Wind-resistant balancing device for heavy-load unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and particularly discloses a large-load unmanned aerial vehicle wind-resistant balancing device, which realizes real-time capture of external wind field parameters including a wind speed absolute value and a wind direction azimuth angle through a wind speed and wind direction sensor, and completes accurate monitoring of an air flow speed at an air outlet in combination with a wind speed sensor at the inner side of an air outlet hole. A target deflection angle is calculated based on a wind direction azimuth angle through an arranged controller, a first rotating shaft is driven to rotate through a first driving mechanism, and synchronous angular displacement adjustment is achieved by linkage of a transverse pull rod and double air outlet rings, so that air outlet holes are accurately aligned to the headwind direction all the time, a vector thrust foundation opposite to external wind power is formed, and the purpose of wind resistance balance is achieved; the problem that a traditional large-load unmanned aerial vehicle is not provided with a special wind-resistant device and is prone to tipping over due to large wind power and large load in the operation process, and then air crash occurs is solved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and specifically discloses a wind-resistant balancing device for heavy-load UAVs. Background Technology

[0002] Unmanned aerial vehicles (UAVs), as devices operated by radio remote control equipment or onboard program control devices, or devices that are fully or intermittently operated autonomously by onboard computers, are widely used in fields such as aerial photography, agriculture, plant protection, express delivery, and disaster relief.

[0003] For drones requiring heavy payloads used in agriculture, plant protection, express delivery, and disaster relief, multi-rotor drones are typically used. A multi-rotor drone usually consists of a fuselage, arms fixed circumferentially at equal intervals on the fuselage, and rotor assemblies mounted on the arms. By controlling the rotational speed of the multi-rotors, multi-rotor drones can change their attitude and adjust the magnitude of the lift forces in both the vertical and horizontal directions to counteract wind resistance and achieve wind resistance.

[0004] However, during operations, because heavy-payload drones carry heavy loads, their lift not only needs to overcome wind resistance but also needs to be able to lift the load. During high-altitude transport, if the load is suspended, it will sway due to winds from different directions. Combined with the high wind resistance at high altitudes, the flight speed of heavy-payload drones will be limited, and without dedicated wind-resistant devices, they are prone to tipping over due to strong winds and heavy loads, resulting in a crash.

[0005] This invention provides a wind-resistant balancing device for heavy-load unmanned aerial vehicles (UAVs) to solve the above-mentioned problems. Summary of the Invention

[0006] The purpose of this invention is to solve the problem that traditional heavy-load drones do not have dedicated wind-resistant devices, and are prone to tipping over due to strong winds and heavy loads during operation, thus causing crashes.

[0007] To achieve the above objectives, the basic solution of the present invention provides a wind-resistant balancing device for a heavy-load unmanned aerial vehicle (UAV), comprising a connecting column fixedly connected between the fuselage and the arm and having a cylindrical chamber coaxially formed inside each column, an air-guiding structure disposed within the cylindrical chamber, and an air-exhausting ring coaxially rotatably connected to the inner end face of the cylindrical chamber. The outer wall of the air outlet ring is fitted to the inner wall of the cylindrical cavity. Each air outlet ring has an air outlet hole. Each connecting column has an exhaust groove located outside the body and exposing the air outlet hole. The angle of the exhaust groove is greater than or equal to 180 degrees. Each connecting column has an air inlet hole that communicates with the cylindrical cavity and is used to supply air to the induced draft structure. A drive box is also fixed to the bottom of the connecting column, and a drive mechanism for driving the air outlet ring to rotate is provided inside the drive box. It also includes a controller that is electrically connected to both the air intake structure and the drive mechanism, a wind speed and direction sensor that is electrically connected to the controller and used to monitor the external wind speed and direction, and a wind speed sensor that is electrically connected to the controller and located inside the air outlet to monitor the air outlet wind speed. The controller is equipped with a wind resistance balancing method that adjusts the output power of the air intake structure and the orientation angle of the air inlet based on the external wind speed and direction and the air outlet wind speed.

[0008] Furthermore, the top and bottom faces of the cylindrical cavity are coaxially rotatably connected to air outlet rings, and vertical tie rods are fixed between the air outlet rings.

[0009] Furthermore, the arm is fixedly connected to the connecting column between the air outlet rings.

[0010] Furthermore, the air outlet is circular in shape and is horizontally positioned.

[0011] Furthermore, the drive mechanism includes a rotating shaft coaxially rotatably connected to the cylindrical cavity, a drive motor fixed to the bottom of the drive box, a gear transmission mechanism meshing between the rotating shaft and the output shaft of the drive motor, and a transverse tie rod fixed between the rotating shaft and the air outlet ring.

[0012] Furthermore, the air-expelling structure includes a second rotating shaft coaxially rotatably connected to the cylindrical cavity, an impeller coaxially fixed to the second rotating shaft, a wind box fixed to the cylindrical cavity for enclosing the impeller and communicating with the air inlet, and a second drive mechanism located in the drive box for driving the second rotating shaft to rotate. The wind box has a communicating hole communicating with the interior of the cylindrical cavity, and the second rotating shaft has a shaft hole coaxially opened for the first rotating shaft to pass through.

[0013] Furthermore, it also includes a flow valve connected between the connecting hole and the air outlet via a pipe. The flow valve is electrically connected to the controller, and the middle section of the pipe is a corrugated pipe.

[0014] The basic solution of this invention provides a wind-resistant balancing method, applied to the controller described above, comprising the following steps: Step A1: Collect the external wind speed and direction data from the wind speed and direction sensor, and the outlet wind speed data from the wind speed sensor. Step A2: Analyze and obtain the absolute value of the outside wind speed, the outside wind direction azimuth, and the wind speed at the air outlet; Step A3: Start drive mechanism one, calculate the target rotation angle of the air ring according to the azimuth angle of the outside wind direction so that the air outlet faces the opposite direction of the outside wind direction, control drive mechanism one to drive the air outlet ring to rotate to the target angle so that the air outlet exposed in the exhaust duct always faces the opposite wind direction. Control the start-up of the air intake structure and output initial power to make the target wind speed at the air outlet approach the outside wind speed; Step A4: Monitor the real-time wind speed at the air outlet, the real-time wind speed outside, and the change in the wind direction outside; Step A5: Calculate the air outlet wind speed deviation value based on the difference between the real-time wind speed at the air outlet and the real-time wind speed outside. When the absolute value of the air outlet wind speed deviation is less than or equal to the allowable error range, maintain the current output power of the air intake structure and the air outlet ring angle. When the air outlet wind speed deviation value is greater than the allowable error range, the controller reduces the output power of the air intake structure until the air outlet wind speed deviation value falls into the allowable error range. When the air outlet wind speed deviation is less than the lower limit of the allowable error range, the controller increases the output power of the air intake structure until the air outlet wind speed deviation falls into the allowable error range. Step A6: Includes the following simultaneous actions: If the change in the external wind direction is greater than or equal to the change threshold one, return to step A3 and control the drive mechanism one to drive the air outlet ring to rotate synchronously by the same amount of wind direction change, so that the air outlet always faces the updated reverse wind direction. If the change in external wind speed is greater than or equal to the change threshold two, then update the target wind speed and return to steps A4 to A5, recalculate the wind speed deviation value at the vent and dynamically adjust the output power of the air intake structure. Step A7: Continuously cycle through steps A4 to A6 to compensate for the lateral / forward thrust interference of external wind on the drone in real time until the drone maintains the preset flight attitude or completes landing, at which point the wind resistance balance control terminates.

[0015] The principle and effect of this solution are as follows: Compared with existing technologies, this invention uses wind speed and direction sensors to capture external wind field parameters in real time: absolute wind speed and azimuth angle. Combined with wind speed sensors inside the air outlet, it achieves accurate monitoring of airflow velocity at the air outlet. The controller calculates the target deflection angle based on the azimuth angle, and the drive mechanism drives the rotating shaft to rotate. With the help of the horizontal tie rod, the double air outlet rings are linked to achieve synchronous angular displacement adjustment, so that the air outlet is always accurately aligned with the wind direction, forming a vector thrust foundation opposite to the external wind force, achieving the purpose of wind resistance balance. This solves the problem that traditional heavy-load UAVs do not have dedicated wind-resistant devices and are prone to tipping over due to large wind forces and heavy loads during operation, thus causing crashes. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a heavy-load UAV proposed in an embodiment of this application is shown; Figure 2 A schematic diagram of a wind-resistant balancing device for a heavy-load unmanned aerial vehicle (UAV) according to an embodiment of this application is shown. Figure 3 A schematic diagram of the wind resistance balance of a heavy-load UAV proposed in an embodiment of this application is shown. Detailed Implementation

[0018] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0019] The reference numerals in the accompanying drawings include: fuselage 1, connecting column 2, arm 3, rotor assembly 4, air outlet ring 5, air outlet 6, drive box 7, rotating shaft 2 8, rotating shaft 1 9, impeller 10, support frame 11, horizontal tie rod 12, gear transmission mechanism 2 13, gear transmission mechanism 1 14, vertical tie rod 15, flow valve 16.

[0020] A wind-resistant balancing device for heavy-duty unmanned aerial vehicles (UAVs), implementing, for example... Figure 1 As shown: It includes four connecting columns 2, an air intake structure installed in the connecting columns 2, and an air outlet ring 5 installed in the connecting columns 2.

[0021] The fuselage 1 is rectangular, and a connecting post 2 is fixedly installed at each of the four corners of the fuselage 1. Arms 3 are installed at each of the four corners of the fuselage 1 via the connecting posts 2. A rotor assembly 4 is installed at the end of each arm 3, and a support frame 11 is also installed on each arm 3. In this embodiment, the fuselage 1, arms 3, rotor assemblies 4, and support frames 11 are all commonly used multi-rotor UAV structures in the prior art.

[0022] like Figure 2 As shown, a cylindrical chamber is coaxially formed within each connecting column 2. The air intake structure is installed within the cylindrical chamber, and the air outlet ring 5 is coaxially installed on the inner end face of the cylindrical chamber. Furthermore, two air outlet rings 5 ​​are installed within the cylindrical chamber, respectively at the inner top and bottom ends. Both air outlet rings 5 ​​can rotate around their axis, and their outer walls are in contact with the inner wall of the cylindrical chamber. A vertical tie rod 15 is fixedly installed between the two air outlet rings 5, and the vertical tie rod 15 is in contact with the inner wall of the cylindrical chamber.

[0023] Each air outlet ring 5 has an air outlet 6, which is circular in shape and horizontally positioned. Each connecting column 2 has an exhaust groove located outside the body 1, exposing the air outlet 6. In this embodiment, the angle of the exhaust groove is 180 degrees. Of course, in other embodiments, the angle of the exhaust groove can be equal to 180 degrees or greater than 180 degrees.

[0024] A drive box 7 is also fixedly installed at the bottom of the connecting column 2. The drive box 7 contains a drive mechanism for driving the air outlet ring 5 to rotate. For example... Figure 2 As shown, the drive mechanism includes a rotating shaft 9 coaxially mounted on the top surface of a cylindrical cavity and rotatable, a drive motor fixedly mounted at the bottom of the drive housing 7, a gear transmission mechanism 14 meshing between the rotating shaft 9 and the output shaft of the drive motor, and a transverse tie rod 12 fixedly mounted between the air outlet rings 5 ​​and the air outlet 6. Furthermore, two transverse tie rods 12 are fixedly mounted on the rotating shaft 9, and the transverse tie rods 12 are respectively fixed to the inner side of the air outlet rings 5 ​​above and below the air outlet 6.

[0025] like Figure 2 As shown, each connecting column 2 also has an air inlet hole that communicates with the cylindrical chamber and is used to supply air to the air-exhaust structure. The air-exhaust structure includes a bracket fixed inside the cylindrical chamber, a rotating shaft 8 coaxially mounted inside the cylindrical chamber via the bracket and rotatable, an impeller 10 coaxially fixed on the rotating shaft 8, a wind box fixed inside the cylindrical chamber to enclose the impeller 10 and communicating with the air inlet hole, and a second drive mechanism installed inside the drive box 7 to drive the rotating shaft 8 to rotate. In this embodiment, the wind box has a communication hole communicating with the interior of the cylindrical chamber, and the rotating shaft 8 has a shaft hole coaxially provided for the rotating shaft 9 to pass through. The second drive mechanism includes a second drive motor fixedly mounted at the bottom inside the drive box 7 and a second gear transmission mechanism 13 meshing between the rotating shaft 8 and the output shaft of the second drive motor.

[0026] Furthermore, a flow valve 16 is connected between the connecting hole and the air outlet 6 via a pipe.

[0027] In this embodiment, the casing 1 also houses a controller, which is electrically connected to the air intake structure, the drive mechanism, and the flow valve 16. Furthermore, the casing 1 is equipped with a wind speed sensor electrically connected to the controller for monitoring external wind speed and direction, and each air outlet ring 5 is equipped with a wind speed sensor electrically connected to the controller for monitoring the air outlet wind speed. In this embodiment, the controller incorporates a wind resistance balancing method that adjusts the output power of the air intake structure and the orientation angle of the air inlet based on external wind speed and direction and the air outlet wind speed. Specifically, the wind resistance balancing method includes the following steps: Step A1: Collect the external wind speed and direction data from the wind speed and direction sensor, and the outlet wind speed data from the wind speed sensor. Step A2: Analyze and obtain the absolute value of the outside wind speed, the outside wind direction azimuth, and the wind speed at the air outlet; Step A3: Start drive mechanism one, calculate the target rotation angle of the wind ring according to the azimuth angle of the outside wind direction so that the air outlet faces the opposite direction of the outside wind direction, control drive mechanism one to drive the air outlet ring 5 to rotate to the target angle so that the air outlet 6 exposed by the exhaust duct always faces the opposite wind direction. The control system starts the air intake structure and outputs initial power to achieve the target air velocity at the outlet. Approaching the outside wind speed The expression is as follows: ; In the formula, To ensure wind resistance safety factor, ; Step A4: Monitor the real-time wind speed at the air outlet. Real-time wind speed and changes in external wind direction; Step A5: Calculate the air outlet wind speed deviation value based on the difference between the real-time wind speed at the air outlet and the real-time wind speed outside. The expression is as follows: ; When the absolute value of the outlet wind speed deviation is less than or equal to the allowable error range, maintain the current output power of the exhaust structure and the outlet ring angle. ; When the air outlet wind speed deviation value is greater than the allowable error range, the controller reduces the output power of the air intake structure until the air outlet wind speed deviation value falls into the allowable error range. When the air outlet wind speed deviation is less than the lower limit of the allowable error range, the controller increases the output power of the air intake structure until the air outlet wind speed deviation falls into the allowable error range. Step A6: Includes the following simultaneous actions: If the change in the external wind direction is greater than or equal to the change threshold one, return to step A3 and control the drive mechanism one to drive the air outlet ring 5 to rotate synchronously by the same amount of wind direction change, so that the air outlet 6 always faces the updated reverse wind direction. If the change in external wind speed is greater than or equal to the change threshold two, then update the target wind speed and return to steps A4 to A5, recalculate the wind speed deviation value at the vent and dynamically adjust the output power of the air intake structure. Step A7: Continuously cycle through steps A4 to A6 to compensate for the lateral / forward thrust interference of external wind on the drone in real time until the drone maintains the preset flight attitude or completes landing, at which point the wind resistance balance control terminates.

[0028] In step A5, the controller also synchronously executes the following flow valve opening coordination control rules: When need to improve At the same time, increase the opening degree of the flow valve by 16. When need to be reduced At the same time, the opening degree of flow valve 16 is reduced synchronously.

[0029] Furthermore, such as Figure 3 As shown, when the oncoming wind direction is parallel to the diagonal of the fuselage 1, at least three sets of air outlet rings 5 ​​on the connecting columns 2 can guide the air outlet in the opposite direction of the outside wind. Figure 3 In the diagram, the thick black arrow with a black dot indicates the outside wind direction, and the thick black arrow with a white dot indicates the direction of the air coming out of the vent; for example... Figure 3 In the diagram, the black light solid line arrow with a black dot and the black light dashed line arrow with a black dot represent the external wind direction under different conditions. In this embodiment, it can also be ensured that at least two sets of air outlet rings 5 ​​on the connecting column 2 can guide the air outlet to the opposite direction of the external wind direction.

[0030] This invention uses wind speed and direction sensors to capture external wind field parameters in real time: absolute wind speed and azimuth angle. Combined with the wind speed sensor inside the air outlet 6, it achieves accurate monitoring of the airflow velocity at the air outlet. The controller calculates the target deflection angle based on the azimuth angle and drives the rotating shaft 9 through the drive mechanism. With the help of the horizontal tie rod 12, the double air outlet ring 5 is linked to achieve synchronous angular displacement adjustment, so that the air outlet 6 is always accurately aligned with the wind direction, forming a vector thrust foundation opposite to the external wind force, achieving the purpose of wind resistance balance. This solves the problem that traditional heavy-load UAVs do not have dedicated wind-resistant devices and are prone to tipping over due to large wind forces and heavy loads during operation, thus causing crashes.

[0031] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any indirect modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A wind-resistant balancing device for heavy-load unmanned aerial vehicles (UAVs), characterized in that, It includes connecting columns that are fixed between the fuselage and the arm and have cylindrical chambers that are coaxially opened inside, an air-expelling structure located in the cylindrical chamber, and an air-exhaust ring that is coaxially rotatably connected to the inner end face of the cylindrical chamber. The outer wall of the air outlet ring is fitted to the inner wall of the cylindrical cavity. Each air outlet ring has an air outlet hole. Each connecting column has an exhaust groove located outside the body and exposing the air outlet hole. The angle of the exhaust groove is greater than or equal to 180 degrees. Each connecting column has an air inlet hole that communicates with the cylindrical cavity and is used to supply air to the induced draft structure. A drive box is also fixed to the bottom of the connecting column, and a drive mechanism for driving the air outlet ring to rotate is provided inside the drive box. It also includes a controller that is electrically connected to both the air intake structure and the drive mechanism, a wind speed and direction sensor that is electrically connected to the controller and used to monitor the external wind speed and direction, and a wind speed sensor that is electrically connected to the controller and located inside the air outlet to monitor the air outlet wind speed. The controller is equipped with a wind resistance balancing method that adjusts the output power of the air intake structure and the orientation angle of the air inlet based on the external wind speed and direction and the air outlet wind speed.

2. The wind-resistant balancing device for a heavy-load unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The top and bottom faces of the cylindrical cavity are coaxially rotatably connected to air outlet rings, and vertical tie rods are fixed between the air outlet rings.

3. The wind-resistant balancing device for a heavy-load unmanned aerial vehicle according to claim 2, characterized in that, The arm is fixed to the connecting column between the air outlet rings.

4. The wind-resistant balancing device for a heavy-load unmanned aerial vehicle according to claim 1, characterized in that, The air outlet is circular in shape and is set horizontally.

5. The wind-resistant balancing device for a heavy-load unmanned aerial vehicle according to claim 1, characterized in that, The drive mechanism includes a rotating shaft coaxially rotatably connected to a cylindrical cavity, a drive motor fixed to the bottom of the drive box, a gear transmission mechanism meshing between the rotating shaft and the output shaft of the drive motor, and a transverse tie rod fixed between the rotating shaft and the air outlet ring.

6. A wind-resistant balancing device for a heavy-load unmanned aerial vehicle (UAV) according to claim 5, characterized in that, The air-exhaust structure includes a second rotating shaft coaxially rotatably connected to a cylindrical cavity, an impeller coaxially fixed to the second rotating shaft, a wind box fixed to the cylindrical cavity for enclosing the impeller and communicating with the air inlet, and a second drive mechanism located in the drive box for driving the second rotating shaft to rotate. The wind box has a communicating hole communicating with the interior of the cylindrical cavity, and the second rotating shaft has a shaft hole coaxially opened for the first rotating shaft to pass through.

7. A wind-resistant balancing device for a heavy-load unmanned aerial vehicle (UAV) according to claim 6, characterized in that, It also includes a flow valve connected between the connecting hole and the air outlet via a pipe, and the flow valve is electrically connected to the controller.

8. A wind-resistant balance method, characterized in that, Applied to the controller as described in claim 1, the method includes the following steps: Step A1: Collect the external wind speed and direction data from the wind speed and direction sensor, and the outlet wind speed data from the wind speed sensor. Step A2: Analyze and obtain the absolute value of the outside wind speed, the outside wind direction azimuth, and the wind speed at the air outlet; Step A3: Start drive mechanism one, calculate the target rotation angle of the air ring according to the azimuth angle of the outside wind direction so that the air outlet faces the opposite direction of the outside wind direction, control drive mechanism one to drive the air outlet ring to rotate to the target angle so that the air outlet exposed in the exhaust duct always faces the opposite wind direction. Control the start-up of the air intake structure and output initial power to make the target wind speed at the air outlet approach the outside wind speed; Step A4: Monitor the real-time wind speed at the air outlet, the real-time wind speed outside, and the change in the wind direction outside; Step A5: Calculate the air outlet wind speed deviation value based on the difference between the real-time wind speed at the air outlet and the real-time wind speed outside. When the absolute value of the air outlet wind speed deviation is less than or equal to the allowable error range, maintain the current output power of the air intake structure and the air outlet ring angle. When the air outlet wind speed deviation value is greater than the allowable error range, the controller reduces the output power of the air intake structure until the air outlet wind speed deviation value falls into the allowable error range. When the air outlet wind speed deviation is less than the lower limit of the allowable error range, the controller increases the output power of the air intake structure until the air outlet wind speed deviation falls into the allowable error range. Step A6: The following are carried out simultaneously: If the change in the external wind direction is greater than or equal to the change threshold one, return to step A3 and control the drive mechanism one to drive the air outlet ring to rotate synchronously by the same amount of wind direction change, so that the air outlet always faces the updated reverse wind direction. If the change in external wind speed is greater than or equal to the change threshold two, then update the target wind speed and return to steps A4 to A5, recalculate the wind speed deviation value at the vent and dynamically adjust the output power of the air intake structure. Step A7: Continuously cycle through steps A4 to A6 to compensate for the lateral / forward thrust interference of external wind on the drone in real time until the drone maintains the preset flight attitude or completes landing, at which point the wind resistance balance control terminates.

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