Unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle which comprises a power module, a vehicle arm module, a posture adjusting module, a control module, a self-adaptive environment module and a display module. The power module adopts an independent power unit design and is combined with a heat-conducting silica gel layer and an aluminum alloy bushing to realize efficient heat dissipation; the aerodynamic performance of the vehicle arm modules is optimized through carbon fiber reinforcing ribs and airflow guide plates; the attitude adjustment module realizes accurate attitude control by using a distributed inertial measurement unit and a gyroscope sensor; the control module dynamically adjusts output power and rotation speed parameters to cope with airflow changes; the self-adaptive environment module monitors airflow in real time and adjusts power output; and the display module provides visual monitoring of the operation state. The stability and safety of the unmanned aerial vehicle in the complex airflow environment can be improved, the service life is prolonged, and energy conservation, consumption reduction and intelligent operation and maintenance are achieved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a UAV. Background Technology

[0002] With the continuous development of drone technology, the limitations of traditional drones in complex scenarios are gradually becoming apparent. In modern sports, security, and logistics fields, higher demands are being placed on the stability, power efficiency, and modular design of drones.

[0003] Currently, most existing drones focus on basic flight functions, lacking comprehensive consideration of efficient power systems, precise gimbal control, and lightweight hardware design. Meanwhile, users' personalized demands for drone performance are increasing, such as longer flight time, higher payload capacity, and integration with smart devices, requirements that current technologies have not yet fully met. Furthermore, with the widespread adoption of embedded systems, sensor fusion, and new battery technologies, drone functionality is no longer limited to single-mission tasks but is gradually evolving towards multi-functional integration. However, existing drones still have shortcomings in modular design and flexible expansion, particularly in areas such as rapid assembly and disassembly, cable management, and power optimization, which may lead to reduced maintenance efficiency and operational reliability. This limitation often necessitates the additional configuration of multiple independent components when deploying drones in high-intensity combat or complex environments, increasing the complexity of operation and maintenance.

[0004] Therefore, there is an urgent need to invent a drone designed to address the problem of sudden attitude changes caused by insufficient lift in the propulsion system under high load conditions, which is not adequately considered in existing technologies. Especially in long-duration hovering missions, turbulence can reduce flight stability and overall efficiency, thus posing challenges to mission execution. Summary of the Invention

[0005] In view of this, the present invention proposes an unmanned aerial vehicle (UAV) that aims to solve the problem of attitude change caused by insufficient lift of the power system under high load conditions in the current technology.

[0006] This invention proposes a drone, comprising: The power module is equipped with multiple independent power units. Each independent power unit contains a brushless motor and a matching ESC. The brushless motor is fixed to the aluminum alloy bushing at the end of the arm by bolts. The aluminum alloy bushing is embedded with a thermally conductive silicone layer. The arm module has parallel carbon fiber reinforcing ribs inside, and miniature airflow guide plates are installed between the carbon fiber reinforcing ribs. The attitude adjustment module is equipped with multiple inertial measurement units and a gyroscope sensor located in the center of the frame. The inertial measurement units are arranged at different positions on the arm module, and the gyroscope sensor is tightly attached to the frame through shock-absorbing pads. The control module is connected to the power module, attitude adjustment module and external smart terminal respectively. It is used to analyze the attitude field distribution characteristics of the UAV based on the data collected by the inertial measurement unit, and adjust the output power and rotation speed parameters of the power module according to the attitude field distribution characteristics. The adaptive environment module is equipped with a wind speed sensor and an airflow analysis unit to monitor the intensity of external airflow in real time and adjust the output power of the power module based on changes in airflow intensity. The display module, which is connected to the control module, is used to display the operating status and attitude distribution data of the UAV.

[0007] Furthermore, when the control module analyzes the attitude field distribution characteristics of the UAV based on the data collected by the inertial measurement unit, it includes: The control module is also used to acquire the attitude gradient of the UAV at different positions, and to determine the region as a local unstable region if the attitude gradient is greater than a preset gradient threshold. The control module is also used to determine the first attitude feature based on the ratio of the attitude change rate to a preset change rate threshold in the local unstable region; The control module is also used to determine the second attitude feature based on the difference between the overall average attitude of the UAV and the preset average attitude threshold. The control module is also used to determine the attitude field distribution characteristics of the UAV based on the sum of the first attitude characteristics and the second attitude characteristics.

[0008] Furthermore, when the control module adjusts the output power and rotational speed parameters of the power module based on the attitude field distribution characteristics, it includes: If the attitude field distribution characteristics are greater than or equal to the preset attitude field distribution characteristic threshold, the control module will reduce the overall output power of the power module and adjust the rotation speed parameters to low speed mode. If the attitude field distribution characteristics are less than the preset attitude field distribution characteristic threshold, the control module will maintain the current output power and rotation speed parameters of the power module unchanged.

[0009] Furthermore, when the adaptive environment module adjusts the output power of the power module based on changes in external airflow intensity, it includes: The adaptive environment module also determines the first airflow intensity feature based on the ratio of the change in external airflow intensity to a preset change threshold. The adaptive environment module also determines the second airflow intensity feature based on the difference between the average external airflow intensity and the preset average airflow intensity threshold. The adaptive environment module also determines the airflow adjustment parameters of the UAV based on the sum of the first airflow intensity characteristics and the second airflow intensity characteristics; The adaptive environment module also adjusts the output power of the power module according to the airflow regulation parameters.

[0010] Furthermore, when the control module adjusts the UAV's operating state in response to attitude field distribution characteristics and airflow regulation parameters, it includes: If the attitude field distribution characteristics and airflow regulation parameters are both greater than the preset threshold, the control module will reduce the output power of the power module and activate the gyroscope sensor for active attitude correction. If the attitude field distribution characteristics are less than the preset threshold and the airflow adjustment parameters are greater than the preset threshold, the control module will only reduce the output power of the power module. If the attitude field distribution characteristics and airflow regulation parameters are both less than the preset threshold, the control module will maintain the current operating state of the UAV.

[0011] Furthermore, when the control module adjusts the UAV's operating state based on attitude field distribution characteristics and airflow regulation parameters, it includes: The control module also determines the first operating state factor based on the ratio of the UAV's attitude field distribution characteristics to a preset attitude field distribution characteristic threshold. The control module also determines the second operating state factor based on the ratio of the UAV's airflow adjustment parameters to the preset airflow adjustment parameter threshold. The control module also determines the comprehensive operating status parameters of the UAV based on the sum of the first operating status factor and the second operating status factor; The control module also adjusts the output power and rotation speed parameters of the power module based on the comprehensive operating status parameters.

[0012] Furthermore, when the control module adjusts the output power and rotational speed parameters of the power module based on the comprehensive operating status parameters, it includes: If the overall operating status parameter is greater than or equal to the preset overall operating status parameter threshold, the control module will reduce the output power of the power module and adjust the rotation speed parameter to low speed mode. If the overall operating status parameters are less than the preset overall operating status parameter threshold, the control module will maintain the current output power and rotation speed parameters of the power module unchanged.

[0013] Furthermore, when the overall operating status parameters of the UAV do not meet the preset standards, the control module determines whether to activate the gyroscope sensor based on the preset attitude field distribution characteristic threshold and the current attitude field distribution characteristics, including: If the preset attitude field distribution characteristic threshold is less than or equal to the current attitude field distribution characteristic, the control module will activate the gyroscope sensor. If the preset attitude field distribution characteristic threshold is greater than the current attitude field distribution characteristic, the control module will not activate the gyroscope sensor.

[0014] Furthermore, it also includes: The communication module, connected to the control module, transmits the UAV's operational status data and attitude distribution data to an external smart terminal. Specifically, the communication module packages and sends the data to the gateway device via Bluetooth, and the gateway device forwards the data to the external smart terminal via the 4G network protocol.

[0015] Compared with existing technologies, the advantages of this invention are as follows: Through the design of multiple independent power units in the power module, each brushless motor is fixed to an aluminum alloy bushing at the end of the arm and embedded with a thermally conductive silicone layer, achieving efficient heat dissipation and stable operation of the power unit. This reduces the risk of motor efficiency degradation and shortened lifespan due to high temperatures. Simultaneously, the multi-power unit configuration improves flight safety and reliability. Parallel carbon fiber reinforcing ribs are arranged inside the arm module, with miniature airflow guide plates placed between them. This not only enhances the arm's strength and rigidity and reduces the impact of flight vibration but also optimizes airflow distribution and improves aerodynamic performance, thereby enhancing handling stability and energy utilization efficiency. The attitude adjustment module employs a multi-point inertial measurement unit arrangement and a central gyroscope sensor with vibration damping, improving attitude perception accuracy and vibration resistance. This allows the UAV to acquire attitude information more accurately, enhancing flight attitude stability and control response speed. The control module combines inertial measurement unit data analysis to identify attitude field distribution characteristics and collaborates with the adaptive environment module. Through wind speed sensors and airflow analysis units, it monitors external airflow intensity in real time, dynamically adjusting power output to achieve adaptive optimization of flight attitude and rapid response to environmental disturbances. This improves flight stability, energy efficiency, and safety in complex environments. The display module visualizes the UAV's operational status and attitude distribution data, facilitating real-time monitoring and decision-making by the operator, enhancing operational convenience and flight safety. In summary, this UAV achieves comprehensive improvements in flight stability, disturbance resistance, power efficiency, and operational convenience through integrated optimization of power, structure, attitude perception, intelligent control, and information display. Attached Figure Description

[0016] Figure 1 A functional block diagram of a drone provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a drone provided in an embodiment of the present invention. Detailed Implementation

[0017] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] like Figures 1-2 In some embodiments of this application, this embodiment provides a drone, including: a power module, an arm module, an attitude adjustment module, a control module, an adaptive environment module, a display module, and a communication module.

[0019] Specifically, the power module consists of multiple independent power units, each containing a brushless motor and a matching electronic speed controller (ESC). The brushless motor is bolted to an aluminum alloy bushing at the end of the arm module, with a thermally conductive silicone layer embedded within the bushing to enhance heat dissipation. This design allows the heat generated by the brushless motor during operation to be quickly conducted to the aluminum alloy bushing via the thermally conductive silicone layer, and further dissipated into the external environment through the arm module. The arm module internally features parallel carbon fiber reinforcing ribs, with miniature airflow guides between them to optimize airflow and improve aerodynamic efficiency. Each independent power unit of the power module is connected to the control module via wires. The control module dynamically adjusts the output power and rotational speed parameters of the power module based on data collected by the attitude adjustment module.

[0020] The attitude adjustment module includes multiple inertial measurement units (IMUs) and a gyroscope sensor located in the center of the frame. IMUs are positioned at different locations on the arm module to monitor the attitude distribution characteristics of various regions of the UAV. The gyroscope sensor is tightly fitted to the frame using shock-absorbing pads to reduce the impact of external vibrations on sensor accuracy. Both the IMUs and the gyroscope sensor are connected to the control module via signal lines, transmitting the acquired attitude data to the control module for analysis and processing. The control module calculates the UAV's attitude field distribution characteristics based on the data collected by the IMUs. Specifically, this includes acquiring the attitude gradient at different locations of the UAV and identifying regions with attitude gradients exceeding a preset gradient threshold as locally unstable areas. The control module further determines a first attitude feature based on the ratio of the attitude change rate within the locally unstable region to a preset rate of change threshold, and a second attitude feature based on the difference between the overall average attitude of the UAV and a preset average attitude threshold. Finally, the control module determines the sum of the first and second attitude features as the overall attitude field distribution characteristics of the UAV.

[0021] The adaptive environment module is equipped with a wind speed sensor and an airflow analysis unit to monitor the intensity of external airflow in real time and adjust the output power of the power module based on changes in airflow intensity. The wind speed sensor is connected to the airflow analysis unit via a signal line, and the airflow analysis unit is then connected to the control module via a data line. The adaptive environment module determines a first airflow intensity characteristic based on the ratio of the change in external airflow intensity to a preset change threshold, and determines a second airflow intensity characteristic based on the difference between the average external airflow intensity and a preset average airflow intensity threshold. Finally, the adaptive environment module determines the sum of the first and second airflow intensity characteristics as the airflow adjustment parameters for the UAV, and adjusts the output power of the power module accordingly.

[0022] The control module adjusts the UAV's operating state in response to attitude field distribution characteristics and airflow regulation parameters. If both the attitude field distribution characteristics and airflow regulation parameters are greater than preset thresholds, the control module reduces the output power of the power module and activates the gyroscope sensor for active attitude correction. If the attitude field distribution characteristics are less than the preset thresholds and the airflow regulation parameters are greater than the preset thresholds, the control module only reduces the output power of the power module. If both the attitude field distribution characteristics and airflow regulation parameters are less than the preset thresholds, the control module maintains the UAV's current operating state. Furthermore, the control module determines a first operating state factor based on the ratio of the UAV's attitude field distribution characteristics to a preset attitude field distribution characteristic threshold, and a second operating state factor based on the ratio of the UAV's airflow regulation parameters to a preset airflow regulation parameter threshold. Finally, the control module determines the sum of the first and second operating state factors as the UAV's comprehensive operating state parameters, and adjusts the power module's output power and rotation speed parameters based on these comprehensive operating state parameters.

[0023] The display module connects to the control module and displays the UAV's operating status and attitude distribution data. The display module receives data transmitted from the control module via a data cable and displays the data on the screen for users or maintenance personnel to view. The communication module connects to the control module and transmits the UAV's operating status and attitude distribution data to an external smart terminal. The communication module packets and packages the data via Bluetooth and sends it to the gateway device, which then forwards the data to the external smart terminal via the 5G network protocol. The fault detection module connects to the control module and monitors the UAV's operating status, determining the presence of potential fault risks based on attitude field distribution characteristics and airflow adjustment parameters. If a potential fault risk is found, the fault detection module generates a fault warning and sends it to the external smart terminal via the communication module.

[0024] During actual operation, the UAV first monitors the external airflow intensity in real time using the wind speed sensor in the adaptive environment module. When a change in airflow intensity is detected, the airflow analysis unit determines a first airflow intensity characteristic based on the ratio of the change in external airflow intensity to a preset change threshold, and determines a second airflow intensity characteristic based on the difference between the average external airflow intensity and a preset average airflow intensity threshold. The adaptive environment module determines the sum of the first and second airflow intensity characteristics as the airflow adjustment parameter and transmits the airflow adjustment parameter to the control module. Simultaneously, the inertial measurement unit in the attitude adjustment module collects attitude distribution data for various regions of the UAV and transmits the data to the control module. The control module determines a locally unstable region based on the attitude gradient exceeding a preset gradient threshold, and determines a first attitude characteristic based on the ratio of the attitude change rate within the locally unstable region to a preset change rate threshold. The control module also determines a second attitude characteristic based on the difference between the overall average attitude of the UAV and a preset average attitude threshold, and determines the attitude field distribution characteristic by summing the first and second attitude characteristics.

[0025] The control module adjusts the UAV's operating state based on attitude field distribution characteristics and airflow regulation parameters. If both the attitude field distribution characteristics and airflow regulation parameters are greater than preset thresholds, the control module reduces the output power of the power module and activates the gyroscope sensor for active attitude correction. If the attitude field distribution characteristics are less than the preset thresholds but the airflow regulation parameters are greater than the preset thresholds, the control module only reduces the output power of the power module. If both the attitude field distribution characteristics and airflow regulation parameters are less than the preset thresholds, the control module maintains the UAV's current operating state. Furthermore, the control module determines a first operating state factor based on the ratio of the attitude field distribution characteristics to a preset attitude field distribution characteristic threshold, and a second operating state factor based on the ratio of the airflow regulation parameters to a preset airflow regulation parameter threshold. Finally, the control module determines the sum of the first and second operating state factors as the comprehensive operating state parameter, and adjusts the power module's output power and rotation speed parameters based on the comprehensive operating state parameter.

[0026] During prolonged hovering missions, the UAV may experience abrupt attitude changes due to turbulence. In this case, the inertial measurement unit (IMU) in the attitude adjustment module monitors the attitude distribution characteristics of different regions of the UAV in real time and transmits the data to the control module. The control module identifies a locally unstable region based on an attitude gradient exceeding a preset gradient threshold, and determines a first attitude characteristic based on the ratio of the attitude change rate within this unstable region to a preset change rate threshold. The control module also determines a second attitude characteristic based on the difference between the overall average attitude of the UAV and a preset average attitude threshold, and the sum of the first and second attitude characteristics is determined as the attitude field distribution characteristic. If the attitude field distribution characteristic is greater than or equal to a preset attitude field distribution characteristic threshold, the control module reduces the overall output power of the power module and adjusts the rotation speed parameters to a low-speed mode. If the attitude field distribution characteristic is less than the preset attitude field distribution characteristic threshold, the control module maintains the current output power and rotation speed parameters of the power module unchanged.

[0027] In complex airflow environments, the wind speed sensor in the adaptive environment module monitors the external airflow intensity in real time and transmits the data to the airflow analysis unit. The airflow analysis unit determines a first airflow intensity characteristic based on the ratio of the change in external airflow intensity to a preset change threshold, and determines a second airflow intensity characteristic based on the difference between the average external airflow intensity and a preset average airflow intensity threshold. Finally, the airflow analysis unit determines the sum of the first and second airflow intensity characteristics as the airflow adjustment parameter and transmits this parameter to the control module. The control module adjusts the output power of the power module according to the airflow adjustment parameter to ensure the flight safety and stability of the UAV in complex airflow environments.

[0028] The display module receives operational status and attitude distribution data transmitted from the control module via a data cable and displays the data on the screen for users or maintenance personnel to view. The communication module packages and sends operational status and attitude distribution data to the gateway device via Bluetooth, and the gateway device then forwards the data to the external smart terminal via the 5G network protocol. The fault detection module monitors the UAV's operational status and determines whether there are potential fault risks based on attitude field distribution characteristics and airflow adjustment parameters. If a potential fault risk is found, the fault detection module generates a fault warning and sends it to the external smart terminal via the communication module.

[0029] The above describes in detail the various modules of the unmanned aerial vehicle system of the present invention and their interrelationships, ensuring that those skilled in the art can implement the technical solution based on the contents of the specification.

[0030] To enable those skilled in the art to fully understand and implement this invention, the specific implementation principle of this invention will be further explained below in conjunction with a specific application scenario.

[0031] When performing long-term hovering missions in complex airflow environments, the UAV first monitors the external airflow intensity in real time using a wind speed sensor in its adaptive environment module. The wind speed sensor transmits the collected airflow data to the airflow analysis unit. The airflow analysis unit determines a first airflow intensity characteristic based on the ratio of the change in external airflow intensity to a preset change threshold, and determines a second airflow intensity characteristic based on the difference between the average external airflow intensity and a preset average airflow intensity threshold. Finally, the airflow analysis unit determines the sum of the first and second airflow intensity characteristics as the airflow adjustment parameter and transmits this parameter to the control module. This process ensures that the UAV can dynamically perceive changes in the external environment, thus providing a basis for subsequent adjustments.

[0032] Meanwhile, inertial measurement units (IMUs) within the attitude adjustment module are positioned at different locations on the arm module to monitor the attitude distribution characteristics of various regions of the UAV in real time. The IMUs transmit the acquired attitude data to the control module. The control module determines a locally unstable region based on an attitude gradient exceeding a preset gradient threshold, and further determines a first attitude feature based on the ratio of the attitude change rate within the locally unstable region to a preset change rate threshold. Additionally, the control module determines a second attitude feature based on the difference between the overall average attitude of the UAV and a preset average attitude threshold, and the sum of the first and second attitude features is determined as the attitude field distribution characteristic. This step achieves comprehensive perception and precise quantification of the UAV's attitude, providing data support for subsequent flight state adjustments.

[0033] The control module adjusts the UAV's operating state based on attitude field distribution characteristics and airflow regulation parameters. If both the attitude field distribution characteristics and airflow regulation parameters exceed preset thresholds, it indicates significant interference in the current flight environment. In this case, the control module reduces the output power of the power module and activates the gyroscope sensor for active attitude correction. The gyroscope sensor is tightly fitted to the frame via shock-absorbing pads, and its high-precision feedback data effectively reduces the impact of external vibrations on the correction effect, thereby achieving rapid and stable attitude recovery. If the attitude field distribution characteristics are below the preset threshold and the airflow regulation parameters are above the preset threshold, the control module only reduces the output power of the power module to avoid energy waste due to over-adjustment. If both the attitude field distribution characteristics and airflow regulation parameters are below the preset thresholds, the control module maintains the UAV's current operating state to ensure maximum flight efficiency.

[0034] In the aforementioned process, each independent power unit of the power module achieves precise power output through the coordinated operation of a brushless motor and an electronic speed controller (ESC). The brushless motor is fixed to an aluminum alloy bushing at the end of the arm module. The bushing contains an embedded thermally conductive silicone layer, allowing the heat generated during motor operation to be rapidly conducted to the arm module and dissipated to the external environment through carbon fiber reinforcement. This heat dissipation design not only improves the operational stability of the power module but also extends its service life. Furthermore, the miniature airflow guide vanes inside the arm module optimize the airflow path, significantly improving the overall aerodynamic efficiency of the UAV and enabling it to maintain high flight stability in complex airflow environments.

[0035] The display module receives operational status and attitude distribution data transmitted from the control module via a data cable and displays this data on the screen for users or maintenance personnel to view. The communication module packets and sends the data to the gateway device via Bluetooth, and the gateway device then forwards the data to the external smart terminal via the 5G network protocol. This process enables real-time visual monitoring of the drone's operational status, allowing users to promptly grasp the drone's working status and make necessary interventions.

[0036] The fault detection module is connected to the control module to monitor the UAV's operational status and determine the presence of potential fault risks based on attitude field distribution characteristics and airflow regulation parameters. If a potential fault risk is detected, the fault detection module generates a fault warning and sends it to an external smart terminal via the communication module. This function provides additional protection for the safe operation of the UAV and also provides a reference for subsequent maintenance and optimization.

[0037] In practical applications, such as logistics and delivery scenarios, drones need to complete cargo transportation tasks in densely populated urban environments. In such cases, drones may face challenges from complex airflow conditions such as turbulence and gusts. Through the steps described above, the drone can perceive changes in external airflow in real time and dynamically adjust the output power of its power module based on airflow adjustment parameters, thereby achieving energy conservation and consumption reduction while ensuring flight safety. Simultaneously, the distributed inertial measurement unit of the attitude adjustment module can accurately capture attitude changes in various areas of the drone, and combined with comprehensive analysis by the control module, ensures that the drone maintains stable flight even in complex airflow environments. This collaborative working mechanism not only improves the drone's mission execution capabilities but also significantly enhances its reliability in high-intensity combat or complex environments.

[0038] In the above embodiments, the design of multiple independent power units in the power module, with each brushless motor fixed to an aluminum alloy bushing at the end of the arm and embedded with a thermally conductive silicone layer, achieves efficient heat dissipation and stable operation of the power unit, reducing the risk of efficiency degradation and shortened lifespan due to high temperatures. Simultaneously, the multi-power unit configuration improves flight safety and reliability. Parallel carbon fiber reinforcing ribs are arranged inside the arm module, with micro-airflow guide plates interspersed, which not only enhances the arm's strength and rigidity and reduces the impact of flight vibrations but also optimizes airflow distribution and improves aerodynamic performance, thereby enhancing handling stability and energy utilization efficiency. The attitude adjustment module employs a multi-point inertial measurement unit arrangement and a central gyroscope sensor with vibration damping, improving attitude perception accuracy and vibration resistance, enabling the UAV to acquire attitude information more accurately, enhancing flight attitude stability and control response speed. The control module combines inertial measurement unit data analysis of attitude field distribution characteristics and collaborates with the adaptive environment module. Through wind speed sensors and airflow analysis units, it monitors external airflow intensity in real time, dynamically adjusting power output to achieve adaptive optimization of flight attitude and rapid response to environmental disturbances, thereby improving flight stability, energy utilization efficiency, and safety in complex environments. The display module visualizes the UAV's operational status and attitude distribution data, facilitating real-time monitoring and decision-making by the operator, thus improving operational convenience and flight safety. In summary, this UAV, through comprehensive optimization of its power, structure, attitude perception, intelligent control, and information display, achieves a comprehensive improvement in flight stability, disturbance resistance, power efficiency, and operational convenience.

[0039] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0040] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0041] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0042] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A drone, characterized in that, include: The power module is equipped with multiple independent power units. Each independent power unit contains a brushless motor and a matching ESC. The brushless motor is fixed to the aluminum alloy bushing at the end of the arm by bolts. The aluminum alloy bushing is embedded with a thermally conductive silicone layer. The arm module has parallel carbon fiber reinforcing ribs inside, and miniature airflow guide plates are installed between the carbon fiber reinforcing ribs. The attitude adjustment module is equipped with multiple inertial measurement units and a gyroscope sensor located in the center of the frame. The inertial measurement units are arranged at different positions on the arm module, and the gyroscope sensor is tightly attached to the frame through shock-absorbing pads. The control module is connected to the power module, attitude adjustment module and external smart terminal respectively. It is used to analyze the attitude field distribution characteristics of the UAV based on the data collected by the inertial measurement unit, and adjust the output power and rotation speed parameters of the power module according to the attitude field distribution characteristics. The adaptive environment module is equipped with a wind speed sensor and an airflow analysis unit to monitor the intensity of external airflow in real time and adjust the output power of the power module based on changes in airflow intensity. The display module, which is connected to the control module, is used to display the operating status and attitude distribution data of the UAV.

2. The drone as described in claim 1, characterized in that, When the control module analyzes the attitude field distribution characteristics of the UAV based on the data collected by the inertial measurement unit, it includes: The control module is also used to acquire the attitude gradient of the UAV at different positions, and to determine the region as a local unstable region if the attitude gradient is greater than a preset gradient threshold. The control module is also used to determine the first attitude feature based on the ratio of the attitude change rate to a preset change rate threshold in the local unstable region. The control module is also used to determine the second attitude feature based on the difference between the overall average attitude of the UAV and the preset average attitude threshold. The control module is also used to determine the attitude field distribution characteristics of the UAV based on the sum of the first attitude characteristics and the second attitude characteristics.

3. The drone as described in claim 2, characterized in that, When the control module adjusts the output power and rotational speed parameters of the power module based on the attitude field distribution characteristics, it includes: If the attitude field distribution characteristics are greater than or equal to the preset attitude field distribution characteristic threshold, the control module will reduce the overall output power of the power module and adjust the rotation speed parameters to low speed mode. If the attitude field distribution characteristics are less than the preset attitude field distribution characteristic threshold, the control module will maintain the current output power and rotation speed parameters of the power module unchanged.

4. The drone as described in claim 1, characterized in that, When the adaptive environment module adjusts the output power of the power module based on changes in external airflow intensity, it includes: The adaptive environment module also determines the first airflow intensity feature based on the ratio of the change in external airflow intensity to a preset change threshold. The adaptive environment module also determines a second airflow intensity feature based on the difference between the average external airflow intensity and a preset average airflow intensity threshold. The adaptive environment module also determines the airflow adjustment parameters of the UAV based on the sum of the first airflow intensity characteristics and the second airflow intensity characteristics; The adaptive environment module also adjusts the output power of the power module according to the airflow regulation parameters.

5. The drone as described in claim 1, characterized in that, When the control module adjusts the UAV's operating state in response to attitude field distribution characteristics and airflow regulation parameters, it includes: If the attitude field distribution characteristics and airflow regulation parameters are both greater than the preset threshold, the control module will reduce the output power of the power module and activate the gyroscope sensor for active attitude correction. If the attitude field distribution characteristics are less than the preset threshold and the airflow adjustment parameters are greater than the preset threshold, the control module will only reduce the output power of the power module. If the attitude field distribution characteristics and airflow regulation parameters are both less than the preset threshold, the control module will maintain the current operating state of the UAV.

6. The drone as described in claim 1, characterized in that, When the control module adjusts the UAV's operating state based on attitude field distribution characteristics and airflow regulation parameters, it includes: The control module also determines the first operating state factor based on the ratio of the UAV's attitude field distribution characteristics to a preset attitude field distribution characteristic threshold. The control module also determines the second operating state factor based on the ratio of the UAV's airflow adjustment parameters to the preset airflow adjustment parameter threshold. The control module also determines the comprehensive operating status parameters of the UAV based on the sum of the first operating status factor and the second operating status factor; The control module also adjusts the output power and rotation speed parameters of the power module based on the comprehensive operating status parameters.

7. The drone as described in claim 5, characterized in that, When the control module adjusts the output power and rotational speed parameters of the power module based on comprehensive operating status parameters, it includes: If the overall operating status parameter is greater than or equal to the preset overall operating status parameter threshold, the control module will reduce the output power of the power module and adjust the rotation speed parameter to low speed mode. If the overall operating status parameters are less than the preset overall operating status parameter threshold, the control module will maintain the current output power and rotation speed parameters of the power module unchanged.

8. The drone as described in claim 7, characterized in that, When the overall operating status parameters of the UAV do not meet the preset standards, the control module determines whether to activate the gyroscope sensor based on the preset attitude field distribution characteristic threshold and the current attitude field distribution characteristics, including: If the preset attitude field distribution characteristic threshold is less than or equal to the current attitude field distribution characteristic, the control module will activate the gyroscope sensor. If the preset attitude field distribution characteristic threshold is greater than the current attitude field distribution characteristic, the control module will not activate the gyroscope sensor.

9. The UAV as described in claim 1, characterized in that, Also includes: The communication module, connected to the control module, transmits the UAV's operational status data and attitude distribution data to an external smart terminal. Specifically, the communication module packages and sends the data to the gateway device via Bluetooth, and the gateway device forwards the data to the external smart terminal via the 4G network protocol.

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