Self-walking unmanned aerial vehicle and control method

Abstract

The invention discloses a self-walking unmanned aerial vehicle and a control method. The self-walking unmanned aerial vehicle comprises an unmanned aerial vehicle module, a walking module, an electrical connector assembly and a power system. The unmanned aerial vehicle module comprises a first driving mechanism; the walking module is detachably arranged at the bottom of the unmanned aerial vehicle module and comprises a second driving mechanism; the electrical connector assembly comprises a first electrical connector piece arranged on the unmanned aerial vehicle module and a second electrical connector piece arranged on the walking module, the first electrical connector piece and the second electrical connector piece are detachably connected in a matched mode, and the second driving mechanism is electrically connected with the second electrical connector piece; the power system is arranged on the unmanned aerial vehicle module and comprises a flight control unit and a power supply unit, and the first driving mechanism and the first electrical connector are electrically connected with the flight control unit and the power supply unit respectively. The self-walking unmanned aerial vehicle is good in environmental adaptability, small in load during flight operation and low in energy consumption, the unmanned aerial vehicle module and the walking module can share one set of power system, and the manufacturing cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly relates to a self-propelled unmanned aerial vehicle and a control method therefor. Background Art

[0002] In recent years, unmanned aerial vehicle technology has developed rapidly. In particular, industrial-grade unmanned aerial vehicles have been widely used in various scenarios such as agricultural and forestry plant protection and industrial inspection. Traditional unmanned aerial vehicles are mainly used for aerial flight operation requirements. When some complex environments cannot meet the flight requirements of unmanned aerial vehicles, the unmanned aerial vehicles cannot play their roles. In view of this, in the prior art, some unmanned aerial vehicles have both flight and self-propelled functions. However, the manufacturing cost of such unmanned aerial vehicles is relatively high, and there is also a problem of large load during flight operation, which results in high energy consumption, thus shortening the endurance time of the unmanned aerial vehicle and affecting the task execution efficiency. In addition, a large load will also increase the wear of the components of the unmanned aerial vehicle and shorten the service life of the unmanned aerial vehicle. Summary of the Invention

[0003] The object of the present invention is to provide a self-propelled unmanned aerial vehicle with low cost and small load during flight operation in view of the deficiencies in the prior art.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A self-propelled unmanned aerial vehicle, comprising:

[0006] An unmanned aerial vehicle module, including a first driving mechanism for driving the unmanned aerial vehicle module to act;

[0007] A walking module, detachably disposed at the bottom of the unmanned aerial vehicle module, including a second driving mechanism for driving the walking module to walk;

[0008] An electrical connector assembly, which is used to realize the electrical connection between the unmanned aerial vehicle module and the walking module when the walking module is connected to the unmanned aerial vehicle module, including a first electrical connector disposed on the unmanned aerial vehicle module and a second electrical connector disposed on the walking module. The first electrical connector and the second electrical connector are detachably and cooperatively connected, and the second driving mechanism is electrically connected to the second electrical connector;

[0009] A power system, disposed on the unmanned aerial vehicle module, including a flight control unit for controlling the actions of the unmanned aerial vehicle module and the walking module and a power supply unit for supplying power to the unmanned aerial vehicle module and the walking module. Both the first driving mechanism and the first electrical connector are electrically connected to the flight control unit and the power supply unit respectively.

[0010] In some embodiments, the self - propelled unmanned aerial vehicle further includes a guiding mechanism that enables the first electrical connector and the second electrical connector to be correspondingly and cooperatively connected when the unmanned aerial vehicle module is connected to the walking module. The guiding mechanism is disposed between the unmanned aerial vehicle module and the walking module. The guiding mechanism includes a guiding hole provided on one of the unmanned aerial vehicle module and the walking module, and a guiding post provided on the other and adapted to the guiding hole. The guiding post is detachably inserted into the guiding hole. A guiding member is fixedly provided on the unmanned aerial vehicle module or the walking module. The guiding member is made of an insulating material. The guiding hole is provided on the guiding member. A conductive coil is embedded in the guiding member. The central axis of the conductive coil is collinear with the central axis of the guiding hole. The conductive coil is electrically connected to the flight control unit.

[0011] In some embodiments, the self - propelled unmanned aerial vehicle further includes a locking mechanism for locking the relative positions between the unmanned aerial vehicle module and the walking module when they are connected. The locking mechanism includes a locking pin that can slide on one of the unmanned aerial vehicle module and the walking module, and a locking hole provided on the other and adapted to the locking pin. When the locking mechanism is in the locked state, the locking pin is inserted into the locking hole. When the locking mechanism is in the unlocked state, the locking pin is disengaged from the locking hole. The locking pin has magnetism. The locking mechanism further includes an electromagnetic coil for driving the locking pin to slide in the directions of inserting into and disengaging from the locking hole. The electromagnetic coil is electrically connected to the flight control unit. The locking pin slides in the central channel of the electromagnetic coil.

[0012] In some embodiments, the walking module further includes a walking frame detachably connected to the unmanned aerial vehicle module, and a plurality of walking units rotatably provided at the bottom of the walking frame. The second driving mechanism is respectively provided corresponding to each walking unit to drive the walking unit to rotate relative to the walking frame.

[0013] Each walking unit includes a first walking arm and a second walking arm. The upper end of the first walking arm is rotatably connected to the walking frame. The lower end of the first walking arm is rotatably connected to the upper end of the second walking arm. The bottom of the second walking arm supports on the ground, or a walking wheel is provided at the bottom of the second walking arm.

[0014] In some embodiments, the self-propelled unmanned aerial vehicle further includes a positioning mechanism for adjusting and positioning the position of the unmanned aerial vehicle module when the unmanned aerial vehicle module and the walking module are connected. The positioning mechanism includes a laser emitter disposed on one of the unmanned aerial vehicle module and the walking module and a laser reflector disposed on the other for reflecting the signal emitted by the laser emitter. Both the laser emitter and the laser reflector are electrically connected to the flight control unit.

[0015] The present invention also provides a control method for the self-propelled unmanned aerial vehicle according to any one of the above, and the control method includes:

[0016] Controlling the walking module to disconnect from the unmanned aerial vehicle module, and disconnecting the first electrical connector and the second electrical connector from each other, so that the self-propelled unmanned aerial vehicle is in a flight mode;

[0017] Controlling the walking module to connect to the unmanned aerial vehicle module, and connecting the first electrical connector and the second electrical connector to each other, so that the self-propelled unmanned aerial vehicle is in a self-propelled mode.

[0018] In some embodiments, the unmanned aerial vehicle module includes a plurality of rotors and propellers respectively rotatably disposed on each rotor. The walking module further includes a walking frame and a plurality of walking units rotatably disposed at the bottom of the walking frame. When the self-propelled unmanned aerial vehicle is in the self-propelled mode, when one or more of the walking units fail and cannot walk, at least one of the propellers is controlled by the flight control unit to act so that the walking module maintains a normal walking posture.

[0019] In some embodiments, the supporting force provided by the failed walking unit to the self-propelled unmanned aerial vehicle during walking operations is calculated according to the position and quantity of the failed walking unit;

[0020] At least one of the propellers is controlled by the flight control unit to rotate, and by adjusting the rotation speed of the propeller, a lift force corresponding to the supporting force is provided.

[0021] In some embodiments, during the entire process of providing lift force by the rotation of the propeller, the acceleration changes in the X, Y, and Z directions are detected by an attitude sensor disposed on the walking frame, and the resultant change in the acceleration vectors in the X, Y, and Z directions is within a set threshold range.

[0022] In some embodiments, when the self-propelled unmanned aerial vehicle is in the self-propelled mode, at least one of the walking units does not fail.

[0023] Due to the application of the above technical solutions, the self-propelled unmanned aerial vehicle of the present invention has the following advantages compared with the prior art: The self-propelled unmanned aerial vehicle of the present invention combines the functions of flight and self-propulsion, solves the problem that unmanned aerial vehicles in the prior art cannot operate in complex environments, and improves the environmental adaptability of unmanned aerial vehicles. Moreover, the connection between the unmanned aerial vehicle module and the walking module is detachable. Thus, when the self-propelled unmanned aerial vehicle performs flight operations, the walking module can be separated from the unmanned aerial vehicle module. In this way, the load during the flight operation of the self-propelled unmanned aerial vehicle is smaller, the energy consumption can be reduced, the endurance time of the unmanned aerial vehicle can be guaranteed, its flight range can be increased, and the wear of components can be reduced. In addition, after the unmanned aerial vehicle module and the walking module are connected, the first electrical connector and the second electrical connector are cooperatively connected, which can realize the transmission of current and communication signals between the unmanned aerial vehicle module and the walking module. In this way, the unmanned aerial vehicle module and the walking module can share a set of power systems, that is, they are powered by the same power supply unit and controlled by the same flight control unit, making the structure of the entire self-propelled unmanned aerial vehicle simple and the manufacturing cost low. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG Figure 1 is a three-dimensional schematic diagram of the self-propelled unmanned aerial vehicle of this embodiment;

[0025] FIG Figure 2 is a three-dimensional schematic diagram (viewed from top to bottom) of the unmanned aerial vehicle module of this embodiment;

[0026] FIG Figure 3 is a three-dimensional schematic diagram (viewed from bottom to top) of the unmanned aerial vehicle module of this embodiment;

[0027] FIG Figure 4 is a three-dimensional schematic diagram of the walking module of this embodiment;

[0028] FIG Figure 5 is a three-dimensional schematic diagram of the walking module of this embodiment with a part of the structure cut off at the locking pin position; [[ID=2)]]

[0029] FIG Figure 6 is FIG Figure 5 a partial enlarged schematic diagram at A in;

[0030] FIG Figure 7 is a three-dimensional schematic diagram of the walking module of this embodiment with a part of the structure cut off at the guiding hole position;

[0031] FIG Figure 8 is FIG Figure 7 a partial enlarged schematic diagram at A in;

[0032] FIG Figure 9 is a structural schematic diagram of the power system of this embodiment;

[0033] FIG Figure 10Logic block diagram of the self - walking unmanned aerial vehicle in flight and self - walking modes for this embodiment;

[0034] Appendix Figure 11 Control flowchart combining the unmanned aerial vehicle module and the walking module for this embodiment;

[0035] Appendix Figure 12 Fault handling flowchart when a fault occurs in the walking unit of the self - walking unmanned aerial vehicle in self - walking mode for this embodiment.

[0036] Wherein: 1. Unmanned aerial vehicle module; 11. Airframe; 111. Lock hole; 12. Rotor; 13. Propeller; 14. First driving mechanism; 15. Micro - control unit; 2. Walking module; 21. Walking frame; 22. Walking unit; 221. First walking arm; 222. Second walking arm; 223. Walking wheel; 31. First electrical connector; 32. Second electrical connector; 4. Power system; 51. Locking pin; 52. Electromagnetic coil; 53. Housing; 61. Guide; 611. Guide hole; 62. Guide post; 63. Conductive coil; 71. Laser emitter; 72. Laser reflector. Detailed implementation manners

[0037] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element 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. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0039] As Figure 1 shown, the self - walking unmanned aerial vehicle of the present invention includes an unmanned aerial vehicle module 1 and a walking module 2.

[0040] The unmanned aerial vehicle module 1 is used to realize the flight operation of the self - walking unmanned aerial vehicle. As Figures 1 to 3 shown, the unmanned aerial vehicle module 1 includes an airframe 11, a rotor 12, a propeller 13 and a first driving mechanism 14.

[0041] A plurality of rotors 12 are spaced apart on the airframe 11. In this embodiment, four rotors 12 are provided, which are respectively arranged on the left and right sides of the front part of the airframe 11 and the left and right sides of the rear part of the airframe 11. Propellers 13 are respectively rotatably arranged on each rotor 12. The first drive mechanism 14 is respectively arranged on each rotor 12 to drive the propeller 13 arranged on the corresponding rotor 12 to rotate. The first drive mechanism 14 includes a motor.

[0042] The traveling module 2 is used to mount the unmanned aerial vehicle module 1 to realize the traveling operation of the self-propelled unmanned aerial vehicle. As Figure 1 , Figures 4 to 8 shown, the traveling module 2 includes a traveling frame 21, traveling units 22 and a second drive mechanism. The traveling frame 21 is used to mount the unmanned aerial vehicle module 1. A plurality of traveling units 22 are provided, and each traveling unit 22 is rotatably arranged at the bottom of the traveling frame 21. In this embodiment, four traveling units 22 are also provided, which are respectively arranged on the left and right sides of the front part of the traveling frame 21 and the left and right sides of the rear part of the traveling frame 21. The second drive mechanism is respectively arranged corresponding to each traveling unit 22 to drive the traveling unit 22 to rotate, so as to realize the traveling operation of the self-propelled unmanned aerial vehicle.

[0043] In this embodiment, each traveling unit 22 includes a first traveling arm 221 and a second traveling arm 222. The upper end of the first traveling arm 221 is rotatably connected to the traveling frame 21, the lower end of the first traveling arm 221 is rotatably connected to the upper end of the second traveling arm 222, and the bottom of the second traveling arm 222 can directly support on the ground or a traveling wheel 223 can be provided at its bottom.

[0044] The second drive mechanism is used to drive the first traveling arm 221 to rotate relative to the traveling frame 21 and the second traveling arm 222 to rotate relative to the first traveling arm 221. The second drive mechanism can include two motors. One motor drives the first traveling arm 221 to rotate relative to the traveling frame 21, and the other motor drives the second traveling arm 222 to rotate relative to the first traveling arm 221.

[0045] The unmanned aerial vehicle module 1 and the traveling module 2 are detachably connected. Thus, when the self-propelled unmanned aerial vehicle performs a flight operation, the traveling module 2 can be separated from the unmanned aerial vehicle module 1, so that the load during the flight of the self-propelled unmanned aerial vehicle is smaller, the energy consumption can be reduced, the endurance time of the unmanned aerial vehicle can be guaranteed, its flight range can be increased, the loss of components can be reduced, and the service life can be improved. In this embodiment, the traveling frame 21 and the airframe 11 are detachably connected.

[0046] The self-propelled unmanned aerial vehicle further includes an electrical connector assembly. When the traveling module 2 is connected to the unmanned aerial vehicle module 1, the electrical connection between the unmanned aerial vehicle module 1 and the traveling module 2 is realized through the electrical connector assembly to realize the transmission of current and communication signals between the unmanned aerial vehicle module 1 and the traveling module 2.

[0047] The electrical connector assembly includes a first electrical connector 31 and a second electrical connector 32 that can be cooperatively connected to each other. The first electrical connector 31 is disposed on the body 11, and the second electrical connector 32 is disposed on the walking frame 21. One of the first electrical connector 31 and the second electrical connector 32 can be in the form of a plug, and the other is in the form of a socket. When the unmanned aerial vehicle module 1 is connected to the walking module 2, the first electrical connector 31 and the second electrical connector 32 are plugged and connected, so that the transmission of current and communication signals between the unmanned aerial vehicle module 1 and the walking module 2 can be realized. When the unmanned aerial vehicle module 1 is separated from the walking module 2, the plug-in connection between the first electrical connector 31 and the second electrical connector 32 is disconnected, and the transmission of current and communication signals between the unmanned aerial vehicle module 1 and the walking module 2 is disconnected.

[0048] At least one set of electrical connector assemblies is provided. In this embodiment, two sets of electrical connector assemblies are provided, which are respectively disposed at the front and rear of the self-propelled unmanned aerial vehicle. The two sets of electrical connector assemblies can achieve redundant design, so as to ensure the transmission of current and communication signals between the unmanned aerial vehicle module 1 and the walking module 2 when they are connected.

[0049] The self-propelled unmanned aerial vehicle further includes a power system 4. The power system 4 is disposed on the unmanned aerial vehicle module 1. The power system 4 includes a flight control unit and a power supply unit. Both the first driving mechanism 14 and the first electrical connector 31 are electrically connected to the flight control unit and the power supply unit respectively. In this embodiment, a micro control unit 15 is further disposed on each rotor 12. The first driving mechanism 14 is electrically connected to the flight control unit and the power supply unit respectively through the micro control unit 15, as Figure 9 shown.

[0050] The operation of the first driving mechanism 14 can be controlled through the flight control unit, so as to drive the propeller 13 to rotate and make the unmanned aerial vehicle module 1 operate. When the first electrical connector 31 and the second electrical connector 32 are plugged and connected, the operation of the second driving mechanism can also be controlled through the flight control unit, so that the walking unit 22 operates and the walking module 2 realizes the walking function, as Figure 9 shown.

[0051] The first driving mechanism 14 and the first electrical connector 31 are powered by the power supply unit. When the first electrical connector 31 and the second electrical connector 32 are plugged and connected, the second driving mechanism can also be powered by the power supply unit, as Figure 9 shown.

[0052] In this way, in the self-propelled unmanned aerial vehicle, the unmanned aerial vehicle module 1 and the walking module 2 share a set of power system, can be controlled by the same flight control unit, and are powered by the same power supply unit. This can make the structure of the entire self-propelled unmanned aerial vehicle simple and the manufacturing cost low.

[0053] The self - propelled unmanned aerial vehicle further includes a locking mechanism. When the unmanned aerial vehicle module 1 and the walking module 2 are connected, the relative position between the two is locked by the locking mechanism. Specifically, as Figure 1 shown, the locking mechanism includes a locking pin 51 that can be slidably arranged on one of the body 11 and the walking frame 21, and a locking hole 111 arranged on the other and adapted to the locking pin 51. When the locking mechanism is in the locked state, the locking pin 51 is inserted into the locking hole 111, so that the unmanned aerial vehicle module 1 cannot fly away from the walking module 2. When the locking mechanism is in the unlocked state, the locking pin 51 is disengaged from the locking hole 111, and at this time the unmanned aerial vehicle module 1 can fly away from the walking module 2. In this embodiment, the locking pin 51 is slidably arranged on the walking frame 21 in the front - rear direction, and the locking hole 11 is arranged on the body 11.

[0054] In this embodiment, the locking pin 51 has magnetism. As Figure 5 and Figure 6 shown, the locking mechanism further includes an electromagnetic coil 52 for driving the sliding of the locking pin 51 and a circuit loop connected to the electromagnetic coil 52. The electromagnetic coil 52 is arranged in a housing 53, and the housing 53 is fixedly arranged on the body 11 or the walking frame 21. The electromagnetic coil 52 is electrically connected to the power system 4, and the locking pin 51 is slidably arranged in the central channel of the electromagnetic coil 52.

[0055] After the electromagnetic coil 52 is controlled by the flight control unit 4 to be energized, a magnetic field is generated, thereby generating a suction force to make the locking pin 51 slide. Specifically, when the electromagnetic coil 52 is controlled by the flight control unit to be energized and a positive current is input into the circuit loop, the locking pin 51 slides in the direction of inserting into the locking hole 111. When the electromagnetic coil 52 is controlled by the flight control unit to be energized and a reverse current is input into the circuit loop, the locking pin 51 slides in the direction of disengaging from the locking hole 111.

[0056] In this way, the locking and unlocking of the locking mechanism can be automatically controlled by the flight control unit 4 without manual operation, making the locking and unlocking operations very convenient. Moreover, this locking and unlocking method does not require the electromagnetic coil 52 to be energized for a long time, which can reduce energy consumption and the loss of the electromagnetic coil 52.

[0057] The self - propelled unmanned aerial vehicle further includes a guiding mechanism. When the unmanned aerial vehicle module 1 is connected to the walking module 2, the first electrical connector 31 and the second electrical connector 32 are correspondingly plugged and connected through the guiding mechanism. The guiding mechanism is arranged between the unmanned aerial vehicle module 1 and the walking module 2.

[0058] As Figure 3 、 Figure 4 、 Figure 7 and Figure 8As shown in the figure, the guiding mechanism includes a guiding hole 611 provided on one of the body 11 and the traveling frame 21, and a guiding column 62 provided on the other and adapted to the guiding hole 611. The guiding column 62 is detachably inserted into the guiding hole 611.

[0059] In this embodiment, a guiding member 61 is fixedly provided on the body 11 or the traveling frame 21. The guiding member 61 is made of an insulating material. The guiding hole 611 is provided on the guiding member 61. A conductive coil 63 is embedded in the guiding hole 611. The central axis of the conductive coil 63 is collinear with the central axis of the guiding hole 611. The conductive coil 63 is electrically connected to the flight control unit 4. The guiding column 62 is made of a magnet. When the drone module 1 is connected to the traveling module 2, the guiding column 62 is inserted into the guiding hole 611 and moves along the extending direction of the guiding hole 611. When the guiding column 62 is inserted into the channel formed by the center of the conductive coil 63, it cuts the magnetic field lines, causing a change in the current of the conductive coil 63. The flight control unit 4 can detect whether the guiding column 62 is inserted in place by detecting the current signal. This makes the guiding mechanism not only have a guiding function but also a position detection function, ensuring the reliable connection between the drone module 1 and the traveling module 2.

[0060] This self-propelled drone further includes a positioning mechanism. When the drone module 1 and the traveling module 2 are connected, the position of the drone module 1 is adjusted through the positioning mechanism so that the drone module 1 is located at a certain height directly above the traveling module 2. The positioning mechanism includes a laser emitter 71 provided on one of the drone module 1 and the traveling module 2, and a laser reflector 72 provided on the other. The laser reflector 72 is used to reflect the signal emitted by the laser emitter 71. Both the laser emitter 71 and the laser reflector 72 are electrically connected to the flight control unit 4.

[0061] This self-propelled drone has a flight mode and a self-propelled mode. The control logic block diagram is as Figure 10 shown. The specific control method includes:

[0062] When the self-propelled drone enters the flight mode, the connection between the drone module 1 and the traveling module 2 is disconnected. At this time, it is detected whether the connection between the first electrical connector 31 and the second electrical connector 32 is disengaged. If it is disengaged, the self-propelled drone enters the flight mode, and the first driving mechanism 14 is controlled by the flight control unit 4 to act, enabling the drone module 1 to perform flight operations.

[0063] When the self-propelled drone enters the self-propelled mode, the drone module 1 and the traveling module 2 are in a connected state. At this time, it is detected whether the connection between the first electrical connector 31 and the second electrical connector 32 is in place. If the connection is in place, the self-propelled drone enters the self-propelled mode, and the second driving mechanism is controlled by the flight control unit 4 to act, causing each traveling unit 22 to act and realizing the traveling operation.

[0064] When the self - walking drone enters the self - walking mode from the flight mode, the drone module 1 and the walking module 2 are combined. The control method also includes the combined control method of the drone module 1 and the walking module 2. The process is as follows: Figure 11 as shown below, and specifically includes the following steps:

[0065] (1) The flight control unit receives the signals of the laser emitter 71 and the laser reflector 72, and determines whether the drone module 1 is aligned with the walking module 2. Here, the alignment means that the drone module 1 is vertically positioned at a certain distance above the walking module 2.

[0066] (2) If the drone module 1 is aligned with the walking module 2, then proceed to step (3); if the drone module 1 is not aligned with the walking module 2, the flight control unit controls the drone module 1 to fly and adjust its position, and then returns to step (1).

[0067] (3) The flight control unit controls the drone module 1 to descend vertically.

[0068] (4) Detect whether the drone module 1 has descended in place by detecting the current change in the conductive coil 63, and determine whether the first electrical connector 31 and the second electrical connector 32 are plugged and connected. If the drone module 1 has descended in place and the first electrical connector 31 and the second electrical connector 32 are plugged in place, proceed to step (5); if the drone module 1 has not descended in place and the first electrical connector 31 and the second electrical connector 32 are not plugged in place, return to step (3).

[0069] (5) The flight control unit controls the drone module 1 to stop operating, and controls the electromagnetic coil 52 to be energized so that the locking pin 51 extends out and locks, completing the docking of the drone module 1 and the walking module 2.

[0070] When the self - walking drone enters the flight mode from the self - walking mode, after the flight control unit controls the electromagnetic coil 52 to be energized so that the locking pin 51 retracts and unlocks, it can control the drone module 1 to fly vertically upward until the guide post 62 disengages from the guide hole 611 and the connection between the first electrical connector 31 and the second electrical connector 32 is disconnected.

[0071] For this self - walking drone, in the self - walking mode, when a failure occurs in the walking unit 22, the faulty walking unit 22 will not be able to move, resulting in the self - walking drone being unable to perform the walking operation. In response to this situation, the control method also includes a fault handling mechanism for the walking unit 22.

[0072] Inside the flight control unit, there are a flight control unit, a walking control unit, and a walking-flight coordination unit. The main function of the flight control unit is to control the aerial flight, attitude control, and fault diagnosis of the UAV module 1. The walking control unit is the upper-level coordination module that controls each walking unit 22, mainly coordinating and handling the fault diagnosis and processing mechanism of each walking unit 22. The walking-flight coordination unit is the upper-level fault handling mechanism in case of walking faults.

[0073] An attitude sensor is provided on the walking frame 21. The attitude sensor can be an acceleration sensor, which detects the attitude of the self-walking UAV during walking operations by detecting the acceleration changes in the X, Y, and Z directions.

[0074] The flowchart of fault handling is as Figure 12 shown, and the specific process of the fault handling mechanism is as follows:

[0075] (1) Fault diagnosis and fault reporting stage. When one or more walking units 22 have faults, the fault signals are reported to the walking control unit of the flight control unit. This walking control unit judges the fault level and reports the fault level to the walking-flight coordination unit.

[0076] (2) When the fault level is a high fault level, that is, the fault level causes the walking unit 22 with the fault to fail, making the self-walking UAV unable to walk independently, it enters the flight-assisted walking mode.

[0077] (3) The walking-flight coordination unit diagnoses the position of the walking unit 22 with the fault and the number of the walking units 22 with the fault according to the fault information.

[0078] (4) Calculate the supporting force provided by the walking unit 22 with the fault to the self-walking UAV during walking operations according to the position and number of the walking units 22 with the fault.

[0079] (5) Control the rotation of the propeller 13 through the flight control unit, and by adjusting the rotation speed of the propeller 13, provide a lift force corresponding to the supporting force obtained in step (4). Here, the correspondence includes that the position and magnitude of the lift force action are the same as the supporting force.

[0080] In this step, one propeller 13 can be controlled to rotate to provide lift force, or multiple propellers 13 can be controlled to rotate to provide lift force. Preferably, first control one propeller 13 to rotate. When the lift force provided by one propeller 13 rotating cannot meet the requirement, gradually increase the number of propellers 13.

[0081] (6) During the entire process of rotating the propeller 13 to provide lift, the attitude sensor detects the acceleration changes in the X, Y, and Z directions until the combined change in the acceleration vectors in the X, Y, and Z directions is within the set threshold range, so as to enable the self-propelled UAV to maintain a normal walking attitude.

[0082] (7) Retract the malfunctioning walking unit 22.

[0083] (8) The flight control unit sends a signal to the remaining non-malfunctioning walking units 22, and the self-propelled UAV can then enter the walking mode again.

[0084] When the walking unit 22 of the self-propelled UAV in this embodiment malfunctions and cannot walk normally, the propeller 12 of the UAV module 1 can generate lift to balance the unbalanced force brought by the malfunction of the walking unit 22 of the walking module 2, and then the normal walking unit 22 is used to continue walking. This fault handling mechanism enables the self-propelled UAV to walk even when only one walking unit 22 remains normal.

[0085] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A self-propelled drone, characterized in that: Comprising: A drone module, including a first driving mechanism for driving the drone module to act; A walking module, detachably arranged at the bottom of the drone module, including a second driving mechanism for driving the walking module to walk; An electrical connector assembly for realizing electrical connection between the drone module and the walking module when the walking module is connected to the drone module, including a first electrical connector member arranged on the drone module and a second electrical connector member arranged on the walking module, the first electrical connector member and the second electrical connector member being detachably and cooperatively connected, and the second driving mechanism being electrically connected to the second electrical connector member; A power system arranged on the drone module, including a flight control unit for controlling the actions of the drone module and the walking module and a power supply unit for supplying power to the drone module and the walking module, both the first driving mechanism and the first electrical connector member being electrically connected to the flight control unit and the power supply unit respectively.

2. The self-propelled drone according to claim 1, characterized in that: The self-walking drone further includes a guiding mechanism for enabling the first electrical connector member and the second electrical connector member to be correspondingly and cooperatively connected when the drone module is connected to the walking module, the guiding mechanism being arranged between the drone module and the walking module, the guiding mechanism including a guiding hole arranged on one of the drone module and the walking module and a guiding post arranged on the other and adapted to the guiding hole, the guiding post being detachably inserted into the guiding hole; A guiding member is fixedly arranged on the drone module or the walking module, the guiding member being made of an insulating material, the guiding hole being arranged on the guiding member, a conductive coil being embedded in the guiding member, the central axis of the conductive coil being collinear with the central axis of the guiding hole, and the conductive coil being electrically connected to the flight control unit.

3. The self-propelled drone according to claim 1, characterized in that: The self-walking drone further includes a locking mechanism for locking the relative positions between the drone module and the walking module when they are connected, the locking mechanism including a locking pin capable of slidingly arranged on one of the drone module and the walking module and a locking hole arranged on the other and adapted to the locking pin, when the locking mechanism is in a locked state, the locking pin is inserted into the locking hole; When the locking mechanism is in an unlocked state, the locking pin is withdrawn from the locking hole; the locking pin has magnetism, the locking mechanism further includes an electromagnetic coil for driving the locking pin to slide in the directions of inserting into and withdrawing from the locking hole, the electromagnetic coil being electrically connected to the flight control unit, and the locking pin being slidingly arranged in the central channel of the electromagnetic coil.

4. The self-propelled unmanned aerial vehicle according to claim 1, wherein: The walking module further includes a walking frame detachably connected to the drone module and a plurality of walking units rotatably arranged at the bottom of the walking frame, the second driving mechanism being correspondingly arranged for each of the walking units to drive the walking units to rotate relative to the walking frame; Each of the walking units includes a first walking arm and a second walking arm. The upper end of the first walking arm is rotatably connected to the walking frame, the lower end of the first walking arm is rotatably connected to the upper end of the second walking arm, and the bottom of the second walking arm is supported on the ground or a walking wheel is provided at the bottom of the second walking arm.

5. The self-propelled drone according to claim 1, wherein: The self-walking drone further includes a positioning mechanism for adjusting and positioning the position of the drone module when the drone module and the walking module are connected. The positioning mechanism includes a laser emitter provided on one of the drone module and the walking module and a laser reflector provided on the other for reflecting the signal emitted by the laser emitter. Both the laser emitter and the laser reflector are electrically connected to the flight control unit.

6. A control method for a self - walking unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that: The control method includes: Controlling the walking module to disconnect from the drone module, and disconnecting the first electrical connector and the second electrical connector from mating connection, so that the self-walking drone is in the flight mode; Controlling the walking module to connect to the drone module, and mating the first electrical connector and the second electrical connector, so that the self-walking drone is in the self-walking mode.

7. The self - walking drone control method according to claim 6, wherein: The drone module includes a plurality of rotors and propellers respectively rotatably provided on each of the rotors. The walking module further includes a walking frame and a plurality of walking units rotatably provided at the bottom of the walking frame. When the self-walking drone is in the self-walking mode, when one or more of the walking units fail to walk, at least one of the propellers is controlled by the flight control unit to act so that the walking module maintains a normal walking posture.

8. The self - propelled UAV control method according to claim 7, characterized in that: Calculating the supporting force provided by the failed walking unit to the self-walking drone during walking operations according to the position and quantity of the failed walking unit; Controlling at least one of the propellers to rotate by the flight control unit, and providing a lift force corresponding to the supporting force by adjusting the rotational speed of the propeller.

9. The self - propelled UAV control method according to claim 8, characterized in that: During the whole process of providing lift force by the rotation of the propeller, detecting the acceleration changes in the X, Y, and Z directions by an attitude sensor provided on the walking frame, and making the resultant change of the acceleration vectors in the X, Y, and Z directions within a set threshold range.

10. The self-propelled drone control method according to claim 7, characterized in that: When the self-walking drone is in the self-walking mode, at least one of the walking units does not fail.

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