Inspection unmanned aerial vehicle with windproof structure and control method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an inspection unmanned aerial vehicle with a windproof structure and a control method thereof, and the method comprises the steps: collecting data through wind speed and wind direction sensors, and dynamically adjusting the lifting height of a wind shield and the wind outlet direction of a wind guide hole. The wind shield is driven by a lifting driving mechanism, the angle of an air outlet of the air guide hole is adjusted through a micro motor, and the stability of the unmanned aerial vehicle in different wind fields is ensured by combining rotor rotating speed control. According to the inspection unmanned aerial vehicle with the windproof structure and the control method of the inspection unmanned aerial vehicle, the states of the wind shields and the air guide holes can be optimized in real time according to the wind speed, the wind direction and the attitude deviation, the wind resistance performance is remarkably improved, and it is guaranteed that the inspection unmanned aerial vehicle flies stably in the complex environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of UAV inspection, and particularly relates to an inspection UAV with a windproof structure and a control method thereof. Background Art

[0002] The inspection UAV needs to fly outdoors, and wind is one of the main reasons for the UAV to shake and lose control. By adding a windproof structure to the UAV, its windproof performance can be improved. When flying without wind, the windproof structure needs to be removed to achieve the maximum performance and speed. However, repeated disassembly of the windproof plate is likely to loosen the screws and waste time, which is not convenient for quick adjustment.

[0003] In the prior art, as disclosed in the Chinese utility model patent document with the authorization announcement number CN211196654U, which discloses a windproof structure for an aerial remote sensing mapping UAV. When flying without wind and needing to achieve the maximum performance and speed, the nut can drive the threaded rod to rotate through the bearing, so that the right adjusting plate and the left adjusting plate on both sides in the through groove rotate backward to open for ventilation, solving the problem that repeated disassembly of the windproof plate is likely to loosen the screws and waste time, and is not convenient for quick adjustment, achieving the effect of convenient adjustment; however, it requires manual adjustment of the opening or closing of the right adjusting plate and the left adjusting plate, and cannot be adjusted according to the weather conditions and flight requirements during flight.

[0004] In addition, the existing windproof structures also have the following disadvantages: Insufficient wind resistance: Existing UAVs are prone to unstable postures due to airflow interference under strong wind conditions, affecting the execution efficiency of inspection tasks. For example, in a crosswind or gust environment, the rotors are impacted by uneven airflow, which is likely to cause the UAV to tilt or deviate, reducing flight safety and accuracy.

[0005] Lack of adjustment flexibility: Most traditional windproof structures are of fixed design and cannot be dynamically adjusted according to wind speed and direction, restricting the adaptability of UAVs in different environments. When the wind direction changes, the lack of targeted windproof strategies may make the UAV face greater resistance or the risk of losing control.

[0006] Limitations in comprehensive control strategies: Current windproof measures for UAVs usually focus on a single direction and do not fully consider the collaborative optimization in complex scenarios such as downwind, upwind, and crosswind. For example, in a crosswind condition, the lack of a design for independent control of the four windshields fails to effectively utilize the adjustment of the air outlet direction of the air guide holes to balance the reaction force, thus affecting the overall stability.

[0007] The current market demand for inspection drones has shifted towards multi-functional integration, requiring the device to have both efficient inspection capabilities and flexible wind resistance performance. However, there is room for improvement in the existing designs in terms of dynamic adjustment and multi-scenario adaptation, especially in aspects such as the lifting height of the windshield, the air outlet angle of the air guiding holes, and the coordinated control of the four rotors, and a perfect solution has not yet been formed. Summary of the Invention

[0008] Aiming at the deficiencies existing in the prior art, to solve or at least mitigate the problems of unstable attitude, insufficient wind resistance performance, and lack of flexibility in adjusting the windproof structure of the inspection drone during outdoor flight, a kind of inspection drone with a windproof structure and its control method are provided.

[0009] The technical solution of the present invention is: an inspection drone with a windproof structure, including a drone main body, the drone main body includes four rotors, and a windproof structure is arranged on the arm of the drone main body; The windproof structure has a support groove arranged outside the circular range where the rotor rotates, the support groove is fixedly connected with the arm, a windshield is slidably arranged vertically inside the support groove, and a lifting drive mechanism for driving the windshield to move up and down is arranged at the bottom of the support groove.

[0010] To further implement the present invention, the following technical solutions can be preferably selected: Preferably, the lifting drive mechanism has a drive screw rotatably arranged at the inner bottom of the support groove, the drive screw is parallel to the axial direction of the support groove, the windshield is threadedly connected with the drive screw, an installation plate is fixedly arranged at the bottom of the support groove, and a lifting drive motor for driving the drive screw to rotate is fixedly arranged on the installation plate.

[0011] Preferably, a buffer structure is elastically installed outside the support groove, the buffer structure has a buffer baffle elastically installed concentrically outside the support groove, and buffer blocks are evenly arranged between the buffer baffle and the support groove.

[0012] Preferably, air guiding holes are arranged inside the windshield, the air guiding holes include a horizontal section and a rotating section, the horizontal section is fixedly arranged inside the windshield and arranged along the thickness direction of the windshield, and the front end of the rotating section is communicated and longitudinally hinged to the rear end of the horizontal section.

[0013] Preferably, the ratio of the air inlet area to the air outlet area of the air guiding hole is 1:0.8, the horizontal section is cylindrical, and the front end cross-section of the rotating section is circular and the rear end cross-section is horizontally elliptical.

[0014] Preferably, an image acquisition device is arranged at the bottom of the drone main body, and an anti-frost device is sleeved outside the image acquisition device; The frost prevention device has a fixing clip sleeved outside the image acquisition device, and an electrically heated glass corresponding to the lens of the image acquisition device is arranged on the fixing clip.

[0015] A control method for an inspection unmanned aerial vehicle with a windproof structure includes the following steps: real-time collecting environmental wind speed and wind direction data through a wind speed sensor and a wind direction sensor, and transmitting the data to the main control unit of the unmanned aerial vehicle; judging whether the current flight environment belongs to a windless, downwind, upwind or crosswind state according to the wind speed and wind direction; in a windless or light wind state, controlling the windshield to contract to the lowest position, and the air outlet of the air guiding hole to maintain a horizontal direction; in a downwind state, controlling the rear windshield to extend to a set height, the front windshield to remain in a contracted state, and the air outlet of the air guiding hole of the rear windshield to tilt upward; in an upwind state, controlling the front windshield to extend to a set height, the rear windshield to remain in a contracted state, and the air outlet of the air guiding hole of the front windshield to tilt downward; in a crosswind state, controlling the windshield on the windward side to extend to a set height, the windshield on the leeward side to remain in a contracted state, the air outlet of the air guiding hole of the windshield on the windward side to tilt downward, and the air outlet of the air guiding hole of the windshield on the leeward side to tilt upward.

[0016] Preferably, the attitude angle and angular velocity of the unmanned aerial vehicle are real-time monitored through a gyroscope and an accelerometer. When it is detected that the unmanned aerial vehicle tilts, adjusting the air outlet of the air guiding hole of the high-end windshield to tilt upward and the air outlet of the air guiding hole of the low-end windshield to tilt downward; calculating the tilt angle of the air outlet of the air guiding hole according to the attitude deviation of the unmanned aerial vehicle. The greater the attitude deviation, the greater the tilt angle, and the maximum tilt angle does not exceed 45°.

[0017] Preferably, the sampling frequency of the wind speed sensor and the wind direction sensor is 10Hz, and the data transmission delay is less than 50ms; the main control unit of the unmanned aerial vehicle adopts a PID control algorithm to perform closed-loop control on the lifting height of the windshield and the air outlet direction of the air guiding hole, and the control period is 100ms.

[0018] Preferably, the lifting height of the windshield has a piecewise linear relationship with the wind speed. When the wind speed is less than 5m / s, the windshield remains in a contracted state. When the wind speed is 5-10m / s, the lifting height of the windshield linearly increases with the wind speed. When the wind speed is greater than 10m / s, the windshield remains at the maximum extended height; the air outlet direction of the air guiding hole has a non-linear relationship with the wind speed. When the wind speed is less than 5m / s, the air outlet remains horizontal. When the wind speed is 5-10m / s, the tilt angle of the air outlet increases with the square of the wind speed. When the wind speed is greater than 10m / s, the air outlet remains at the maximum tilt angle.

[0019] The beneficial effects of the present invention: (1) The inspection UAV of the present invention solves the problem of unstable attitude of traditional UAVs under strong wind conditions by setting a liftable wind deflector and air guide holes. The lifting height of the wind deflector is dynamically adjusted according to the wind speed, which can effectively reduce the airflow impact on the rotors and at the same time reduce the additional resistance of the wind deflector under windless or light wind conditions.

[0020] (2) The air guide holes of the present invention are designed as a structure with adjustable air outlet directions. Precise angle control is achieved through a micro motor and a gear transmission assembly. The air outlet directions of the air guide holes are dynamically adjusted according to the wind direction and the UAV attitude, avoiding the interference of the outflowing air on the rotors and at the same time using the reaction force to balance the UAV attitude, improving the flight stability.

[0021] (3) The control method of the present invention comprehensively considers the wind speed, wind direction and UAV attitude, and realizes precise adjustment of the lifting height of the wind deflector and the air outlet directions of the air guide holes through piecewise linear and non-linear control strategies. Combined with the rotor speed control, it can maintain stable flight in a complex wind field environment and significantly improve the wind resistance performance of the UAV. Brief Description of the Drawings

[0022] Figure 1 It is one of the structural schematic diagrams of the inspection UAV with a windproof structure in the present invention.

[0023] Figure 2 is Figure 1 the partial enlarged view of A in

[0024] Figure 3 It is another structural schematic diagram of the inspection UAV with a windproof structure in the present invention.

[0025] Figure 4 It is the structural schematic diagram of the frost prevention device in the present invention.

[0026] Figure 5 It is the structural schematic diagram of the air guide holes in the present invention. Detailed Description of the Invention

[0027] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present invention and its application or use. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present invention thorough and complete and to fully convey the scope of the present invention to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, the components of materials, numerical expressions and values set forth in these embodiments should be construed as merely exemplary and not as limitations.

[0028] In the present invention, the terms "first", "second" and similar terms do not denote any order, quantity or importance, but are only used to distinguish different parts. Terms such as "comprising" or "including" mean that the elements before the term cover the elements listed after the term, and do not exclude the possibility of also covering other elements. Terms such as "upper", "lower", "left", "right" are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly. Embodiment

[0029] As Figure 1 and 2 shown, an inspection UAV with a windproof structure includes a UAV body 1. Two sets of support legs 6 are symmetrically arranged at the bottom of the UAV body 1. An image acquisition device 7 and a pan-tilt 8 cooperating with the image acquisition device 7 are arranged at the bottom of the UAV body 1 between the two sets of support legs 6. Arm members 2 are circumferentially arranged around the UAV body 1. Rotors 3 are arranged at the ends of the arm members 2. A windproof structure 4 is arranged on the arm members 2; the windproof structure 4 has a support groove 43 arranged outside the circular range where the rotor 3 rotates. The support groove 43 is fixedly connected to the arm member 2. A wind deflector 44 is slidably arranged vertically inside the support groove 43. A lifting drive mechanism for driving the wind deflector 44 to move up and down is arranged at the bottom of the support groove 43; in this embodiment, the rotation of the rotor 3 drives the UAV body 1 to move. The real-time image information of the power line is obtained through the image acquisition device 7 at the bottom of the UAV body 1, so as to replace manual work and efficiently complete the inspection work of the line; during flight, if strong winds are encountered, the lifting drive mechanism can be controlled by remote control to act, and the wind deflector 44 is lifted and extended inside the support groove 43 to play a certain protective role for the rotor 3 and reduce the influence on the rotor 3. When there is no wind or the wind force is not enough to affect the flight of the UAV, the lifting drive mechanism can be controlled by remote control to act, and the wind deflector 44 is lowered and retracted inside the support groove 43 to ensure the efficient operation of the UAV and improve the inspection efficiency; the extension and retraction of the wind deflector 44 inside the support groove 43 can be realized by remotely controlling the lifting drive mechanism through remote control, improving the convenience of use.

[0030] In this embodiment, the lifting drive mechanism has a drive screw 45 rotatably arranged at the inner bottom of the support groove 43. The drive screw 45 is parallel to the axis of the support groove 43. The wind deflector 44 is threadedly connected to the drive screw 45. A mounting plate 48 is fixedly arranged at the bottom of the support groove 43. A lifting drive motor 49 for driving the drive screw 45 to rotate is fixedly arranged on the mounting plate 48. The lifting drive motor 49 drives the drive screw 45 to rotate. The threaded structure between the drive screw 45 and the wind deflector 44 drives the wind deflector 44 to move inside the support groove 43, so that the wind deflector 44 can rise to the outside of the rotor 3 or descend to the inside of the support groove 43.

[0031] In this embodiment, guide rods 46 parallel to the axial direction of the support groove 43 are fixedly arranged inside both ends of the support groove 43. The wind deflector 44 is slidably connected to the guide rods 46. By the cooperation of the guide rods 46 and the wind deflector 44, the stability of the up-and-down movement of the wind deflector 44 is improved. A limit block 47 is fixedly arranged at the top end of the guide rod 46. The limit block 47 plays a limiting role during the upward movement of the wind deflector 44 to prevent the wind deflector 44 from slipping off the guide rod 46.

[0032] As a more specific embodiment of the support groove 43, the support groove 43 is a circular arc groove structure of 180° to 270°. Preferably, the support groove 43 is a circular arc groove structure of 180°.

[0033] A fixing seat 41 is fixedly arranged on the machine arm 2. A bracket 42 is evenly and fixedly arranged between the fixing seat 41 and the support groove 43. One end of the bracket 42 is fixedly connected to the bottom of the support groove 43, and the other end of the bracket 42 is fixedly connected to the bottom of the fixing seat 41. The support groove 43 is provided with a fixed support through the bracket 42.

[0034] As shown in Figure 3 the figure, a buffer structure 5 is elastically arranged outside the support groove 43. The buffer structure 5 can play a protective role for the windproof structure 4 and the rotor 3 during flight or when falling. When colliding with an external object, the buffer structure 5 first contacts the external object for buffering, thereby reducing the impact on the windproof structure 4 and the rotor 3.

[0035] The buffer structure 5 has a buffer baffle 51 elastically arranged concentrically outside the support groove 43. Buffer blocks 52 are evenly arranged between the buffer baffle 51 and the support groove 43. Specifically, the buffer blocks 52 are elastic rubber blocks. The outer side of the buffer baffle 51 has a chamfer, which can reduce the wind resistance during the flight of the drone.

[0036] During the process of the drone carrying the image acquisition device 7 to acquire real-time image information of the transmission line, frost is likely to form on the lens of the image acquisition device 7, thereby affecting the effect of image acquisition of the power line. As shown in Figure 4 the figure, an anti-frost device 9 is sleeved outside the image acquisition device 7. The anti-frost device 9 has a fixing clip 91 sleeved outside the image acquisition device 7, and an electric heating glass 95 corresponding to the lens of the image acquisition device 7 is arranged on the fixing clip 91. By energizing the electric heating glass 95, the electric heating glass 95 will heat up, so that no frost will form on its outer side, or the frost on its outer side will be quickly eliminated and kept frost-free. Thus, the lens of the image acquisition device 7 can clearly obtain the image data of the power line through the electric heating glass 95.

[0037] A fixing clip 91 is fixedly arranged on the outer side of the electric heating glass 95, and an air equalizing cavity 93 is fixedly arranged on the fixing clip 91. An air outlet hole 94 corresponding to the electric heating glass 95 is arranged on the inner side of the air equalizing cavity 93. An air pump 97 is fixedly arranged on the fixing clip 91. The air pump 97 is communicated with the air equalizing cavity 93 through an air supply pipe 96. After the air pump 97 is started, air is introduced into the air equalizing cavity 93 through the air supply pipe 96. After the air enters the air equalizing cavity 93, the air flow is discharged from the air outlet hole 94 to the outer side of the electric heating glass 95, accelerating the air flow speed on the outer side of the electric heating glass 95. Cooperating with the relatively high temperature of the electric heating glass 95 itself, it can accelerate the elimination of frost and fog on the outer side of the electric heating glass 95 and ensure the acquisition effect of the power line image data.

[0038] In this embodiment, the fixing clip 91 is a C-shaped structure matched with the image acquisition device 7. Locking bolts 92 with ends abutted against or separated from the outer side of the image acquisition device 7 are threadedly connected to both ends of the fixing clip 91. When the locking bolts 92 abut against the outer side of the image acquisition device 7, the anti-frost device 9 can be fixedly connected to the image acquisition device 7. When the locking bolts 92 are separated from the outer side of the image acquisition device 7, the anti-frost device 9 can be disassembled from the image acquisition device 7. In a climate where frost and fog will not form, the anti-frost device 9 can be removed to extend its service life.

[0039] As Figure 5 shown, a wind guiding hole 10 is arranged inside the windshield 44. The wind guiding hole 10 includes a transverse section 101 and a rotating section 102. The transverse section 101 is fixedly arranged inside the windshield 44 and is arranged along the thickness direction of the windshield 44. The front end of the rotating section 102 is communicated with and longitudinally hinged to the rear end of the transverse section 101.

[0040] The longitudinal angle adjustment of the transverse section 101 and the rotating section 102 is realized through a rotation adjustment mechanism. The rotation adjustment mechanism includes a micro motor and a gear transmission component. The micro motor is fixed on the inner wall of the windshield 44. The gear transmission component is connected to the rotating section 102 and is used to drive the rear end of the rotating section 102 to rotate around the axis. The micro motor 6 is a brushless DC motor with a rated voltage of 12V and a rated speed of 3000 rpm. The transmission ratio of the gear transmission component is 1:5, the gear modulus is 0.5, the gear material is high-strength aluminum alloy, and the hardness reaches HRC45 or more after heat treatment.

[0041] In this embodiment, a vertical slot is arranged inside the support groove 43. The slot is correspondingly arranged with the rotating section 102. When the windshield 44 is lifted or lowered, the rotating section 102 slides in the slot, which can not only ensure the stability of the windshield 44 during lifting and lowering, but also avoid interference between the rotating section 102 and the support groove 43.

[0042] The ratio of the inlet area to the outlet area of the air guiding hole 10 is 1:0.8. The transverse section 101 is cylindrical with a diameter of 10 mm. The front end cross-section of the rotating section 102 is circular, and the rear end cross-section is horizontally elliptical, with the major axis of the ellipse being 12 mm and the minor axis being 8 mm. The initial angle of the outlet of the air guiding hole 10 is in the horizontal direction, the maximum adjustment angle is 45° upward or 45° downward, and the adjustment accuracy is ±1°. This structural design enables the air guiding hole 10 to dynamically adjust the air outlet direction according to the wind direction and the attitude of the drone, thereby optimizing the air flow distribution and enhancing the flight stability. In practical applications, the angle of the rotating section 102 is dynamically adjusted according to the wind speed and the wind direction. For example, the rotating section 102 tilts upward under downwind conditions and tilts downward under upwind conditions, thereby optimizing the air flow distribution and balancing the attitude of the drone. Embodiment

[0043] The control method of the present invention collects the environmental wind speed and wind direction data in real time through a wind speed sensor and a wind direction sensor, and transmits the data to the main control unit of the drone. The main control unit of the drone determines whether the current flight environment is in a windless, downwind, upwind or crosswind state according to the wind speed and the wind direction, and generates corresponding control instructions. In a windless or light wind state, the windshield 44 is controlled to retract to the lowest position, and the rotating section 102 remains in the horizontal direction. In a downwind state, the rear windshield 44 is controlled to extend to a set height, the front windshield 44 remains retracted, and the rotating section 102 of the rear windshield 44 tilts upward, and the tilt angle increases with the increase of the wind speed. In an upwind state, the front windshield 44 is controlled to extend to a set height, the rear windshield 44 remains retracted, and the rotating section 102 of the front windshield 44 tilts downward, and the tilt angle increases with the increase of the wind speed. In a crosswind state, the windshield 44 on the windward side is controlled to extend to a set height, the windshield 44 on the leeward side remains retracted, the rotating section 102 of the windshield 44 on the windward side tilts downward, and the rotating section 102 of the windshield 44 on the leeward side tilts upward, and the tilt angle is dynamically adjusted according to the wind speed and the attitude deviation of the drone. In addition, the attitude angle and angular velocity of the drone are monitored in real time through a gyroscope and an accelerometer. When it is detected that the drone tilts, the rotating section 102 of the upper windshield 44 is adjusted to tilt upward, and the rotating section 102 of the lower windshield 44 tilts downward, and the attitude of the drone is balanced by the reaction force. The tilt angle of the rotating section 102 is calculated according to the attitude deviation of the drone. The greater the attitude deviation, the greater the tilt angle, and the maximum tilt angle does not exceed 45°. By adjusting the lifting height of the four windshields 44 and the air outlet direction of the air guiding hole 10, combined with the control of the rotation speed of the rotor, the drone can maintain stable flight under different wind speed and wind direction conditions.

[0044] In actual application scenarios, the flight state of the drone under different wind field conditions is optimized through the working mode of the windshield 44. Under downwind conditions, the rear windshield 44 extends to a set height, and the rotating section 102 tilts upward, thereby reducing the impact of the rear airflow on the rotor and improving flight efficiency. Under headwind conditions, the front windshield 44 extends to a set height, and the rotating section 102 tilts downward, thereby guiding the front airflow to flow downward and enhancing the lift of the rotor. Under crosswind conditions, the windshield 44 on the windward side extends to a set height, and the rotating section 102 tilts downward, while the rotating section 102 of the windshield 44 on the leeward side tilts upward, thereby balancing the airflow distribution on both sides and stabilizing the attitude of the drone. Through the above working mode, the drone can maintain an efficient and stable flight state in a complex wind field environment.

[0045] The material of the windshield 44 is carbon fiber composite material, and its surface is coated with a superhydrophobic coating. The coating thickness is 0.1 - 0.2 mm, and the contact angle of the coating is greater than 150°. The edge of the windshield 44 adopts an arc design with a radius of curvature of 5 mm to reduce air flow resistance. This material and structural design not only reduces the weight of the windshield 44 but also improves its wind resistance performance and durability. The sampling frequency of the wind speed sensor and the wind direction sensor is 10 Hz, and the data transmission delay is less than 50 ms. The main control unit of the drone uses a PID control algorithm to perform closed-loop control on the lifting height of the windshield 44 and the air outlet direction of the air guiding hole 10, and the control period is 100 ms. The lifting height of the windshield 44 has a piecewise linear relationship with the wind speed. When the wind speed is less than 5 m / s, the windshield 44 remains in a retracted state. When the wind speed is 5 - 10 m / s, the lifting height of the windshield 44 increases linearly with the wind speed. When the wind speed is greater than 10 m / s, the windshield 44 maintains the maximum extended height. The air outlet direction of the air guiding hole 10 has a non-linear relationship with the wind speed. When the wind speed is less than 5 m / s, the rotating section 102 remains horizontal. When the wind speed is 5 - 10 m / s, the tilt angle of the rotating section 102 increases with the square of the wind speed. When the wind speed is greater than 10 m / s, the rotating section 102 maintains the maximum tilt angle.

[0046] Through the above specific implementation manners, the inspection drone of the present invention realizes the dynamic adjustment of the lifting height of the windshield 44 and the air outlet direction of the air guiding hole 10. Combined with the rotational speed control of the rotor, it can maintain a stable flight in a complex wind field environment and significantly improve the wind resistance performance of the drone.

[0047] In order to better enable relevant personnel in the technical field to fully understand and implement the present invention, the following supplements the specific implementation principle of the present invention in combination with a specific application scenario.

[0048] In actual inspection tasks, the drone needs to perform flight missions in complex wind field environments. First, under calm or light wind conditions, the main control unit of the drone collects environmental data through wind speed sensors and wind direction sensors and transmits the data to the control module. At this time, the wind speed is less than 5 m / s, and the main control unit of the drone generates an instruction to retract the wind deflector 44 to the lowest position, and the rotating section 102 of the air guide hole 10 maintains a horizontal direction. This state reduces the additional interference of the wind deflector 44 on the airflow and ensures that the drone can operate with optimal performance and speed in a low wind speed environment.

[0049] When the drone enters a downwind condition, the wind speed sensor detects that the wind speed gradually increases to the range of 5 - 10 m / s. The main control unit of the drone generates a control instruction according to the real-time collected wind speed and wind direction data and transmits it to the drive modules of the lifting drive motor 49 and the micro motor through the CAN bus. The rear wind deflector 44 smoothly extends to the set height, and at the same time, the micro motor drives the gear transmission assembly to adjust the rotating section 102 of the rear wind deflector 44 to tilt upward. The tilt angle increases non-linearly with the square of the wind speed, thereby reducing the impact of the rear airflow on the rotor and improving the flight efficiency. During this process, the front wind deflector 44 remains in a retracted state to avoid generating additional resistance to the front airflow.

[0050] Under a headwind condition, the wind speed sensor detects that the wind speed continues to increase to more than 10 m / s. The main control unit of the drone determines that the current environment is a headwind state according to the wind speed and wind direction and generates a corresponding instruction. The lifting drive motor 49 drives the front wind deflector 44 to smoothly extend to the maximum height, and at the same time, the micro motor drives the gear transmission assembly to adjust the rotating section 102 of the front wind deflector 44 to tilt downward to the maximum angle of 45°. This design guides the front airflow to flow downward, enhancing the rotor lift, thereby improving the wind resistance of the drone under strong headwind conditions. The rear wind deflector 44 remains in a retracted state to reduce the obstruction to the rear airflow.

[0051] Under a crosswind condition, the wind direction sensor detects that the wind blows from a certain side. The main control unit of the drone determines the working modes of the wind deflectors 44 on the windward side and the leeward side according to the wind direction data. The lifting drive motor 49 drives the wind deflector 44 on the windward side to extend to the set height, and at the same time, the micro motor drives the gear transmission assembly to adjust the rotating section 102 of the wind deflector 44 on the windward side to tilt downward. The rotating section 102 of the wind deflector 44 on the leeward side tilts upward, thereby balancing the airflow distribution on both sides and stabilizing the attitude of the drone. In addition, the gyroscope and accelerometer continuously monitor the attitude angle and angular velocity of the drone. When it is detected that the drone tilts, the main control unit calculates the tilt angle of the rotating section 102 according to the attitude deviation. The rotating section 102 of the high-end wind deflector 44 tilts upward, and the rotating section 102 of the low-end wind deflector 44 tilts downward, using the reaction force to balance the attitude of the drone.

[0052] The lifting height of the wind deflector 44 has a piecewise linear relationship with the wind speed, and the air outlet direction of the air guide hole 10 has a non-linear relationship with the wind speed. When the wind speed is less than 5 m / s, the wind deflector 44 remains in a retracted state, and the rotating section 102 of the air guide hole 10 maintains a horizontal direction; when the wind speed is 5 - 10 m / s, the lifting height of the wind deflector 44 linearly increases with the wind speed, and the inclination angle of the rotating section 102 non-linearly increases with the square of the wind speed; when the wind speed is greater than 10 m / s, the wind deflector 44 maintains the maximum extended height, and the rotating section 102 maintains the maximum inclination angle. This dynamic adjustment strategy ensures that the drone can maintain an efficient and stable flight state under different wind speed and wind direction conditions.

[0053] Based on the steps and principles of the above specific application scenarios, the inspection drone of the present invention realizes the dynamic adjustment of the lifting height of the wind deflector 44 and the air outlet direction of the air guide hole 10. Combined with the rotational speed control of the rotor, it can maintain stable flight in a complex wind field environment, significantly improving the wind resistance performance of the drone. The content not described in detail in the specification belongs to the prior art well-known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and will not be described here.

[0054] So far, the embodiments of the present invention have been described in detail. To avoid obscuring the concept of the present invention, some details well-known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed here based on the above description.

[0055] The above-described embodiments only represent some implementation manners of the present invention. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. An inspection UAV with a windproof structure, including a UAV main body, the UAV main body includes four rotors, characterized in that: A windproof structure is provided on the arm of the UAV body; The windproof structure has a support groove provided outside the circular range where the rotor rotates. The support groove is fixedly connected to the arm. A wind deflector is slidably arranged vertically inside the support groove, and a lifting drive mechanism for driving the wind deflector to move up and down is provided at the bottom of the support groove.

2. The inspection UAV with a windproof structure according to claim 1, characterized in that: The lifting drive mechanism has a drive screw rotatably arranged at the inner bottom of the support groove. The drive screw is parallel to the axis of the support groove. The wind deflector is threadedly connected to the drive screw. An installation plate is fixedly provided at the bottom of the support groove, and a lifting drive motor for driving the drive screw to rotate is fixedly provided on the installation plate.

3. The inspection UAV with a windproof structure according to claim 1, characterized in that: A buffer structure is elastically mounted outside the support groove. The buffer structure has a buffer baffle elastically mounted concentrically outside the support groove, and buffer blocks are evenly arranged between the buffer baffle and the support groove.

4. The inspection UAV with a windproof structure according to claim 1, characterized in that: Air guiding holes are provided inside the wind deflector. The air guiding holes include a horizontal section and a rotating section. The horizontal section is fixedly arranged inside the wind deflector and is arranged along the thickness direction of the wind deflector. The front end of the rotating section is communicated and longitudinally hinged to the rear end of the horizontal section.

5. The inspection UAV with a windproof structure according to claim 4, characterized in that: The ratio of the inlet area to the outlet area of the air guiding hole is 1:0.

8. The horizontal section is cylindrical, and the front end cross-section of the rotating section is circular and the rear end cross-section is horizontally elliptical.

6. The inspection UAV with a windproof structure according to claim 1, characterized in that: An image acquisition device is provided at the bottom of the UAV body, and an anti-frost device is sleeved outside the image acquisition device; The anti-frost device has a fixing clip sleeved outside the image acquisition device, and an electrically heated glass corresponding to the lens of the image acquisition device is provided on the fixing clip.

7. A control method for an inspection UAV with a windproof structure, characterized in that, Including the following steps: Real-time collect environmental wind speed and wind direction data through a wind speed sensor and a wind direction sensor, and transmit the data to the UAV main control unit; judge whether the current flight environment is in a windless, downwind, upwind or crosswind state according to the wind speed and wind direction; in a windless or light wind state, control the wind deflector to contract to the lowest position, and the air outlet of the air guiding hole remains horizontal; in a downwind state, control the rear wind deflector to extend to a set height, the front wind deflector remains in a contracted state, and the air outlet of the air guiding hole of the rear wind deflector tilts upward; in an upwind state, control the front wind deflector to extend to a set height, the rear wind deflector remains in a contracted state, and the air outlet of the air guiding hole of the front wind deflector tilts downward; in a crosswind state, control the wind deflector on the windward side to extend to a set height, the wind deflector on the leeward side remains in a contracted state, the air outlet of the air guiding hole of the windward side wind deflector tilts downward, and the air outlet of the air guiding hole of the leeward side wind deflector tilts upward.

8. The control method for an inspection UAV with a windproof structure according to claim 7, characterized in that: Real-time monitor the attitude angle and angular velocity of the UAV through a gyroscope and an accelerometer. When it is detected that the UAV tilts, adjust the air outlet of the air guiding hole of the upper-end wind deflector to tilt upward and the air outlet of the air guiding hole of the lower-end wind deflector to tilt downward; calculate the tilt angle of the air outlet of the air guiding hole according to the attitude deviation of the UAV. The greater the attitude deviation, the greater the tilt angle, and the maximum tilt angle does not exceed 45°.

9. The control method for an inspection UAV with a windproof structure according to claim 7, characterized in that: The sampling frequencies of the wind speed sensor and the wind direction sensor are 10 Hz, and the data transmission delay is less than 50 ms; the main control unit of the drone uses a PID control algorithm to perform closed-loop control on the lifting height of the windshield and the air outlet direction of the air guiding holes, and the control period is 100 ms.

10. The control method for an inspection UAV with a windproof structure according to claim 7, characterized in that: The lifting height of the windshield has a piecewise linear relationship with the wind speed. When the wind speed is less than 5 m / s, the windshield remains in a retracted state. When the wind speed is 5 - 10 m / s, the lifting height of the windshield increases linearly with the wind speed. When the wind speed is greater than 10 m / s, the windshield maintains the maximum extended height; the air outlet direction of the air guiding holes has a non-linear relationship with the wind speed. When the wind speed is less than 5 m / s, the air outlet remains horizontal. When the wind speed is 5 - 10 m / s, the inclination angle of the air outlet increases with the square of the wind speed. When the wind speed is greater than 10 m / s, the air outlet maintains the maximum inclination angle.

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