Unmanned aerial vehicle hanging method and device

Abstract

The invention relates to an unmanned aerial vehicle hanging method and device, relates to the field of unmanned aerial vehicles, and solves the problem that an existing unmanned aerial vehicle putting method cannot accurately put objects to each user. The unmanned aerial vehicle hanging method comprises the steps that a control instruction of an active control device is generated according to the weight of a hanging object and the position where the hanging object needs to reach, the active control device is connected with an unmanned aerial vehicle through a retractable swing rope, the active control device is further connected with a hanging object grabbing device, and the hanging object grabbing device is used for grabbing the hanging object. The hanging object grabbing device is used for grabbing the hanging object; and the active control device controls the active control device and the suspended object grabbing device connected with the active control device to horizontally move by a preset distance according to the control instruction, and the preset distance is determined by the position where the suspended object needs to reach.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a method and device for hanging an unmanned aerial vehicle. Background Art

[0002] With the rapid development of unmanned aerial vehicle technology and the maturity of the market, unmanned aerial vehicles have been widely used in society. For example, in fire fighting, public safety, material transportation, etc., unmanned aerial vehicles have been well developed. Unmanned aerial vehicles can be used to airdrop materials to the ground. To achieve airdropping, generally, an external dropping device for carrying materials to be dropped needs to be set on the unmanned aerial vehicle. When the unmanned aerial vehicle flies to a designated delivery point, the materials to be dropped are separated from the external dropping device to complete the dropping. In the prior art, when the unmanned aerial vehicle drops, the materials to be dropped generally directly and completely separate from the unmanned aerial vehicle and quickly fall to the ground under the action of gravity. However, nowadays, there are many airdrop tasks, different scenarios, and various objects to be airdropped. Existing airdrop unmanned aerial vehicles cannot perform airdrop tasks for special geographical locations such as middle rooms in high-rise buildings and cliff platforms, and cannot solve the last step of the delivery link, and cannot accurately deliver objects to each user according to different users. Summary of the Invention

[0003] In view of the above analysis, the present invention aims to provide a method and device for hanging an unmanned aerial vehicle to solve the problem that the existing unmanned aerial vehicle dropping method cannot accurately drop objects to each user.

[0004] In a first aspect, an embodiment of the present invention provides a method for hanging an unmanned aerial vehicle, including:

[0005] Generating a control instruction for an active control device according to the weight of the hanging object and the position where the hanging object needs to reach, wherein the active control device is connected to the unmanned aerial vehicle through a retractable pendulum rope, and the active control device is further connected to a hanging object grasping device for grasping the hanging object; and

[0006] The active control device controls the active control device and the connected hanging object grasping device to horizontally move a preset distance according to the control instruction, wherein the preset distance is determined by the position where the hanging object needs to reach.

[0007] Based on a further improvement of the above method, the moving direction of the active control device and the connected hanging object grasping device is determined by the thrust generated by the active control device, and the moving distance is jointly determined by the length of the pendulum rope and the thrust generated by the active control device.

[0008] Based on a further improvement of the above method, the active control device is an air-flow type active control device, and controlling the active control device and the connected hanging object grasping device to horizontally move a preset distance includes:

[0009] By controlling the outflow direction and outflow magnitude of the airflow in the air-flow type active control device, the active control device and the suspended object grasping device connected thereto are controlled to horizontally move a preset distance, or

[0010] By controlling the flight direction and magnitude of the small unmanned aerial vehicle type active control device, the active control device and the suspended object grasping device connected thereto are controlled to horizontally move a preset distance.

[0011] Based on a further improvement of the above method, the air-flow type active control device includes a main body, one or more first air-flow channels are provided at the bottom of the main body, one or more second air-flow channels are provided on the side wall of the main body, and the controlling the active control device and the suspended object grasping device connected thereto to horizontally move a preset distance by controlling the outflow direction and outflow magnitude of the airflow in the air-flow type active control device includes:

[0012] When gas flows in from the first air-flow channel and flows out from the second air-flow channel, the thrust direction of the air-flow type active control device is controlled by controlling the closing and opening of the second air-flow channel, and the thrust magnitude of the air-flow type active control device is controlled by controlling the magnitude of the gas flowing out from the second air-flow channel.

[0013] Based on a further improvement of the above method, the air-flow type active control device includes a gas storage device, the gas storage device stores compressed gas with a certain pressure, the gas storage device is provided with one or more third air-flow channels, and the controlling the active control device and the suspended object grasping device connected thereto to horizontally move a preset distance by controlling the outflow direction and outflow magnitude of the airflow in the air-flow type active control device includes:

[0014] When the compressed gas flows out from the third air-flow channel, the thrust direction and thrust magnitude of the air-flow type active control device are controlled by controlling the closing and opening of the third air-flow channel.

[0015] Based on a further improvement of the above method, the active control device includes a position sensor, the position sensor is used to measure the position of the active control device, and the preset distance is jointly determined by the position of the active control device and the position where the suspended object needs to reach.

[0016] Based on a further improvement of the above method, when the active control device controls the active control device and the suspended object grasping device connected thereto to horizontally move a preset distance according to the control instruction, the unmanned aerial vehicle is in a hovering state.

[0017] Based on further improvements to the above method, before the active control device controls the active control device and the suspended object grabbing device connected thereto to horizontally move a preset distance according to the control instruction, the vertical distance between the active control device and the suspended object grabbing device connected thereto is controlled by retracting and releasing the pendulum rope.

[0018] In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle suspension device, including:

[0019] A wire-releasing suspension system, an active control device, and a suspended object grabbing device that are sequentially connected to the unmanned aerial vehicle, where:

[0020] The wire-releasing suspension system is configured with a retractable pendulum rope and the active control device is connected to the wire-releasing suspension system through the retractable pendulum rope;

[0021] The suspended object grabbing device is used to grab the suspended object;

[0022] The active control device is configured to:

[0023] In response to receiving a control instruction generated by the unmanned aerial vehicle according to the weight of the suspended object and the position where the suspended object needs to reach, control the active control device and the suspended object grabbing device connected thereto to horizontally move a preset distance according to the control instruction, where the preset distance is determined by the position where the suspended object needs to reach.

[0024] Based on further improvements to the above device, the active control device is an air-flow type active control device or a small unmanned aerial vehicle type active control device;

[0025] The air-flow type active control device is configured to:

[0026] In response to receiving a control instruction generated by the unmanned aerial vehicle according to the weight of the suspended object and the position where the suspended object needs to reach, control the outflow direction and outflow magnitude of the air flow in the air-flow type active control device to control the active control device and the suspended object grabbing device connected thereto to horizontally move a preset distance;

[0027] The small unmanned aerial vehicle type active control device is configured to: in response to receiving a control instruction generated by the unmanned aerial vehicle according to the weight of the suspended object and the position where the suspended object needs to reach, control the flight direction and magnitude of the small unmanned aerial vehicle type active control device to control the active control device and the suspended object grabbing device connected thereto to horizontally move a preset distance.

[0028] Based on further improvements to the above device, the air-flow type active control device includes a main body. One or more first air-flow channels are provided at the bottom of the main body, and one or more second air-flow channels are provided on the side wall of the main body. The air-flow type active control device is configured to:

[0029] In response to receiving a control instruction generated by the drone according to the weight of the suspended object and the position where the suspended object needs to reach, control the gas to flow in from the first air-flow channel and flow out from the second air-flow channel, and control the thrust direction of the air-flow type active control device by controlling the closing and opening of the second air-flow channel, and control the thrust magnitude of the air-flow type active control device by controlling the magnitude of the gas flowing out from the second air-flow channel.

[0030] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0031] 1. In the solution of the present invention, when the drone needs to deliver supplies to the exterior wall of a building, the drone can maintain a safe distance far greater than the length of the propeller blades from the exterior wall of the building, effectively ensuring the safety of the drone when hovering.

[0032] 2. In the solution of the present invention, the active control device can effectively control the position of the suspended object through its power system, having the advantage of accurate delivery position.

[0033] 3. In the solution of the present invention, the active control device can effectively control the position of the suspended object when the drone is disturbed by the wind and its position deviates, having good stability.

[0034] 4. The solution of the present invention has many application scenarios, and users need to add or modify fewer facilities and have lower costs.

[0035] 5. In the solution of the present invention, the process of realizing the function does not require interaction with the user, which can ensure that the drone can take off and fly at any time, guaranteeing the sustainability of the task.

[0036] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combined solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can be made obvious from the specification or understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the content specifically pointed out in the text and the drawings. Description of the Drawings

[0037] The drawings are only for the purpose of showing specific embodiments and are not considered to be a limitation of the present invention. Throughout the drawings, the same reference signs denote the same components.

[0038] Figure 1Schematic structural diagram of an unmanned aerial vehicle suspension device according to one embodiment of the present invention.

[0039] Figure 2 Perspective view of the air-flow type active control device 10 according to an embodiment of the present invention.

[0040] Figure 3 Schematic structural diagram of an unmanned aerial vehicle suspension device according to another embodiment of the present invention.

[0041] Figure 4 Schematic flow diagram showing a method for an unmanned aerial vehicle to suspend an object according to an embodiment of the present invention.

[0042] Figure 5 Schematic diagram showing an intermediate process of the air-flow type active control device 10 moving a suspended object according to an embodiment of the present invention.

[0043] Reference numerals:

[0044] 1 - Connection component between the unmanned aerial vehicle and the suspension device; 2 - Wire-releasing suspension system; 3 - Communication board and controller in the wire-releasing suspension system; 4 - Motor in the wire-releasing suspension system; 5 - Sensor in the wire-releasing suspension system; 6 - Swing rope; 7 - Connection component between the swing rope and the active control device; 8 - Motor of the air-flow type active control device; 9 - Communication board and controller of the air-flow type active control device; 10 - Air-flow type active control device; 11 - Motor of the suction cup; 12 - Suction cup; 13 - Bottom opening of the air-flow type active control device; 14 - Sensor of the air-flow type active control device; 15 - Small unmanned aerial vehicle type active control device; 16 - Propeller blade;

[0045] 17 - Motor of the small unmanned aerial vehicle type active control device; 18 - Communication board and controller of the small unmanned aerial vehicle type active control device; 19 - Sensor of the small unmanned aerial vehicle type active control device. Detailed implementation manners

[0046] The following will specifically describe the preferred embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, and are not used to limit the scope of the present invention.

[0047] Figure 1 Schematic structural diagram of an unmanned aerial vehicle suspension device according to one embodiment of the present invention. As Figure 1As shown in the figure, the drone suspension device includes: the connection component 1 between the drone and the suspension device, the wire-releasing suspension system 2, the communication board and controller 3 in the wire-releasing suspension system, the motor 4 in the wire-releasing suspension system, the sensor 5 in the wire-releasing suspension system, the pendulum rope 6, the connection component 7 between the pendulum rope and the active control device, the motor 8 of the air-flow type active control device, the communication board and controller 9 of the air-flow type active control device, the air-flow type active control device 10, the motor 11 of the suction cup, and the suction cup 12.

[0048] The connection component 1 between the drone and the suspension device can achieve the rapid assembly and disassembly of the suspension device and the drone. The wire-releasing suspension system 2 can release and tighten the suspended object, and at the same time has the functions of measuring the mass of the suspended object, the angle of the pendulum rope, and the length of the pendulum rope. The style of the wire-releasing suspension system 2 is not limited. Figure 1 Only one of the descriptions is given here. The communication board and controller 3 in the wire-releasing suspension system can complete the communication between the wire-releasing suspension system 2, the drone, and the air-flow type active control device 10. The position and structure of the communication board and controller 3 are not limited. Figure 1 Only one of the descriptions is given here.

[0049] The motor 4 in the wire-releasing suspension system can complete the retraction and release of the pendulum rope. The sensor 5 in the wire-releasing suspension system can complete the measurement of the length of the pendulum rope, the angle of the pendulum rope, and the mass of the suspended object. The function of the pendulum rope 6 is to connect the drone and the air-flow type active control device 10, and its material is not limited. The connection component 7 between the pendulum rope and the active control device can achieve the connection between the pendulum rope 6 and the air-flow type active control device 10, and its style is not limited. The function of the motor 8 of the air-flow type active control device is to complete the control of the air flow in the air-flow type active control device 10 to achieve the effect of changing the position of the air-flow type active control device 10. The function of the communication board and controller 9 of the air-flow type active control device is to complete the communication between the air-flow type active control device 10, the drone, and the wire-releasing suspension system 2 and control the motor 8 of the air-flow type active control device. The position and structure of the communication board and controller 9 are not limited. Figure 1 Only one of the descriptions is given here.

[0050] The function of the air-flow type active control device 10 is that it can actively control the body itself and the connected suspended object to horizontally push out a certain distance through its own control system, and its device style is not limited. Figure 1The air-flow type active control device 10 shown schematically is a body, with a number of air-flow channels symmetrically arranged on the sides of the body and four air-flow channels symmetrically distributed at the bottom of the body. When the air-flow type active control device 10 is turned on, gas flows into the body through the air-flow channels at the bottom, and then flows out of the body through the air-flow channels on the sides, generating a thrust force. When there is no air flow on the right side and the air flow on the left side flows out normally, the air-flow type active control device 10 drives the suspended object to be horizontally pushed out to the right by a certain distance. When there is no air flow on the left side and the air flow on the right side flows out normally, the air-flow type active control device 10 drives the suspended object to be horizontally pushed out to the left by a certain distance. It should be noted that in order to keep the vertical distance unchanged when the air-flow type active control device 10 moves its position, the wire-paying suspension system 2 needs to cooperate and be in a state where the pendulum rope can be released.

[0051] In some embodiments, the body of the air-flow type active control device 10 is a hollow disc with a certain thickness. In some other embodiments, the body of the air-flow type active control device 10 can adopt various structures / outer shapes such as a hollow sphere.

[0052] In some preferred embodiments, the outflow direction of the gas in the air-flow channels on the sides of the air-flow type active control device 10 is the horizontal direction. In some other preferred embodiments, the outflow direction of the gas in the air-flow channels on the sides of the air-flow type active control device 10 is perpendicular to the pendulum rope. In some embodiments, the air-flow type active control device is a gas storage device, and compressed gas with a certain pressure is stored in the gas storage device. Preferably, the compressed gas is an inert gas. A number of air-flow channels are arranged on the gas storage device. When the air-flow type active control device 10 is turned on, the compressed gas stored in the gas storage device flows out through the air-flow channels, generating a thrust force. When there is no air flow on the right side of the gas storage device and the air flow on the left side flows out normally, the air-flow type active control device 10 drives the suspended object to be horizontally pushed out to the right by a certain distance. When there is no air flow on the left side of the gas storage device and the air flow on the right side flows out normally, the air-flow type active control device 10 drives the suspended object to be horizontally pushed out to the left by a certain distance. It should be noted that in order to keep the vertical distance unchanged when the air-flow type active control device 10 moves its position, the wire-paying suspension system 2 needs to cooperate and be in a state where the pendulum rope can be released.

[0053] The function of the motor 11 of the suction cup is to control the suction force of the suction cup 12, so as to achieve the function of the suction cup to lift or lower an object. The function of the suction cup 12 is to fix the suspended object, and its style and material are not limited. The suction cup can also be replaced with other objects with the same function such as a hook. The suction cup 12 can fix the suspended object, including goods, express deliveries, takeaways and other items, and the description here is not limited.

[0054] Figure 2 is a perspective view of the air-flow type active control device 10 according to an embodiment of the present invention. As Figure 2As shown in the figure, the air-flow type active control device 10 further includes a bottom opening 13 of the air-flow type active control device and a sensor 14 of the air-flow type active control device. The function of the bottom opening 13 of the air-flow type active control device is that air can enter the air-flow type active control device 10 through the bottom opening. When the air is discharged from the side opening, it can control the air-flow type active control device 10 to move in position. The function of the sensor 14 of the air-flow type active control device is to measure the position reached by the air-flow type active control device 10.

[0055] Figure 3 The following is a schematic structural diagram of an unmanned aerial vehicle (UAV) suspension device according to another embodiment of the present invention. It should be noted that Figure 3 The UAV suspension device shown in Figure 1 differs from the UAV suspension device shown in Figure 3 in that the active control devices are different. The active control device shown in Figure 1 is a small UAV, and the active control device shown in Figure 3 is the air-flow type active control device 10. Here, only the active control device shown in Figure 1 will be described. For the structures and functions of other components of the UAV suspension device, reference can be made to the description in this article in combination with

[0056] As Figure 3 shown, the small UAV type active control device 15 includes a propeller 16, a motor 17, a communication module, a controller 18, and a sensor 19. The small UAV type active control device 15 can generate power for movement by driving the propeller to rotate through its own motor, so as to move the suspended object to a specified position. The propeller 16 of the small UAV type active control device can generate power for movement by rotating. The motor 17 of the small UAV type active control device can drive the propeller to rotate. The communication module and the controller 18 of the small UAV type active control device can receive information from the UAV and control the motor. The sensor 19 of the small UAV type active control device can measure the position of the small UAV type active control device 15.

[0057] Figure 4 The following shows a schematic flow diagram of a UAV suspension method according to an embodiment of the present invention. As Figure 4 shown, the UAV suspension method includes the following steps:

[0058] Step S101: Generate a control instruction for the active control device according to the weight of the suspended object and the position where the suspended object needs to reach.

[0059] Step S102: The active control device controls the active control device and the suspended object grabbing device connected thereto to horizontally move a preset distance according to the control instruction, where the preset distance is determined by the position where the suspended object needs to reach.

[0060] The following will describe steps S101 to S102 in conjunction with Figure 1 and Figure 3 the shown drone suspension device.

[0061] In this embodiment, the active control device is connected to the drone through a retractable pendulum rope. The active control device here can be the air-flow type active control device 10 or the small drone type control device 15. In this embodiment, the active control device is also connected to the suspended object grabbing device. The suspended object grabbing device here can be Figure 1 or Figure 3 the suction cup 12 in

[0062] When the drone is in a high-speed flight state, the air-flow type active control device 10 or the small drone type control device 15 is closed and does not generate thrust.

[0063] When the drone is in a hovering state and lowering the suspended object, the air-flow type active control device 10 or the small drone type control device 15 is closed and does not generate thrust.

[0064] After the drone hovering state is stable, as Figure 5 shown, after the air-flow type active control device 10 receives the signal transmitted by the drone through its communication board 9, the air-flow type active control device 10 is turned on, and the direction and magnitude of the air flow are controlled by the motor 8 carried by itself to move the suspended object to the specified location required by the task. Specifically, driven by the internal motor 8, the sucked gas flows into the body through the air flow channel 13 at the bottom, and then flows out of the air-flow type active control device 10 through the side air flow channel, generating thrust. The air flow direction is opposite to the forward direction of the suspended object. The thrust pushes the air-flow type active control device 10 and its fixed suspended object to move in the forward direction. The magnitude and direction of the air flow are determined by the required thrust magnitude and direction. The required thrust magnitude and direction are determined according to the weight of the suspended object and the position where the suspended object needs to reach. The required thrust magnitude can be determined by the following formula:

[0065]

[0066] where m is the weight of the suspended object, g is the acceleration due to gravity, L is the length of the pendulum rope, and d is the horizontal movement distance of the suspended object.

[0067] In this embodiment, the air-flow type active control device 10 changes its moving distance by changing its own thrust, thereby changing the horizontal position of the suspended object. The air-flow type active control device 10 uses the air-flow magnitude and air-flow direction as control variables. When there is no air-flow or less air-flow on the right side and more air-flow flows out on the left side, the air-flow type active control device 10 is pushed out horizontally to the right. At the same time, in this embodiment, the vertical positions of the air-flow type active control device 10 and the suspended object can be changed by changing the length of the pendulum rope.

[0068] For the small UAV type control device 15, after the UAV hovers stably, after the communication module of the small UAV type control device 15 receives the signal transmitted by the UAV, it switches from the closed state to the open state and is controlled by its internal control system. The blades are rotated by its own motor to generate power. The small UAV type active control device 15 carries the suspended object fixed thereto and moves in the forward direction required by the suspended object. The moving direction and distance are calculated by the internal control system of the small UAV type active control device 15. The magnitude and direction of the required thrust can be determined according to the weight of the suspended object and the position where the suspended object needs to reach. The magnitude of the required thrust can be determined by the following formula:

[0069]

[0070] Where m is the weight of the suspended object, g is the acceleration due to gravity, L is the length of the pendulum rope, and d is the horizontal moving distance of the suspended object.

[0071] In this embodiment, the small UAV type control device 15 changes its moving distance by changing its own thrust, thereby changing the horizontal position of the suspended object. The small UAV type control device 15 is controlled by its internal control system and generates power by its internal power system. The small UAV type active control device 15 carries the suspended object fixed thereto and moves in the forward direction required by the suspended object. The moving direction and distance are calculated by the internal control system of the small UAV type active control device 15. At the same time, in this embodiment, the vertical positions of the small UAV type active control device 15 and the suspended object can be changed by changing the length of the pendulum rope.

[0072] After the sensor in the air-flow type active control device 10 or the small UAV type control device 15 determines that the suspended object reaches the specified position, the air-flow type active control device 10 or the small UAV type control device 15 controls the suction cup 12 to reduce the suction force (or opens the hook) and drops the suspended object.

[0073] After the task is completed, the air-flow type active control device 10 or the small UAV type control device 15 is turned off, and the UAV rolls up the pendulum rope to retract the air-flow type active control device 10 or the small UAV type control device 15.

[0074] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects:

[0075] 1. In the solution of the present invention, when the drone needs to deliver supplies to the exterior of a building, the drone can maintain a safety distance far greater than the length of the propeller blades from the exterior of the building, effectively ensuring the safety of the drone when hovering.

[0076] 2. In the solution of the present invention, the active control device can effectively control the position of the suspended object through its power system, and has the advantage of accurate delivery position.

[0077] 3. In the solution of the present invention, the active control device can effectively control the position of the suspended object when the drone is interfered by the wind and its position deviates, and has good stability.

[0078] 4. The solution of the present invention has many usage scenarios, and users need to add or modify fewer facilities with lower costs.

[0079] 5. The process of realizing the functions of the solution of the present invention does not require interaction with users, which can ensure that it can be used, left, and flown at any time, guaranteeing the sustainability of the task.

[0080] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for hanging a drone, characterized in that: include: Generate a control instruction of the active control device according to the weight of the hanging object and the position to be reached by the hanging object, wherein the active control device is connected to the drone through a retractable swing rope, and the active control device is also connected to a hanging object grabbing device, and the hanging object grabbing device is used to grab the hanging object; and The active control device controls the active control device and the suspended object grabbing device connected thereto to move horizontally a preset distance according to the control instruction, wherein the preset distance is determined by the position to which the suspended object needs to reach.

2. The method according to claim 1, characterized in that The moving direction of the active control device and the suspended object grabbing device connected thereto is determined by the thrust generated by the active control device, and the moving distance is determined jointly by the length of the swing rope and the thrust generated by the active control device.

3. The method according to claim 1, characterized in that: The active control device is an airflow type active control device or a small drone type active control device, and the control of the active control device and the connected hanging object grabbing device to move horizontally by a preset distance includes: By controlling the outflow direction and outflow size of the airflow in the airflow active control device, the active control device and the hanging object grabbing device connected thereto are controlled to move horizontally by a preset distance, or By controlling the flight direction and size of the small drone-type active control device, the active control device and the hanging object grabbing device connected thereto are controlled to move horizontally a preset distance.

4. The method according to claim 3, characterized in that The airflow type active control device comprises a body, one or more first airflow channels are arranged at the bottom of the body, and one or more second airflow channels are arranged on the side wall of the body. The control of the outflow direction and outflow size of the airflow in the airflow type active control device to control the active control device and the connected hanging object grabbing device to move horizontally by a preset distance comprises: When gas flows into the first airflow channel and flows out of the second airflow channel, the thrust direction of the airflow type active control device is controlled by controlling the closing and opening of the second airflow channel, and the thrust size of the airflow type active control device is controlled by controlling the size of the gas flowing out of the second airflow channel.

5. The method according to claim 3, characterized in that: The airflow type active control device comprises an air storage device, the air storage device stores compressed gas with a certain pressure, the air storage device is provided with one or more third airflow channels, and the control of the active control device and the connected hanging object grabbing device to horizontally move a preset distance by controlling the outflow direction and outflow size of the airflow in the airflow type active control device comprises: When the compressed gas flows out from the third airflow channel, the thrust direction and thrust magnitude of the airflow type active control device are controlled by controlling the closing and opening of the third airflow channel.

6. The method according to claim 1, characterized in that The active control device comprises a position sensor, and the position sensor is used to measure the position of the active control device, and the preset distance is determined by the position of the active control device and the position that the suspended object needs to reach.

7. The method according to claim 1, characterized in that When the active control device controls the active control device and the hanging object grabbing device connected thereto to move horizontally by a preset distance according to the control instruction, the UAV is in a hovering state.

8. The method according to claim 1, characterized in that Before the active control device controls the active control device and the suspended object grabbing device connected thereto to move horizontally a preset distance according to the control instruction, the vertical distance of the active control device and the suspended object grabbing device connected thereto is controlled by retracting and releasing the swing rope.

9. A UAV hanging device, characterized in that: include: The line-releasing hanging system, active control device and hanging object grabbing device connected to the UAV in sequence include: The line-paying and hanging system is equipped with a retractable swing rope, and the active control device is connected to the line-paying and hanging system via the retractable swing rope; The hanging object grabbing device is used to grab the hanging object; The active control device is configured as follows: In response to receiving a control instruction generated by the drone according to the weight of the hanging object and the position where the hanging object needs to reach, the active control device and the hanging object grabbing device connected thereto are controlled to move horizontally a preset distance according to the control instruction, wherein the preset distance is determined by the position where the hanging object needs to reach.

10. The device according to claim 9, characterized in that The active control device is an airflow type active control device or a small drone type active control device; The airflow active control device is configured to: in response to receiving a control instruction generated by the drone according to the weight of the hanging object and the position where the hanging object needs to reach, control the outflow direction and outflow size of the airflow in the airflow active control device to control the active control device and the hanging object grabbing device connected thereto to move horizontally by a preset distance; The small drone-type active control device is configured to: in response to receiving a control instruction generated by a drone based on the weight of the hanging object and the position where the hanging object needs to reach, control the flight direction and size of the small drone-type active control device to control the active control device and the hanging object grabbing device connected thereto to move horizontally a preset distance.

11. The device according to claim 10, characterized in that The airflow type active control device comprises a body, the bottom of the body is provided with one or more first airflow channels, the side wall of the body is provided with one or more second airflow channels, and the airflow type active control device is configured as follows: In response to receiving a control instruction generated by the drone according to the weight of the hanging object and the position where the hanging object needs to reach, the gas is controlled to flow into the first airflow channel and out of the second airflow channel, and the thrust direction of the airflow active control device is controlled by controlling the closing and opening of the second airflow channel, and the thrust size of the airflow active control device is controlled by controlling the size of the gas flowing out of the second airflow channel.

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