propeller; 2. Attachment device; 21. Deformable substrate; 211. First fixed seat; 212. Second fixed seat; 22. Adhesive attachment; 23. Deformable driving member; 3. Contact rotation device; 31. Elastic bracket; 311. Avoidance hole; 32. Contact plate; 4. Gripping hook; 41. Hook traction line; 5. Fixed bracket; 51. Reversing column; 52. Limiting member; 6. Rotating seat; 61. Rotating part; 62. First traction part; 63. Second traction part; 64. Needle; 7. First drive spring; 8. Second drive spring; 9. Pulling wire; 91. First traction line; 92. Second traction line. DETAILED DESCRIPTION

[0009] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0010] Please refer to Figures 1 to 7 , a perching method for a drone, comprising the following steps, S1: Obtain characteristic information of target habitat; S2: Select corresponding perching mechanism and perching action according to feature information; S3: Execute perching mechanisms and perching movements; S4: Real-time monitoring of habitat status.

[0011] As can be seen from the above description, the beneficial effect of the present invention is that by obtaining the characteristic information of the target habitat, the habitat environment can be accurately identified, laying a solid foundation for the subsequent habitat process. According to the characteristic information, the appropriate habitat mechanism and habitat action are selected to achieve flexible adaptation to different habitat environments, ensuring that the drone can adopt the most suitable way to habitat, thereby improving the success rate and stability of habitat. When executing the habitat mechanism and habitat action, the drone can accurately complete the habitat task according to the predetermined process, reduce human intervention, and improve the degree of automation of habitat. Real-time monitoring of the habitat state can timely discover problems that may occur during the habitat process, such as unstable habitat, insufficient binding force, etc., so as to take corresponding measures to adjust or warn, and ensure the safety and reliability of the drone during the entire habitat process. This all-round monitoring mechanism provides a strong guarantee for the long-term stable habitat of the drone, enabling it to continuously perform tasks in various complex environments, such as environmental monitoring, inspection, reconnaissance, etc., and has broad application prospects and important practical significance.

[0012] Furthermore, in step S1, comprehensive characteristic information of the target habitat is obtained through the integration of multiple sensors and the combination of algorithms.

[0013] From the above description, it can be seen that the accuracy and efficiency of target recognition can be improved by integrating multiple sensors and combining algorithms to obtain feature information. This method enables drones to quickly adapt to different habitats and ensure the selection of appropriate habitat mechanisms and actions.

[0014] Furthermore, the perching mechanism includes adhesion, hooking or grasping.

[0015] From the above description, it can be seen that the diverse perching mechanisms enable the drone to achieve stable perching on surfaces of different materials and shapes. By selecting a suitable perching mechanism, the drone's perching success rate can be improved and its adaptability in complex environments can be enhanced.

[0016] Furthermore, the perching action is hovering, contacting, rotating and perching performed in sequence.

[0017] As can be seen from the above description, the drone can smoothly transition to the perching state by performing the perching actions in sequence. The precise control of this process can reduce the instability during the perching process and improve the success rate of perching.

[0018] Furthermore, when performing the rotation action, the roll angle and pitch angle of the drone are monitored in real time.

[0019] From the above description, we can see that real-time monitoring of the roll angle and pitch angle can ensure that the drone remains stable during the rotation process and avoid perching failure due to improper posture. This monitoring mechanism improves the safety and reliability of the perching process.

[0020] Furthermore, an angle sensor is used to monitor the roll angle and pitch angle of the drone in real time.

[0021] From the above description, it can be seen that the use of angle sensors for real-time monitoring can provide high-precision attitude feedback, ensuring that the attitude control of the drone during the perching process is more accurate. This high-precision monitoring improves the operational stability and safety of the drone.

[0022] Furthermore, the perching action is performed sequentially including hovering, lifting and perching.

[0023] From the above description, it can be seen that the hovering and lifting perching action can adapt to perching surfaces of different heights and shapes. This flexible perching action design improves the adaptability of the drone in a variety of environments and ensures that it can successfully perch under various conditions.

[0024] Furthermore, in step S4, the combination of the UAV and the target habitat is monitored to determine whether the habitat state is stable.

[0025] From the above description, we can see that by monitoring the combination of the drone and the target habitat, we can evaluate in real time whether the drone's habitat is stable and detect potential falling risks in time. This monitoring mechanism enhances the safety of the drone during the habitat process and ensures the smooth progress of the mission.

[0026] Furthermore, the method of data fusion of force sensor and inertial measurement unit (IMU) is used to monitor the binding situation of UAV and target habitat in real time.

[0027] From the above description, it can be seen that the method of using force sensor and inertial measurement unit (IMU) data fusion to monitor the binding of the drone and the target habitat in real time can provide real-time feedback information to ensure that the drone maintains sufficient adhesion during the perching process. This monitoring method improves the perching stability of the drone and reduces the safety hazards caused by insufficient binding force.

[0028] A perching device for a drone, used to execute the perching method for a drone.

[0029] Please refer to Figures 1 to 3 , Embodiment 1 of the present invention is: a perching method for a drone, comprising the following steps, S1: Obtain characteristic information of target habitat; S2: Select corresponding perching mechanism and perching action according to feature information; S3: Execute perching mechanisms and perching movements; S4: Real-time monitoring of habitat status.

[0030] Preferably, in step S1, feature information is obtained by integrating multiple sensors and combining them with algorithms; it is understandable that obtaining feature information by integrating multiple sensors and combining them with algorithms can improve the accuracy and efficiency of target recognition. This method enables the drone to quickly adapt to different habitats, ensuring the selection of appropriate habitat mechanisms and actions; specifically, the surface types of the target habitat can be divided into vertical surfaces, inverted surfaces, inclined surfaces, rod-shaped surfaces, thin plate surfaces, flexible curved surfaces, hard curved surfaces, etc.; the corresponding habitat mechanisms are adapted according to different surface types; specifically, the habitat mechanisms include adhesion, hooks or gripping, and the diverse habitat mechanisms enable the drone to achieve stable habitat on surfaces of different materials and shapes. By selecting a suitable habitat mechanism, the success rate of the drone's habitat can be improved and its adaptability in complex environments can be enhanced. For example, when the characteristic information of the target habitat obtained is a vertical surface, an adhesion or hooking and barbing perching mechanism can be used for perching; when the characteristic information of the target habitat obtained is an inverted surface, an adhesion perching mechanism can be used for perching; when the characteristic information of the target habitat obtained is a rod-shaped surface, a grasping perching mechanism can be used for perching; when the characteristic information of the target habitat obtained is a thin plate surface, a hooking and barbing perching mechanism can be used for perching; specifically, the corresponding perching mechanism can be matched according to the characteristic information of the target habitat actually obtained, which will not be elaborated here.

[0031] As an option, the perching action is hovering, contacting, rotating and perching performed in sequence, and this set of perching actions is applicable to the case where the surface of the target habitat is a vertical surface, an inclined surface, a thin plate surface, a flexible curved surface, or a hard curved surface; or, the perching action is hovering, lifting and perching performed in sequence, and this set of perching actions is applicable to the case where the surface of the target habitat is an inverted surface, a rod-shaped surface, a thin plate surface, a flexible curved surface, or a hard curved surface. In this embodiment, taking the vertical surface as an example, the selected perching actions are "hovering, contacting, rotating and perching", and the selected perching mechanism is adhesion. By performing the perching actions in sequence, it is ensured that the drone can smoothly transition to the perching state. The precise control of this process can reduce the instability during the perching process and improve the success rate of perching; specifically, when performing the rotation action, the roll angle and pitch angle of the drone are monitored in real time. It can be understood that real-time monitoring of the roll angle and pitch angle can ensure that the drone remains stable during the rotation process and avoid perching failures caused by improper posture. This monitoring mechanism improves the safety and reliability of the perching process; more specifically, the angle sensor is used to monitor the roll angle and pitch angle of the drone in real time. The use of the angle sensor for real-time monitoring can provide high-precision attitude feedback to ensure that the attitude control of the drone during the perching process is more accurate. This high-precision monitoring improves the operational stability and safety of the drone; in detail, the angle sensor compares the acquired roll angle and pitch angle with the preset expected angle, calculates the angle error, and inputs the angle error signal to the PID controller. The PID controller outputs a control signal based on the error. The signal is processed by a filter to remove high-frequency noise and make the signal smoother. Finally, the smoothed control signal is input to the electric control module to adjust the motor drive so that the drone reaches the desired angle.

[0032] In step S4 of this embodiment, by monitoring the combination of the drone and the target habitat, it is determined whether the habitat state is stable. By monitoring the bonding force, it is possible to evaluate whether the habitat state of the drone is stable in real time and discover potential falling risks in time. This monitoring mechanism enhances the safety of the drone during the habitat process and ensures the smooth progress of the mission; specifically, the force sensor and the inertial measurement unit (IMU) are used to monitor the combination of the drone and the target habitat, and the force sensor and the inertial measurement unit (IMU) are used to monitor the bonding force, which can provide real-time feedback information to ensure that the drone maintains sufficient adhesion during the habitat process. This monitoring method improves the habitat stability of the drone and reduces the safety hazards caused by insufficient bonding force; more specifically, the readings obtained by the force sensor are converted into voltage values ​​by the control system, and the IMU data are also converted into voltage values ​​by the control system. The two voltage values ​​are fused in a specific way to obtain the fused voltage value, and compared with the preset safety bonding force voltage value. When the measured voltage value is lower than the set threshold, the system determines that the bonding force is insufficient and there is a risk of falling. At this time, the control system drives the motor to provide the required positive pressure to restore the stable habitat bonding force. The working principle diagram of the above binding force monitoring is as follows: Figure 3 shown.

[0033] Please refer to Figures 4 to 7 , Embodiment 2 of the present invention is: a perching device for a drone, comprising an attachment device 2 installed on the top of the body 1 and a contact rotation device 3 installed on the side of the body 1, wherein the contact rotation device 3 is used to make initial contact with the surface to be perched and provide a rotation fulcrum for the body 1, and the attachment device 2 is used to attach to the surface to be perched; the contact rotation device 3 enables the drone to make initial contact with the surface to be perched and provide a rotation fulcrum, which is essential for the precise positioning and stable attachment of the drone on a vertical or inclined surface. Specifically, the drone body 1 is provided with a plurality of motor seats 11, on which a motor is installed, and on which a propeller 12 is installed, and the propeller 12 is driven by the motor to rotate to provide lift; after the contact rotation device 3 makes initial contact and positioning with the surface to be perched, the lift provided by the propeller 12 causes the body 1 to rotate relative to the fulcrum provided by the contact rotation device 3 until the attachment device 2 is accurately aligned with the surface to be perched of the object to be perched, and is suitable for perching surfaces with various tilt angles.

[0034] Preferably, the contact rotation device 3 includes an elastic bracket 31 and a contact plate 32, one end of the elastic bracket 31 is connected to the body 1, and the contact plate 32 can be rotatably mounted on the other end of the elastic bracket 31 and used for initial contact positioning with the surface to be inhabited; the elastic characteristics of the elastic bracket 31 help absorb the impact during contact and improve the stability and accuracy of the contact; specifically, the elastic bracket 31 can be detachably mounted on the motor seat 11 of the body 1. It can be understood that the detachable design of the elastic bracket 31 improves the convenience of repair and replacement of the drone and reduces maintenance costs. This modular design also facilitates the rapid replacement or upgrade of the elastic bracket 31 according to mission requirements.

[0035] Preferably, the attachment device 2 includes a deformable substrate 21, an adhesive attachment 22 and a deformable driving member 23, the deformable substrate 21 is installed on the top of the body 1, the adhesive attachment 22 is installed on the side of the deformable substrate 21 away from the body 1 and is used to adhere to the surface to be inhabited, and the deformable driving member 23 is installed on the side of the deformable substrate 21 away from the adhesive attachment 22 and is used to drive the surface of the deformable substrate 21 to deform; it can be understood that the design of the deformable substrate 21, the adhesive attachment 22 and the deformable driving member 23 in the attachment device 2 enables the drone to actively adjust the adhesion force and position to adapt to different surface characteristics, thereby improving the reliability and adaptability of the attachment; specifically, the deformable driving member 23 is an SMA spring, which connects the opposite ends of the deformable substrate 21; the SMA spring is used as the deformation driving member 23, and its shape memory characteristics are utilized to achieve precise control of the deformable substrate 21. The SMA spring has a fast response speed and can quickly adjust the adhesion state, thereby improving the reaction speed and adhesion efficiency of the drone; more specifically, the deformable substrate 21 is also provided with two first fixing seats 211 arranged opposite to each other and two second fixing seats 212 arranged opposite to each other; the first fixing seat 211 is connected to the body 1, and the second fixing seat 212 is connected to the deformation driving member 23.

[0036] Preferably, the drone also includes a hook and barb device, which is installed on the side of the body 1 opposite to the contact rotating device 3 and is used to puncture the object to be inhabited. The introduction of the hook and barb device enables the drone to puncture the object to be inhabited, such as a soft or rough surface, thereby enhancing the drone's adhesion ability on non-planar or irregular surfaces; specifically, the hook and barb device includes a fixed bracket 5, a rotating seat 6, a rotating drive member and a needle 64, the fixed bracket 5 is installed on the body 1, the needle 64 is installed on the rotating seat 6 and is used to puncture the object to be inhabited, the rotating seat 6 can be rotatably installed on the fixed bracket 5, and the rotating drive member is installed on the fixed bracket 5 and is used to drive the rotating seat 6 to rotate. It can be understood that the design of the hook and barb device allows the needle 64 to puncture the object to be inhabited and fix the drone. The design of the rotating seat 6 and the rotating drive member allows the puncture angle of the needle 64 to be adjusted as needed, thereby improving the flexibility of the drone's attachment to complex surfaces; more specifically, the fixed bracket 5 is also provided with a limiter 52, and the limiter 52 is located on the rotation trajectory of the rotating seat 6. The design of the limiter 52 on the fixed bracket 5 ensures the stability and safety of the rotating seat 6 during the rotation process, prevents the rotating seat 6 from excessive rotation or derailment, and ensures the reliability and durability of the hook and barb device; in detail, the number of the limiters 52 is two, and when the rotating seat 6 conflicts with one of the limiters 52, the needle 64 is in a retracted state; when the rotating seat 6 conflicts with the other limiter 52, the needle 64 is in an expanded state; in more detail, the limiter 52 and the rotating seat 6 are provided with magnets that can adsorb each other, and the adsorption force of the magnets enables the rotating seat 6 to maintain a stable state.

[0037] In this embodiment, the rotating seat 6 includes a rotating part 61 and a first traction part 62 and a second traction part 63 connected to both ends of the rotating part 61, and the needle 64 is installed on the second traction part 63; the rotating driving member includes a first driving spring 7, a pulling wire 9 and a second driving spring 8 connected in sequence, and the end of the first driving spring 7 away from the pulling wire 9 and the end of the second driving spring 8 away from the pulling wire 9 are respectively connected to the fixed bracket 5, and the fixed bracket 5 is provided with a reversing column 51, and the pulling wire 9 is wound around the reversing column 51; the end of the pulling wire 9 close to the first driving spring 7 is provided with a first traction wire 91, and the first traction wire 91 is provided on the first traction wire 9. The lead wire 91 is connected to the first traction part 62; a second traction wire 92 is provided at one end of the pulling wire 9 close to the second driving spring 8, and the second traction wire 92 is connected to the second traction part 63; by driving the first driving spring 7 to stretch and the second driving spring 8 to contract, or by driving the second driving spring 8 to contract and the first driving spring 7 to stretch, the first traction wire 91 and the second traction wire 92 are pulled against each other, thereby driving the rotating seat 6 to rotate, thereby realizing the storage and deployment of the thorn needle 64; specifically, the first driving spring 7 and the second driving spring 8 are both SMA driving springs (i.e., shape memory alloy springs).

[0038] Preferably, the drone also includes a gripping hook 4, which can be rotatably mounted on the elastic bracket 31 and used to grip the object to be inhabited. The addition of the gripping hook 4 enables the drone to effectively grip the object to be inhabited, enhances the drone's ability to adhere to rods or thin plates, and expands the application scenarios of the drone. Specifically, the elastic bracket 31 is provided with an avoidance hole 311, and the avoidance hole 311 is used to avoid the gripping hook 4. The avoidance hole 311 on the elastic bracket 31 is designed to provide a gripping hook 4 with a gripping hook 4. The necessary space is provided to avoid interference between the grasping hook 4 and the elastic bracket 31 during rotation, thereby ensuring the free rotation and grasping efficiency of the grasping hook; more specifically, the grasping hook 4 is also provided with a hook traction line 41, and the hook traction line 41 is connected to the pull line 9, and the opening and closing of the grasping hook 4 is driven by the movement of the pull line 9, so that the rotating drive member can drive the hook device and the grasping hook 4 at the same time, reducing energy waste and helping to reduce the weight of the drone.

[0039] In summary, the perching method and device for unmanned aerial vehicles provided by the present invention can accurately identify the perching environment by acquiring the characteristic information of the target perching object, laying a solid foundation for the subsequent perching process. According to the characteristic information, the appropriate perching mechanism and perching action are selected to achieve flexible adaptation to different perching environments, ensuring that the unmanned aerial vehicle can perch in the most suitable way, thereby improving the success rate and stability of perching. When executing the perching mechanism and perching action, the unmanned aerial vehicle can accurately complete the perching task according to the predetermined process, reduce human intervention, and improve the automation degree of perching. Real-time monitoring of the perching state can timely discover problems that may occur during the perching process, such as unstable perching, insufficient bonding force, etc., so as to take corresponding measures for adjustment or early warning, and ensure the safety and reliability of the unmanned aerial vehicle during the entire perching process. This all-round monitoring mechanism provides a strong guarantee for the long-term stable perching of the unmanned aerial vehicle, enabling it to continuously perform tasks in various complex environments, such as environmental monitoring, inspection, reconnaissance, etc., and has broad application prospects and important practical significance.

[0040] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A perching method for a drone, characterized in that: The following steps are included: S1: Obtain characteristic information of target habitat; S2: Select corresponding perching mechanism and perching action according to feature information; S3: Execute perching mechanisms and perching movements; S4: Real-time monitoring of habitat status.

2. The perching method for a drone according to claim 1, characterized in that: In step S1, comprehensive characteristic information of the target habitat is obtained by integrating multiple sensors and combining algorithms; the types of sensors include but are not limited to visual sensors, sensing sensors, humidity sensors, etc., which can collect different physical and environmental characteristic data of the target habitat in real time; the algorithms used include but are not limited to machine learning, neural network estimation algorithms, model prediction algorithms, etc., which can process and analyze sensor data to infer complex characteristics of the target habitat; These characteristic information covers but is not limited to multiple dimensions such as shape, texture, humidity, stiffness, roughness, angle, etc., providing data support and decision-making basis for the selection of perching mechanism and perching action.

3. The perching method for a drone according to claim 1, characterized in that: Such perching mechanisms include adhesion, barbing or grasping.

4. The perching method for a drone according to claim 1, characterized in that: The perching action is hovering, contacting, rotating and perching performed in sequence.

5. The perching method for a drone according to claim 4, characterized in that: When performing rotational movements, the roll and pitch angles of the drone are monitored in real time.

6. The perching method for a drone according to claim 5, characterized in that: Angle sensors are used to monitor the roll and pitch angles of the drone in real time.

7. The perching method for a drone according to claim 1, characterized in that: The perching action is hovering, lifting and perching performed in sequence.

8. The perching method for a drone according to claim 1, characterized in that: In step S4, the combination of the UAV and the target habitat is monitored to determine whether the habitat state is stable.

9. The perching method for a drone according to claim 8, characterized in that: The method of sensor and inertial measurement unit (IMU) data fusion is used to monitor the combination of UAV and target habitat in real time.

10. A perch device for an unmanned aerial vehicle, characterized in that: The perching device for a drone is used to execute the perching method for a drone as described in any one of claims 1 to 9 above.

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