Multi-rotor unmanned aerial vehicle low-cost flight training device and training method thereof

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle low-cost flight training device and a training method thereof. The training device comprises a lifting point device, a lifting rope and an unmanned aerial vehicle. The lifting point device is located at the top of the supporting face and is higher than the supporting face, one end of the lifting rope is connected with the lifting point device, the unmanned aerial vehicle is connected to the other end of the lifting rope, and a gap is formed between the unmanned aerial vehicle and the supporting face under the limitation of the lifting rope. By means of the training device, the probability of crash of the unmanned aerial vehicle can be greatly reduced, the error-tolerant rate of a new pilot is increased, and the flight training cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV training, and particularly to a low-cost flight training device for a multi-rotor UAV and a training method thereof. Background Art

[0002] The training of multi-rotor UAV pilots mainly includes four steps: theoretical learning, simulated flight training, indoor flight training, and outdoor flight training. These four parts gradually improve the control ability of new pilots from theory to practice and from simple to complex. Among them, the indoor flight environment is relatively stable and there are fewer external interference factors, which is particularly suitable for new pilots to consolidate simulated flight actions and familiarize themselves with operation skills. It is the most time-consuming link in the pilot training process. However, there are still the following problems in the actual training process: First, the control actions of some new pilots are not fine enough. When controlling the UAV, they habitually operate the joystick with a large amplitude, resulting in the UAV hitting the wall or safety net, and then falling to the ground due to attitude loss of control. Second, the structural parameters of the real UAV are not exactly the same as those of the UAV in the simulator, which leads to a certain difference in their response speeds. In most cases, the response speed of the real UAV is slower than that of the UAV in the simulator, that is, there is a certain delay in the real UAV response. This undoubtedly increases the control difficulty. Therefore, if there is a safe real UAV flight device for new pilots to experience the response speed of the real UAV first, it can improve the training effect to a certain extent and also reduce the psychological pressure of the pilots.

[0003] At present, the indoor flight training of multi-rotor UAVs is mainly carried out inside a safety net. During the training process, the UAV is inside the safety net and the operator is outside the safety net. In addition, in order to prevent the high-speed rotating propellers from hurting people and also to reduce the loss of propeller blades, a protection device, namely a propeller guard, is generally installed outside the propellers. When the UAV is out of control and hits a pedestrian or an object, the propeller guard can play a certain protective and buffering role. However, the above protection device is only effective when the UAV is flying at a low speed. When the UAV hits at a high speed, the propeller guard will deform greatly, resulting in damage to the propellers. In addition, even with the buffering effect of the propeller guard, when the UAV hits the wall or safety net, it may cause the attitude of the UAV to get out of control, resulting in the UAV falling sideways or even upside down to the ground. At this time, the UAV will be damaged, at least breaking the propeller guard and propellers, and at worst breaking the arm of the UAV, further increasing the cost of flight training.

[0004] In view of this, the present invention is specifically proposed. Summary of the Invention

[0005] To solve one of the above technical problems, the present invention provides a low-cost flight training device for a multi-rotor UAV and a training method thereof.

[0006] The present application adopts the following technical solutions: On the one hand, the present application provides a low-cost flight training device for a multi-rotor unmanned aerial vehicle, comprising: A suspension point device, which is located at the top of the support surface and is higher than the support surface; A suspension rope, one end of which is connected to the suspension point device; An unmanned aerial vehicle, which is connected to the other end of the suspension rope; Wherein, under the restriction of the suspension rope, there is a gap between the unmanned aerial vehicle and the support surface.

[0007] Optionally, the low-cost flight training device for a multi-rotor unmanned aerial vehicle includes an anti-winding rod, which is movably connected to the unmanned aerial vehicle, and the suspension rope is connected to the anti-winding rod; The unmanned aerial vehicle has an unmanned aerial vehicle body and a plurality of propellers arranged on the unmanned aerial vehicle body; When the anti-winding rod moves to the extreme position, the anti-winding rod is located on the side of the propeller away from the unmanned aerial vehicle body.

[0008] Optionally, the length of the anti-winding rod is greater than half of the length of the fuselage; When the anti-winding rod moves to the extreme position, the projection of the end of the suspension rope connected to the anti-winding rod on the rotation plane of the propeller is located on the side of the propeller away from the unmanned aerial vehicle body, and there is a distance between the projection and the propeller.

[0009] Optionally, the unmanned aerial vehicle includes a center of gravity leveling device arranged on the top of the unmanned aerial vehicle body; The center of gravity leveling device includes a frame and a movable seat arranged on the frame. The movable seat can move and be fixed within the plane of the frame, and the anti-winding rod is movably connected to the movable seat.

[0010] Optionally, the frame includes a first-direction beam and two second-direction beams arranged at intervals; The first-direction beam is located between the two second-direction beams, and the first-direction beam is perpendicular to the second-direction beam; Both ends of the first-direction beam are slidably connected to the two second-direction beams respectively, and the first-direction beam can move and be fixed along the second-direction beam; The movable seat is connected to the first-direction beam, and the movable seat can move and be fixed along the first-direction beam.

[0011] Optionally, the frame includes two limiting beams; The two limiting beams are respectively arranged at both ends of the second-direction beam, and the limiting beams are respectively connected to the two second-direction beams; When the anti-winding rod moves to the extreme position, the anti-winding rod abuts against the second-direction beam or the limiting beam.

[0012] Optionally, the suspension point device includes a winding assembly; The winding assembly has a housing, a rotating member and an elastic member. The rotating member is rotatably connected to the housing, and the elastic member is respectively connected to the rotating member and the housing; The suspension rope is wound around the rotating member; Under the action of an external force, the suspension rope can drive the rotating member to rotate, so that the rotating member releases the suspension rope, and the deformation amount of the elastic member increases; When the external force is withdrawn, the elastic member recovers its deformation and drives the rotating member to rotate to wind the suspension rope.

[0013] Optionally, the low-cost flight training device for a multi-rotor unmanned aerial vehicle includes a suspension point adjusting device; The suspension point adjusting device is located at the top of the support surface, and the suspension point adjusting device is higher than the support surface; The suspension point device is movably connected to the suspension point adjusting device; Under the action of an external force, the suspension rope can pull the suspension point device to move along the suspension point adjusting device.

[0014] Optionally, the suspension point adjusting device includes: A circular ring slide rail; A radial slide rail, the radial slide rail is located inside the circular ring slide rail, and the radial slide rail is slidably connected to the circular ring slide rail; The suspension point device is slidably connected to the radial slide rail; Under the traction of the suspension rope, the suspension point device can slide along the radial slide rail, and the radial slide rail can slide along the circular ring slide rail.

[0015] On the other hand, the embodiment of the present application provides a training method for a low-cost flight training device for a multi-rotor unmanned aerial vehicle, including the following steps: Step S1: Hang the unmanned aerial vehicle on the suspension point device through a suspension rope. The unmanned aerial vehicle is in a horizontal attitude, the suspension rope is in a vertically straightened state, and there is a gap between the unmanned aerial vehicle and the support surface; Step S2: The pilot controls the flight of the unmanned aerial vehicle by operating the remote controller; Wherein, in step S2, when the flight of the unmanned aerial vehicle is abnormal, the motor of the unmanned aerial vehicle is controlled to stop rotating through the remote controller, the unmanned aerial vehicle falls, the unmanned aerial vehicle enters a pendulum state, and the unmanned aerial vehicle and the suspension rope swing with the suspension point device as the end point.

[0016] By adopting the above technical solutions, the present application has the following beneficial effects: The training device of the present application has a suspension rope. By adjusting the length of the suspension rope, when the drone falls, it will not touch the support surface, avoiding bump damage to the drone. With the training device of the present application, the probability of the drone crashing can be greatly reduced, the error tolerance rate of new pilots can be improved, and the flight training cost can be reduced.

[0017] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, as part of the present application, are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention, but do not constitute an improper limitation to the present invention. Obviously, the accompanying drawings in the following description are only some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings: Figure 1 Showing a top view of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 2 Showing a first state diagram of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 3 Showing a second state diagram of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 4 Showing a third state diagram of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 5 Showing a schematic diagram of the anti-winding rod of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure in an extended state; Figure 6 Showing a schematic diagram of a rope blocking cover provided on the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 7 Showing a schematic diagram of a fan and a wind guide cover provided on the anti-winding rod of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 8 Showing a cross-sectional view of a fan and a wind guide cover provided on the anti-winding rod of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 9 Showing a schematic structural diagram of the suspension point device of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 10 Showing a three-dimensional structural diagram of the suspension point device of the low-cost flight training device for a multi-rotor drone provided by an embodiment of the present disclosure; Figure 11Schematic diagram of the cooperation structure between the center-of-gravity leveling device and the anti-rotation rod of the multi-rotor UAV low-cost flight training device provided by the embodiments of the present disclosure; Figure 12 Top view schematic diagram when the anti-rotation rod of the multi-rotor UAV low-cost flight training device provided by the embodiments of the present disclosure is folded to the limit position; Figure 13 Schematic diagram of a structure of the frame of the multi-rotor UAV low-cost flight training device provided by the embodiments of the present disclosure.

[0019] In the figure: 1. Suspension point device; 2. Suspension rope; 3. UAV; 31. UAV main body; 32. Propeller; 33. Center-of-gravity leveling device; 331. Frame; 3311. Second-direction beam; 3312. First-direction beam; 3313. Limit beam; 332. Movable seat; 4. Anti-rotation rod; 41. First pipe body; 42. Second pipe body; 43. Rope blocking cover; 44. Fan; 45. Air guide cover; 46. Cavity; 47. Ventilation opening; 5. Suspension point adjustment device; 51. Ring slide rail; 52. Radial slide rail; a. Inclined plane; b. Concave part; f. Slide groove.

[0020] It should be noted that these drawings and text descriptions are not intended to limit the scope of the concept of the present invention in any way, but to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0022] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment 1

[0024] AsFigures 1 to 13 As shown in the figure, Embodiment 1 of the present application provides a low-cost flight training device for a multi-rotor unmanned aerial vehicle, including: a suspension point device 1, a suspension rope 2, and an unmanned aerial vehicle 3. The suspension point device 1 is located at the top of the support surface, and the suspension point device 1 is higher than the support surface. The support surface can be the surface of an indoor floor, and the suspension point device 1 can be installed on the installation surface, and the installation surface can be the surface of an indoor ceiling. One end of the suspension rope 2 is connected to the suspension point device 1, and the unmanned aerial vehicle 3 is connected to the other end of the suspension rope 2, that is, the unmanned aerial vehicle 3 is connected to the bottom end of the suspension rope 2. Wherein, under the restriction of the suspension rope 2, there is a gap between the unmanned aerial vehicle 3 and the support surface. The training device of the present application has a suspension rope 2. By adjusting the length of the suspension rope 2, when the unmanned aerial vehicle 3 falls, it will not touch the support surface, avoiding bump damage to the unmanned aerial vehicle 3. With the training device of the present application, the probability of the unmanned aerial vehicle 3 crashing can be greatly reduced, the error tolerance rate of new pilots can be improved, and the flight training cost can be reduced.

[0025] In some possible implementation schemes, the low-cost flight training device for a multi-rotor unmanned aerial vehicle includes an anti-winding rod 4. The anti-winding rod 4 is movably connected to the unmanned aerial vehicle 3, and the suspension rope 2 is connected to the anti-winding rod 4. The unmanned aerial vehicle 3 has an unmanned aerial vehicle body 31 and a plurality of propellers 32 arranged on the unmanned aerial vehicle body 31. When the anti-winding rod 4 moves to the extreme position, the anti-winding rod 4 is located on the side of the propellers 32 away from the unmanned aerial vehicle body 31. As Figure 4 shown, that is, the anti-winding rod 4 is located on the top of the propellers 32, a certain distance higher than the propellers 32, so that the suspension rope 2 is higher than the propellers 32, avoiding the suspension rope 2 being wound around the propellers 32 and causing flight failures of the unmanned aerial vehicle 3, improving safety, and also facilitating the smooth progress of flight training.

[0026] In some possible implementation schemes, as Figure 4 shown, the length of the anti-winding rod 4 is greater than half of the length of the fuselage. When the anti-winding rod 4 moves to the extreme position, the projection of the end of the suspension rope 2 connected to the anti-winding rod 4 on the rotation plane of the propellers is located on the side of the propellers 32 away from the unmanned aerial vehicle body 31, and there is a distance between the projection and the propellers 32. The bottom end of the suspension rope 2 can be connected to the end of the anti-winding rod 4 away from the unmanned aerial vehicle 3. When the anti-winding rod 4 swings to the extreme position, the anti-winding rod 4 extends out of the unmanned aerial vehicle 3 by a certain length, so that there is a safety distance between the end of the suspension rope 2 and the propellers 32 on the unmanned aerial vehicle 3, avoiding the suspension rope 2 being wound around the propellers 32 of the unmanned aerial vehicle 3, improving the flight safety of the unmanned aerial vehicle 3, and facilitating the smooth progress of flight training.

[0027] The anti-winding rod mainly plays a guiding role. The length of the anti-winding rod 4 cannot be less than half of the length of the fuselage. Under the guidance of the anti-winding rod 4, the suspension rope 2 can be separated from the influence area of the propellers 32.

[0028] It should be noted that the term "limit position" in this application can be understood as the position where the anti-rotation rod 4 rotates to abut against the blocking structure (the frame 331 in the following text) on the drone 3, that is, the position where the angle between the anti-rotation rod 4 and the plane where the drone 3 is located is the smallest.

[0029] As Figure 5 shown, the anti-rotation rod 4 provided in the embodiment of this application can be a telescopic structure. When the drone 3 is not in use, the anti-rotation rod 4 can be compressed to shorten the anti-rotation rod 4 so that the length of the anti-rotation rod 4 is less than half of the fuselage length, so that when the anti-rotation rod 4 rotates to the limit position, the anti-rotation rod 4 does not protrude from the drone 3, which facilitates the storage of the drone 3. When training flight is required, the anti-rotation rod 4 is stretched to make the anti-rotation rod 4 extend, so that when the anti-rotation rod 4 rotates to the limit position, it protrudes outside the drone 3.

[0030] Among them, the anti-rotation rod 4 can include a first tube body 41 and a second tube body 42. The first tube body 41 is movably connected to the drone 3, and one end of the second tube body 42 is inserted into the first tube body 41, and the second tube body 42 is slidably connected to the first tube body 41. The suspension rope 2 is connected to the end of the second tube body 42 away from the first tube body 41. There is a certain frictional resistance between the first tube body 41 and the second tube body 42. When the length of the anti-rotation rod 4 needs to be adjusted, a force can be applied to the second tube body 42 to make the second tube body 42 insert into or withdraw from the first tube body 41. There is a certain frictional resistance between the second tube body 42 and the first tube body 41. After adjusting the position of the second tube body 42, the second tube body 42 basically remains in place, and only when the external force is large enough can the second tube body 42 move along the first tube body 41. A collar is provided at the end of the second tube body 42 to facilitate the connection of the suspension rope 2.

[0031] In some possible implementation schemes, as Figure 6 shown, the free end (the end) of the anti-rotation rod 4 is connected to the suspension rope 2, and a rope blocking cover 43 is provided at a position near the end of the anti-rotation rod 4. The rope blocking cover 43 is used to limit the position of the suspension rope 2 to prevent the suspension rope 2 from being adsorbed close to the propeller under the influence of the airflow driven by the propeller 32. When the anti-rotation rod 4 moves to the limit position, the projection of the rope blocking cover 43 on the anti-rotation rod 4 on the rotation plane of the propeller is located on the side of the propeller 32 away from the drone body 31, and there is a distance between the projection and the propeller 32. That is, when the anti-rotation rod 4 moves to the limit position, the rope blocking cover 43 also protrudes from the drone 3, that is, it protrudes from the arm and propeller of the drone 3.

[0032] The rope blocking cover 43 can be in a funnel shape and sleeved on the anti-rotation rod 4. In the direction from the drone 3 to the suspension rope 2, the inner diameter of the rope blocking cover 43 gradually increases, so that the end of the rope blocking cover 43 close to the suspension rope 2 has a larger opening, which can effectively block the suspension rope 2 from moving towards the drone body 31 side and prevent the suspension rope 2 from winding around the propeller.

[0033] In some possible embodiments, in combination with Figure 11 and Figure 12 As shown, the end of the anti-winding rod 4 can be rotatably connected to the drone 3. The anti-winding rod 4 can rotate around a set rotation axis. When the anti-winding rod 4 rotates to the limit position, the projection of the anti-winding rod 4 on the rotation plane of the propeller is located between the two propellers 32 on the drone 3, reducing the influence of the anti-winding rod 4 on the airflow and minimizing the impact on the flight of the drone 3. And when the anti-winding rod 4 swings to the limit position, it is located between two adjacent propellers on the drone 3, so that the suspension rope 2 is as far away from the propellers on both sides as possible, reducing the influence of the airflow on the suspension rope 2 and preventing the suspension rope 2 from easily moving onto the propeller 32.

[0034] In some possible embodiments, as Figure 11 shown, the drone 3 includes a center-of-gravity leveling device 33 provided at the top of the drone body 31. The center-of-gravity leveling device 33 includes a frame 331 and a movable seat 332 provided on the frame 331. The movable seat 332 can move and be fixed within the plane where the frame 331 is located, and the anti-winding rod 4 is movably connected to the movable seat 332.

[0035] The setting of the center-of-gravity leveling device 33 can conveniently adjust the position of the anti-winding rod 4, enabling the extension line of the anti-winding rod 4 to pass through the center of the drone 3 when the drone 3 is in a horizontal stable state and the anti-winding rod 4 is in a vertical state. Thus, when the drone 3 is being trained, the drone 3 can be leveled. The function of the center-of-gravity leveling device 33 is to adjust the position of the suspension point of the drone 3 so that the aircraft can be in a horizontal attitude when stationary.

[0036] In some possible embodiments, as Figure 11 shown, the frame 331 includes a first-direction beam 3312 and two second-direction beams 3311 arranged at intervals. The first-direction beam 3312 is located between the two second-direction beams 3311, and the first-direction beam 3312 is perpendicular to the second-direction beams 3311. Both ends of the first-direction beam 3312 are slidably connected to the two second-direction beams 3311 respectively. The first-direction beam 3312 can move and be fixed along the second-direction beams 3311. The movable seat 332 is connected to the first-direction beam 3312, and the movable seat 332 can move and be fixed along the first-direction beam 3312. This structural design enables the movable seat 332 to freely move to any position on the frame 331.

[0037] It should be noted that sleeves can be provided at both ends of the first-direction beam 3312, which are sleeved on the second-direction beam 3311. The sleeves have threaded holes, and the locking members are threadedly connected to the threaded holes. By rotating the locking members, they can be tightened against the second-direction beam 3311 to fasten the first-direction beam 3312 to the second-direction beam 3311. Similarly, the movable seat 332 can be slidably sleeved on the first-direction beam 3312. The movable seat 332 is provided with threaded holes, and the locking members are threadedly connected to the threaded holes. By rotating the locking members, they can be tightened against the first-direction beam 3312 to fasten the movable seat 332 to the first-direction beam 3312. Among them, a connecting seat can be provided on the movable seat 332, and the connecting seat is connected to the anti-rotation rod 4.

[0038] In some possible implementation schemes, the frame 331 includes two limiting beams 3313. The two limiting beams 3313 are respectively arranged at both ends of the second-direction beam 3311, and the limiting beams 3313 are respectively connected to the two second-direction beams 3311. When the anti-rotation rod 4 moves to the limit position, the anti-rotation rod 4 abuts against the second-direction beam 3311 or the limiting beam 3313.

[0039] Among them, in the direction of the fuselage height of the drone 3, the upper edge (limiting beam 3313 and second-direction beam 3311) of the frame 331 can be higher than the upper edge of the propeller 32, and the first-direction beam 3312 is lower than or flush with the second-direction beam 3311, so that when the anti-rotation rod 4 swings to contact the second-direction beam 3311 or the limiting beam 3313, the end of the anti-rotation rod 4 connected to the suspension rope is higher than the propeller 32.

[0040] The two second-direction beams 3311 and the two limiting beams 3313 can form a rectangular frame. The frame 331 further includes four columns, and the four columns are respectively connected to the four corners of the rectangular frame. The four columns are all detachably connected to the drone body 31.

[0041] The arrangement of the columns can increase the height of the rectangular frame, raise the heights of the first-direction beam 3312, the second-direction beam 3311 and the limiting beam 3313, which is beneficial for the anti-rotation rod 4 to be supported on the second-direction beam 3311 or the limiting beam 3313 when swinging to the limit position, so that the end of the anti-rotation rod 4 is higher than the propeller 32.

[0042] It should be noted that as Figure 12 shown, the anti-rotation rod 4 can be rotatably connected to the movable seat 332 and has a fixed rotation axis, so that when the anti-rotation rod 4 rotates to the limit position, the anti-rotation rod 4 is located between the two propellers 32. The anti-rotation rod 4 can also be connected to the movable seat 332 through a universal connection structure. The universal connection structure can be a ball hinge structure or a universal hinge. This enables the anti-rotation rod 4 to swing in any direction without a fixed rotation axis. At this time, the structure of the rectangular frame can be improved, such asFigure 13 As shown, the U-shaped frame has a total of four beams (two second direction beams 3311 and two limit beams 3313), each of which may have a recessed portion b, which is approximately located in the middle of the beam, and the top end faces of the corresponding beams are all inclined surfaces a, the bottom ends of the inclined surfaces a extend to the recessed portion b, and the side of the inclined surface a away from the recessed portion b extends to the end of the beam. When the anti-winding rod 4 swings to contact the U-shaped frame and maintains a downward movement trend, the anti-winding rod 4 will naturally move along the inclined surface a toward the recessed portion b, and finally stabilize on the recessed portion b. At this time, the anti-winding rod 4 is in the extreme position of the activity, and the position of the recessed portion b is set so that when the anti-winding rod 4 is supported on the recessed portion b, the anti-winding rod 4 is located at the top position between the two propellers 32 (such as Figure 12 The suspension rope 2 is kept as far away from the influence area of ​​the propeller 32 as possible. The four beams of the U-shaped frame are two second direction beams 3311 and two limit beams 3313, wherein the inner sides of the two second direction beams 3311 or the two limit beams 3313 may be provided with a slide groove f, and the two ends of the first direction beam 3312 may be slidably connected to the slide groove f of the corresponding second direction beam 3311 or the limit beam 3313.

[0043] In some possible implementations, the suspension point device 1 includes a winding assembly, which has a shell, a rotating member and an elastic member. The rotating member is rotatably connected to the shell, and the elastic member is respectively connected to the rotating member and the shell. The suspension rope 2 is wound around the rotating member. Under the action of an external force, the suspension rope 2 can drive the rotating member to rotate, so that the rotating member releases the suspension rope 2, and the deformation of the elastic member increases. When the external force is removed, the elastic member restores the deformation and drives the rotating member to rotate to wind the suspension rope 2. The elastic member can be a spring. The function of the winding assembly is to keep the suspension rope 2 in a tensioned state at all times. However, in order to reduce the influence of the winding assembly on the posture of the drone 3, the tension of the winding assembly should be as small as possible, and the maximum length of the suspension rope 2 of the winding assembly cannot be greater than the indoor height minus the fuselage length.

[0044] In some possible implementations, the multi-rotor UAV low-cost flight training device includes a suspension point adjustment device 5, which is located on the top of the support surface, such as the mounting surface, and the suspension point adjustment device is higher than the support surface. The suspension point device 1 can be movably connected to the suspension point adjustment device 5. Under the action of external force, the suspension rope 2 can pull the suspension point device 1 to move along the suspension point adjustment device. The function of the suspension point adjustment device 5 is to adjust the position of the suspension point of the UAV 3 to adjust the flight range of the UAV 3.

[0045] In some possible embodiments, the suspension point adjusting device 5 includes: an annular slide rail 51 and a radial slide rail 52. The annular slide rail 51 can be installed on an installation surface (such as on an indoor ceiling). The radial slide rail 52 is located inside the annular slide rail 51, and the radial slide rail 52 is slidably connected to the annular slide rail 51. The suspension point device 1 is slidably connected to the radial slide rail 52. Under the traction of the suspension rope 2, the suspension point device 1 can slide along the radial slide rail 52, and the radial slide rail 52 can slide along the annular slide rail 51. Rollers can be provided on the suspension point device 1, which can slide freely along the radial slide rail 52 with small frictional resistance. Similarly, rollers can also be provided on the radial slide rail 52, and the rollers are supported on the annular slide rail 51. The sliding resistances of the suspension point device 1 and the radial slide rail 52 are both small. When the drone 3 flies and pulls the suspension rope 2, it can easily drive the suspension point device 1 and the radial slide rail 52 to move to adapt to the flight position of the drone 3 and match the flight range of the drone 3.

[0046] It should be noted that the radial slide rail 52 passes through the center of the annular slide rail 51. Therefore, theoretically, the suspension point device 1 can be moved to any position inside the annular slide rail 51. One end of the radial slide rail 52 can be slidably connected to the annular slide rail 51, and the position of the radial slide rail 52 corresponding to the center of the annular slide rail 51 is connected to the installation surface through a rotating shaft. Or, both ends of the radial slide rail 52 are slidably connected to the annular slide rail 51, and both ends of the radial slide rail 52 are in a supported state, and it is not easy to be skewed. Embodiment Two

[0047] Based on the above Embodiment One, Embodiment Two of the present application provides another suspension point adjusting device 5. The suspension point adjusting device can include a magnetic plate and a movable member. The magnetic plate can be circular and is installed on an installation surface (such as an indoor ceiling). Multiple universal wheels or balls are provided on the movable member. The movable member can be made of a magnetic material. The magnetic plate and the movable member are magnetically attracted to each other, so that the universal wheels and the balls contact the magnetic plate. Under the traction of the suspension rope 2, the universal wheels or rollers of the movable member will move along the magnetic plate to adapt to the flight position of the drone 3. Among them, the magnetic plate can be an iron plate or a steel plate, and the movable member can include a magnet. By setting the size and structure of the movable member, the magnetic attraction force between the movable member and the magnetic plate can be adjusted so that the magnetic attraction force between the two is large enough and the movable member will not break away from the magnetic plate. It should be noted that baffles can be provided on the peripheral edge of the magnetic plate to limit the position of the movable member and prevent the movable member from moving beyond the magnetic plate. Embodiment Three

[0048] Such as Figure 7 and Figure 8As shown in the figure, on the basis of the above-mentioned Embodiment 1, Embodiment 3 of the present application provides another anti-winding rod 4. A fan 44 is provided on the anti-winding rod 4, and the rotation axis of the fan blades of the fan 44 is parallel or coincides with the central line of the anti-winding rod 4. A wind guide cover 45 is provided in the area between the suspension rope 2 and the fan blades of the anti-winding rod 4. The wind guide cover 45 can be in a funnel shape and sleeved on the anti-winding rod 4. In the direction from the unmanned aerial vehicle 3 to the suspension rope 2, the inner diameter of the rope blocking cover 43 gradually increases, so that the end of the wind guide cover 45 close to the suspension rope 2 has a larger opening. The air discharged by the fan blades will flow out along the conical outer wall of the wind guide cover 45, so as to act on the suspension rope 2, avoid the suspension rope 2 approaching the propeller, and can effectively block the suspension rope 2 from moving towards the side of the unmanned aerial vehicle body 31, and avoid the suspension rope 2 from winding around the propeller.

[0049] Among them, the fan 44 includes a motor and fan blades. The fan blades are connected to the rotating shaft of the motor. The motor can be electrically connected to the circuit board on the unmanned aerial vehicle 3 and powered by the battery on the unmanned aerial vehicle 3. A storage battery can also be provided on the anti-winding rod 4 to supply power to the motor.

[0050] It should be noted that the fan 44 does not need to be in a rotating state all the time. It can be controlled to start only when the anti-winding rod 4 rotates to the limit position. Therefore, only a gyroscope or other position sensors need to be provided in the anti-winding rod 4. When it is determined that the anti-winding rod 4 rotates to the limit position, the fan 44 can be controlled to start.

[0051] For example, an induction matching device (such as a magnetic body) can be provided on the mouth-shaped frame body, a control circuit can be provided in the anti-winding rod 4, the control circuit is connected to the motor, and a proximity switch is provided on the control circuit. When the anti-winding rod 4 swings to the limit position, the proximity switch approaches the induction matching device and is triggered, so that the control circuit is turned on to supply power to the fan 44.

[0052] The fan 44 can be installed on one side of the anti-winding rod 4, such as on the outer wall, and the fan blades of the fan 44 face the outer surface of the wind guide cover 45. The motor and fan blades of the fan 44 can also be arranged inside the anti-winding rod 4. For example, as Figure 8 shown, the local outer diameter of the anti-winding rod 4 is designed to be increased so that a larger cavity 46 is formed inside to accommodate the motor and fan blades. Ventilation openings 47 are provided on the surface of the anti-winding rod 4. The ventilation openings 47 are inclined and face the outer surface of the wind guide cover 45. After the fan blades rotate, the air flow can be discharged through the ventilation openings 47 to the outer surface of the wind guide cover 45. After the wind guide cover 45 disperses the air flow to form an annular and gradually increasing air flow, it can act on the suspension rope 2 and blow the suspension rope 2 to the side away from the unmanned aerial vehicle 3 to avoid the suspension rope 2 from contacting the propeller. Embodiment 4

[0053] The present application provides a training method for a multi-rotor unmanned aerial vehicle low-cost flight training device, including the following steps: Step S1: Hang the drone 3 on the suspension point device 1 through the suspension rope 2. The drone 3 is in a horizontal attitude, the suspension rope 2 is in a vertically straightened state, and there is a gap between the drone 3 and the support surface. Step S2: The drone pilot controls the flight of the drone 3 by operating the remote controller. Among them, in Step S2, when the flight of the drone 3 is abnormal, the motor of the drone 3 is controlled to stop rotating through the remote controller, and the drone 3 falls. The drone 3 enters a pendulum state, and the drone 3 and the suspension rope 2 swing with the suspension point device 1 as the end point. However, the drone 3 will not touch the support surface (ground). The sum of the maximum length of the suspension rope 2, half the length of the fuselage of the drone 3, and the length of the anti-winding rod 4 is less than the distance from the suspension point device 1 to the support surface. Therefore, even in the pendulum state, the drone 3 is not in a horizontal state but in a rolled-over state, and the drone 3 will not touch the support surface.

[0054] With the training device of the present application, the flight training of the drone 3 can greatly reduce the probability of the drone 3 crashing, improve the error tolerance rate of new drone pilots, and reduce the flight training cost. By adopting this flight training method, the indoor flight training of the multi-rotor drone 3 can be further divided into two categories: small rudder operation such as takeoff, hovering, small-range forward and backward movement, etc., and large-range forward and backward movement, 360-degree spin, horizontal figure-eight flight, etc. First, focus on training small rudder operations to exercise the drone pilot's operation feel and improve the control fineness of the drone pilot for the drone 3. Then, conduct large-range operation training to improve the drone pilot's control ability for the drone 3.

[0055] It should be noted that an elastic member is provided in the winding assembly mentioned above, and there is no motor driving to perform the winding action. In some possible embodiments, the winding assembly can be a winch, which can actively wind or release the suspension rope 2. At this time, a force sensor can be provided on the suspension rope 2 or the anti-winding rod 4 to detect the tension value. The force sensor is communicatively connected to the winch. When the tension value detected by the force sensor is less than the set value, it means that the suspension rope 2 is not tightened. At this time, the winch can actively wind the suspension rope 2 to prevent the redundant suspension rope 2 from being adsorbed by the propeller 32. When the tension value detected by the force sensor is greater than the set value, it means that the flight range of the drone 3 has changed. At this time, the winch can actively release the wire to support the flight range of the drone 3.

[0056] In Step S2, the drone 3 and the winch can be communicatively connected. When the drone 3 receives the motor stop rotation instruction, it can send a signal to the winch to control the winch to wind the suspension rope 2, preventing the drone 3 from crashing to the ground or falling to a position too low, resulting in too fast a falling speed and a large impact.

[0057] In Step S2, the training process of the drone 3 includes the following training states in sequence.

[0058] Ready state Before the training started, the drone 3 was suspended on the indoor suspension point in a horizontal position. Figure 2 As shown in the middle anti-winding rod 4 (upright state), at this time, the anti-winding rod 4 is in an upright state, the suspension rope 2 is in a straightened state, and the distance between the UAV 3 and the ground is greater than half of the fuselage.

[0059] Training Status a. Takeoff training When operating the drone 3 to take off, it is necessary to gradually push the throttle lever, and as the throttle is increased, the drone 3 slowly takes off. If during this process, the novice pilot causes the drone 3 to accelerate suddenly due to excessive movements or operating errors, it is only necessary to lock the drone 3 in time through the remote control (control the motor of the propeller 32 of the drone 3 to stop rotating). After locking, the drone 3 will lose power and naturally swing down under the restraint of the rope 2. Due to the length limit of the rope 2, the drone 3 will not touch the ground or collide with the wall during the swinging process, thereby avoiding the crash of the drone 3.

[0060] b. Hover training After the drone 3 takes off to a certain height, the throttle lever can be kept in position to make the drone 3 enter a hovering state. At this time, the anti-winding rod 4 may be in two states. When the drone 3 is hovering at a low altitude, the anti-winding rod 4 is in a tilted state, and the suspension rope 2 is in a tensioned state. Figure 3 As shown, the suspension rope 2 will not affect the operation of the propeller 32. When the drone 3 is hovering at a high altitude, the anti-winding rod 4 will be in a lying state, such as Figure 4 As shown, when the anti-winding rod 4 is in a fallen state, due to the support of the center of gravity adjustment device, the anti-winding rod 4 will always be higher than the rotation plane of the propeller 32 and will not affect the operation of the propeller 32. At this time, the redundant suspension rope 2 will be retracted under the action of the winch.

[0061] During this training process, if an operation error occurs or the attitude of the drone 3 is out of control, the drone 3 can be locked with just one button. After losing power, the drone 3 will naturally fall under the constraint of the rope 2, but will not collide with the wall or the ground, thereby preventing the drone 3 from crashing.

[0062] c. Plane movement training When the pilot can control the drone 3 to hover stably, the plane movement training can be carried out. At this time, keep the left hand throttle stick in the same position, and adjust the right hand rudder stick in a small range to adjust the position of the drone 3 in the plane, so that the anti-wind rod 4 enters the tilted state, or Figure 4 The fallen state is shown.

[0063] During the training of the above three flight subjects, it is required that the pilot operate the joystick slowly and with small amplitudes to exercise the new pilot's fine control ability of the remote control joystick. At the same time, it can also enable the new pilot to have an intuitive experience of the flight response speed of the real drone 3, so as to quickly improve the training effect. Even if there are excessive movements or operation errors during the above training process, the drone 3 can be directly locked to cut off its power, making the drone 3 enter a pendulum state, rather than crashing out of control at high speed into the wall or the ground, causing the plane to crash. This relieves the psychological pressure of the new pilot to a certain extent and improves the training efficiency.

[0064] In step S1, the anti-winding rod 4 can be lifted to adjust the anti-winding rod 4 to a vertical state, and check whether the drone 3 can maintain a horizontal stable state. If so, the debugging contact is carried out. If the drone 3 cannot maintain a stable state, the step of adjusting the position of the movable seat 332 can be carried out multiple times until the drone 3 can be in a horizontal stable state.

[0065] The above are only the preferred embodiments of the present invention, and there is no limitation to the present invention in any form. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art of this patent, without departing from the scope of the technical solution of the present invention, can make some changes or modifications using the technical content prompted above into equivalent embodiments of equivalent changes. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A low-cost flight training device for a multi-rotor UAV, characterized in that: include: A hanging point device, the hanging point device is located on the top of the supporting surface, and the hanging point device is higher than the supporting surface; A lifting rope, one end of which is connected to the lifting point device; A drone connected to the other end of the suspension rope; Wherein, under the restriction of the suspension rope, there is a gap between the drone and the supporting surface.

2. The low-cost flight training device for multi-rotor UAV according to claim 1, characterized in that: It includes an anti-winding rod, the anti-winding rod is movably connected to the drone, and the suspension rope is connected to the anti-winding rod; The drone comprises a drone body and a plurality of propellers arranged on the drone body; When the anti-winding rod moves to the extreme position, the anti-winding rod is located at a side of the propeller away from the drone body.

3. The low-cost flight training device for multi-rotor UAV according to claim 2, characterized in that: The length of the anti-winding rod is greater than half the length of the fuselage; When the anti-winding rod moves to the extreme position, the projection of one end of the sling connected to the anti-winding rod onto the rotation plane of the propeller is located on the side of the propeller away from the drone body, and there is a distance between the projection and the propeller.

4. The low-cost flight training device for multi-rotor UAV according to claim 3 is characterized in that: The drone includes a center of gravity leveling device disposed on the top of the drone body; The center of gravity leveling device comprises a frame and a movable seat arranged on the frame, the movable seat can be moved and fixed in the plane where the frame is located, and the anti-winding rod can be movably connected to the movable seat.

5. The low-cost flight training device for multi-rotor UAV according to claim 4, characterized in that: The frame includes a first direction beam and two second direction beams arranged at intervals; The first direction beam is located between two second direction beams, and the first direction beam is perpendicular to the second direction beams; The two ends of the first direction beam are slidably connected to the two second direction beams respectively, and the first direction beam can move and be fixed along the second direction beams; The movable seat is connected to the first direction beam, and the movable seat can move and be fixed along the first direction beam.

6. The low-cost flight training device for multi-rotor UAV according to claim 5, characterized in that: The frame includes two limit beams; The two limiting beams are respectively arranged at two ends of the second direction beam, and the limiting beams are respectively connected to the two second direction beams; When the anti-winding rod moves to the extreme position, the anti-winding rod stops at the second direction beam or the limiting beam.

7. The low-cost flight training device for multi-rotor UAV according to claim 1, characterized in that: The suspension point device includes a winding assembly; The winding assembly comprises a shell, a rotating member and an elastic member, wherein the rotating member is rotatably connected to the shell, and the elastic member is respectively connected to the rotating member and the shell; The suspension rope is wound around the rotating member; Under the action of external force, the suspension rope can drive the rotating member to rotate, so that the rotating member releases the suspension rope and the deformation of the elastic member increases; When the external force is removed, the elastic member recovers its deformation and drives the rotating member to rotate to wind up the suspension rope.

8. The low-cost flight training device for multi-rotor UAV according to claim 7, characterized in that: Including a suspension point adjustment device; The suspension point adjustment device is located at the top of the support surface, and the suspension point adjustment device is higher than the support surface; The suspension point device is movably connected to the suspension point adjustment device; Under the action of external force, the suspension rope can pull the suspension point device to move along the suspension point adjustment device.

9. The low-cost flight training device for multi-rotor UAV according to claim 8, characterized in that: The suspension point adjustment device comprises: Ring slide rail; A radial slide rail, the radial slide rail is located inside the circular slide rail, and the radial slide rail is slidably connected to the circular slide rail; The suspension point device is slidably connected to the radial slide rail; Under the traction of the suspension rope, the suspension point device can slide along the radial slide rail, and the radial slide rail can slide along the circular slide rail.

10. The training method of the low-cost flight training device for multi-rotor unmanned aerial vehicles according to any one of claims 1 to 9, characterized in that: The steps include: Step S1, hanging the UAV on the hanging point device through the hanging rope, the UAV is in a horizontal posture, the hanging rope is in a vertically straightened state, and there is a gap between the UAV and the supporting surface; Step S2: The pilot controls the flight of the drone by operating the remote controller; Among them, in step S2, when the drone flies abnormally, the drone motor is stopped by the remote control, the drone falls, and the drone enters a pendulum clock state, and the drone and the suspension rope swing with the suspension point device as the end point.

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