Flying robot and unhooking system of flying robot

Abstract

The invention discloses a flying robot and an unhooking system of the flying robot, the flying robot is connected with an unpowered aircraft through a traction piece and used for pulling the unpowered aircraft to rise through the traction piece, and the unhooking system comprises a controller, a receiver, a steering engine, a support, an opening and closing mechanism and a navigation module; the controller is connected with the receiver, the steering engine and the navigation module, the support is fixed to the flying robot, and the steering engine and the opening and closing mechanism are arranged on the support; the controller receives a preset remote control instruction from the receiver, the controller receives real-time data from the navigation module, the controller is used for generating an unhooking instruction based on the remote control instruction or the real-time data, and the steering engine controls the opening and closing mechanism to be opened based on the unhooking instruction, so that the traction piece is separated from the opening and closing mechanism. The unhooking instruction is generated through the controller based on the remote control instruction or the real-time data, the steering engine controls the opening and closing mechanism to be opened based on the unhooking instruction, rapid separation of the traction piece and the opening and closing mechanism is achieved, and the flight safety of the unpowered aircraft is improved.

Description

Technical Field

[0001] This application relates to the field of flying robot technology, and in particular to a flying robot and a disengagement system for the flying robot. Background Technology

[0002] With the development of drone technology, the application areas and methods of drones have been greatly expanded. Existing multi-rotor drones typically obtain forward thrust by tilting their attitude. However, due to the limitations of the control method of multi-rotor drones, for example, when towing a paraglider, the multi-rotor drone cannot detach from the paraglider in time, affecting the safety of the paraglider. Summary of the Invention

[0003] This application primarily provides a flying robot and a detachment system for the flying robot, addressing safety issues affecting paragliders.

[0004] This application provides a detachment system for a flying robot. The flying robot is connected to a powerless aircraft via a traction component, which is used to pull the powerless aircraft upwards. The detachment system includes a controller, a receiver, a servo motor, a support frame, an opening / closing mechanism, and a navigation module. The controller is connected to the receiver, the servo motor, and the navigation module. The servo motor is connected to the opening / closing mechanism. The support frame is fixed to the flying robot. The servo motor and the opening / closing mechanism are mounted on the support frame. One end of the traction component is wound around the support frame, and the servo motor controls the opening / closing mechanism to close, thereby squeezing the traction component and fixing it to the support frame. The controller receives a preset remote control command from the receiver and real-time data from the navigation module. The controller generates a detachment command based on the remote control command or the real-time data. The servo motor controls the opening / closing mechanism to open based on the detachment command, so that one end of the traction component detaches from the flying robot.

[0005] In some embodiments, the navigation module includes an angle sensor, a barometer, an inertial measurement unit (IMU), and a global navigation satellite system (GNSS). The controller is connected to the angle sensor, the barometer, the IMU, and the GNSS. The controller is configured to obtain the tilt angle between the traction device and the flying robot from the angle sensor, obtain the current air pressure and current temperature data of the flying robot from the barometer, obtain the acceleration of the flying robot from the IMU, and obtain satellite signals from the GNSS. The controller generates the disengagement command based on at least one of the tilt angle, the current air pressure, the current temperature, the acceleration, and the satellite signals.

[0006] In some embodiments, the controller obtains the vibration of the flying robot based on the acceleration, and generates the unhooking command when the vibration of the flying robot exceeds a preset value.

[0007] In some embodiments, the controller obtains the attitude tilt angle of the flying robot from the inertial measurement unit, and generates the unhooking command when the attitude tilt angle is greater than a preset angle and the duration is greater than a first preset time.

[0008] In some embodiments, the controller acquires the descent speed of the flying robot and generates the unhooking command when the descent speed exceeds a preset speed.

[0009] In some embodiments, the controller acquires the descent acceleration of the flying robot and generates the unhooking command when the descent acceleration is greater than a preset acceleration; Alternatively, the controller may generate the unhooking command when it detects that the flying robot has lost power, the flying robot's battery is damaged, or the flying robot's power is damaged.

[0010] In some embodiments, the controller is configured to generate the unhooking command when it detects that the disconnection time between the receiver and the remote controller exceeds a second preset time.

[0011] In some embodiments, the angle sensor, the barometer, the inertial measurement unit, the global navigation satellite system, the controller, and the receiver are mounted on the same component, and the flying robot includes a shock-absorbing component and a frame, with the component fixed to the frame by the shock-absorbing component.

[0012] In some embodiments, the unpowered aircraft is provided with a disengagement assembly, one end of the traction member is disposed on the opening and closing mechanism, and the other end of the traction member is disposed on the disengagement assembly; the controller is used to generate a voice signal and / or a light signal when the flight robot reaches a preset altitude, and the pilot of the unpowered aircraft controls the disengagement assembly to detach the traction member according to the voice signal and / or light signal.

[0013] This application also provides a flying robot, including the above-mentioned unhooking system, lift device and traction device. The controller of the unhooking system is connected to the lift device and the traction device respectively, and is used to control the lift device and the traction device. The servo motor and opening and closing mechanism of the unhooking system are fixed to the traction device by a bracket.

[0014] The beneficial effects of this application are as follows: The flying robot of this application is connected to a powerless aircraft via a traction component, and is used to pull the powerless aircraft upward via the traction component. The unhooking system includes a controller, a receiver, a servo motor, an opening and closing mechanism, and a navigation module. The controller is connected to the receiver, the servo motor, the support, and the navigation module. The servo motor is connected to the opening and closing mechanism. The support is fixed on the flying robot. The servo motor and the opening and closing mechanism are disposed on the support. One end of the traction component is wound around the support, and the servo motor is used to control the opening and closing mechanism to close, so as to squeeze the traction component and fix it on the support. The controller receives a preset remote control command from the receiver and receives real-time data from the navigation module. The controller is used to generate a unhooking command based on the remote control command or real-time data. The servo motor controls the opening and closing mechanism to open based on the unhooking command, so that the traction component disengages from the opening and closing mechanism. The controller generates a disengagement command based on remote control instructions or real-time data. That is, when the controller determines that the flying robot has malfunctioned based on remote control instructions or real-time data, it generates a disengagement command. The servo motor controls the opening and closing mechanism to open based on the disengagement command, so as to realize the rapid disengagement of the traction component from the opening and closing mechanism, reduce the impact of the flying robot on the safety of the unpowered aircraft, and improve the flight safety of the unpowered aircraft. Attached Figure Description

[0015] 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 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. Wherein: Figure 1 This is a schematic diagram of the structure of one embodiment of the flying robot provided in this application; Figure 2 yes Figure 1A schematic diagram of an embodiment of a flying robot towing a paraglider; Figure 3 yes Figure 1 A schematic diagram of the framework of an embodiment of the unhooking system for a flying robot; Figure 4 yes Figure 3 A schematic diagram of one embodiment of the servo motor, opening and closing mechanism, and bracket; Figure 5 This is a schematic diagram of another embodiment of the flying robot provided in this application. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0018] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0021] Please see Figures 1-4 As shown, Figure 1 This is a schematic diagram of the structure of one embodiment of the flying robot provided in this application; Figure 2 yes Figure 1 A schematic diagram of an embodiment of a flying robot towing a paraglider; Figure 3 yes Figure 1 A schematic diagram of the framework of an embodiment of the unhooking system for a flying robot; Figure 4 yes Figure 3 A schematic diagram of one embodiment of the servo motor, opening and closing mechanism, and bracket.

[0022] In this embodiment, the flying robot 1000 is connected to the unpowered aircraft 300 via a traction member 200. The unpowered aircraft 300 includes, but is not limited to, paragliders, hang gliders, gliders, hot air balloons, and other unpowered or underpowered aircraft. Furthermore, the flying robot 1000 is used for traction in fisheries and animal husbandry or for traction of water surface facilities via the traction member 200. The flying robot 1000 includes, but is not limited to, drones, power obstacle removal robotic arms, building exterior wall spraying robots, steel structure high-altitude welding robots, or fire-fighting demolition robots. This embodiment describes the flying robot 1000 as a drone, the traction member 200 as a traction rope, and the unpowered aircraft 300 as a paraglider; other types of unpowered aircraft 300 will not be described further.

[0023] The flying robot 1000 in this embodiment includes a disengagement system 100. The flying robot 1000 is connected to one end of the traction member 200 through the disengagement system 100, and the other end of the traction member 200 is connected to the unpowered aircraft 300.

[0024] The uncoupling system 100 includes a controller 10, a receiver 20, a servo motor 30, a bracket 80, an opening and closing mechanism 40, and a navigation module 50. The controller 10 is connected to the receiver 20, the servo motor 30, and the navigation module 50.

[0025] In some embodiments, receiver 20 is used to establish a wireless connection with remote controller 400, and receiver 20 receives remote control commands from remote controller 400. For example, the operator of the flying robot 1000 sends remote control commands to receiver 20 by operating remote controller 400.

[0026] Among them, the servo motor 30 is a servo motor in the prior art, and will not be described in detail here. The servo motor 30 is connected to the opening and closing mechanism 40, the bracket 80 is fixed on the flying robot 1000, the servo motor 30 and the opening and closing mechanism 40 are set on the bracket 80, one end of the traction member 200 is wound around the bracket 80, and the other end of the traction member 200 is connected to the unpowered aircraft 300; the opening and closing mechanism 40 refers to the mechanical component used to convert the power output by the servo motor 30 into opening and closing action, and can be the opening and closing mechanism 40 in the prior art, and will not be described in detail here.

[0027] In some embodiments, the bracket 80 is fixed to the frame 500 of the flying robot 1000. The servo motor 30 and the opening / closing mechanism 40 are disposed on the bracket 80 and are arranged adjacent to each other. One end of the traction member 200 is wound around the bracket 80, that is, one end of the traction member 200 is wrapped around the bracket 80, and the opening / closing mechanism 40 is located above the traction member 200. The servo motor 30 is connected to the opening / closing mechanism 40 and is used to control the opening / closing mechanism 40 to open or close. When the servo motor 30 controls the opening / closing mechanism 40 to close, the opening / closing mechanism 40 is used to compress the traction member 200 to fix the traction member 200 to the bracket 80. The bracket 80 is provided with a rough area, which is corresponding to the opening and closing mechanism 40. When the opening and closing mechanism 40 squeezes the traction member 200, the traction member 200 is located between the opening and closing mechanism 40 and the rough area. The rough area can enhance the friction between the bracket 80 and the traction member 200, and further improve the fixed stability of the traction member 200.

[0028] In some embodiments, the unhooking system 100 further includes an angle sensor 51, which is spaced circumferentially from the opening / closing mechanism 40 and positioned between the first and second connectors of the support 80. The angle sensor 51 detects the angle between the traction member 200 and the flying robot 1000. A controller 10 is connected to the angle sensor 51 and receives the angle between the traction member 200 and the flying robot 1000. In other embodiments, the angle sensor 51 can be implemented using other simplified structures, which will not be described in detail here.

[0029] In some embodiments, the unhooking system 100 further includes a transmission mechanism (not shown), and the servo motor 30 is connected to the opening and closing mechanism 40 through the transmission mechanism. The servo motor 30 controls the opening and closing mechanism 40 to perform opening and closing actions through the transmission mechanism.

[0030] The controller 10 receives a preset remote control command from the receiver 20 and receives real-time data from the navigation module 50. The controller 10 generates a disengagement command based on the remote control command or real-time data. The servo motor 30 controls the opening and closing mechanism 40 to open based on the disengagement command. At this time, the opening and closing mechanism 40 does not squeeze the traction member 200, so that one end of the traction member 200 is detached from the flying robot 1000, that is, the unpowered aircraft 300 is detached from the flying robot 1000.

[0031] In some embodiments, the controller 10 receives a preset remote control command from the receiver 20. The preset remote control command refers to the remote controller 400 remotely controlling the unhooking system 100 to cut off the traction member 200, so that the traction member 200 is detached from the flying robot 1000. Therefore, the controller 10 generates a unhooking command based on the preset remote control command and sends the unhooking command to the servo motor 30. The servo motor 30 controls the opening and closing mechanism 40 to open based on the unhooking command, thereby cutting off the traction member 200, that is, the traction member 200 is detached from the flying robot 1000.

[0032] In some embodiments, the controller 10 receives real-time data from the navigation module 50 and generates a disengagement command based on the real-time data. For example, if the real-time data received by the controller 10 from the navigation module 50 is abnormal, it is determined that the flying robot 1000 has malfunctioned, a disengagement command is generated, and the disengagement command is sent to the servo motor 30. The servo motor 30 controls the opening and closing mechanism 40 to open based on the disengagement command.

[0033] In this embodiment, the flying robot 1000 is connected to the unpowered aircraft 300 via a traction member 200. The traction member 200 is used to pull the unpowered aircraft 300 upward. The unhooking system 100 includes a controller 10, a receiver 20, a servo motor 30, a support 80, an opening and closing mechanism 40, and a navigation module 50. The controller 10 is connected to the receiver 20, the servo motor 30, and the navigation module 50. The servo motor 30 is connected to the opening and closing mechanism 40. The support 80 is fixed on the flying robot 1000. The servo motor 30 and the opening and closing mechanism 40 are mounted on the support 80. One end of the traction member 200 is wound around the support 80. The controller 10 receives a preset remote control command from the receiver 20 and receives real-time data from the navigation module 50. The controller 10 generates a unhooking command based on the remote control command or real-time data. The servo motor 30 controls the opening and closing mechanism 40 to open based on the unhooking command, so that the traction member 200 disengages from the opening and closing mechanism 40. The controller 10 generates a disengagement command based on remote control instructions or real-time data. Specifically, the controller 10 generates a disengagement command when the flying robot 1000 malfunctions, determined by the remote control instructions or real-time data. The servo motor 30 controls the opening and closing mechanism 40 to open based on the disengagement command, thereby enabling the traction component 200 to quickly disengage from the opening and closing mechanism 40. This facilitates the separation of the unpowered aircraft 300 from the flying robot 1000, reduces the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improves the flight safety of the unpowered aircraft 300.

[0034] According to some embodiments of this application, such as Figures 1-3 As shown, the navigation module 50 in this embodiment includes the aforementioned angle sensor 51, barometer 52, inertial measurement unit (IMU) 53, and Global Navigation Satellite System (GNSS) 54. The controller 10 is connected to the angle sensor 51, barometer 52, inertial measurement unit 53, and Global Navigation Satellite System 54.

[0035] In some embodiments, the global navigation satellite system 54 is used to locate, measure speed and orient the flying robot 1000; the barometer 52 is used to measure the altitude and rate of climb of the flying robot 1000; the inertial measurement unit 53 is used to measure the inertial motion of the flying robot 1000; and the angle sensor 51 is used to measure the angle between the traction member 200 and the flying robot 1000.

[0036] Specifically, the controller 10 is used to obtain the tilt angle between the traction member 200 and the flying robot 1000 (i.e., the angle between the traction member 200 and the flying robot 1000) from the angle sensor 51, the controller 10 is used to obtain the current air pressure value and current temperature data of the flying robot 1000 from the barometer 52, the controller 10 is used to obtain the acceleration of the flying robot 1000 from the inertial measurement unit 53, and the controller 10 is used to obtain satellite signals from the global navigation satellite system 54.

[0037] The controller 10 generates a decoupling command based on at least one of the following: tilt angle, current air pressure value, current temperature data, acceleration, and satellite signal. For example, the controller 10 generates a decoupling command based on the tilt angle; the controller 10 generates a decoupling command based on the current air pressure value; the controller 10 generates a decoupling command based on the tilt angle, current air pressure value, current temperature data, acceleration, and satellite signal, which will not be elaborated further here.

[0038] In some embodiments, if the controller 10 determines that the tilt angle is abnormal (e.g., the tilt angle exceeds a preset angle), it generates a disengagement command; or, if the controller 10 determines that the current air pressure value is abnormal, it generates a disengagement command; or, if the controller 10 determines that the satellite signal is abnormal (e.g., the flying robot 1000 cannot be located), it generates a disengagement command.

[0039] In this embodiment, the controller 10 is used to obtain the tilt angle between the traction member 200 and the flying robot 1000 from the angle sensor 51, the controller 10 is used to obtain the current air pressure value and current temperature data of the flying robot 1000 from the barometer 52, the controller 10 is used to obtain the acceleration of the flying robot 1000 from the inertial measurement unit 53, and the controller 10 is used to obtain satellite signals from the global navigation satellite system 54; and generates a disengagement command based on at least one of the tilt angle, current air pressure value, current temperature data, acceleration, and satellite signals. By using at least one of the tilt angle, current air pressure value, current temperature data, acceleration, and satellite signals as the disengagement command, the accuracy of the disengagement command is improved, the malfunction of the flying robot 1000 is quickly identified, the unpowered aircraft 300 is disengaged from the flying robot 1000, the safety impact of the flying robot 1000 on the unpowered aircraft 300 is reduced, and the flight safety of the unpowered aircraft 300 is improved.

[0040] According to some embodiments of this application, the controller 10 obtains the vibration of the flying robot 1000 based on acceleration, and generates a disengagement command when the vibration of the flying robot 1000 exceeds a preset value.

[0041] The vibration of the flying robot 1000 refers to the periodic or non-periodic mechanical reciprocating vibration generated by the flying robot 1000 during flight, hovering, or takeoff and landing. The controller 10 acquires the vibration of the flying robot 1000 through the inertial measurement unit 53. The inertial measurement unit 53 can acquire the vibration of the flying robot 1000 using existing technology, which will not be described in detail here.

[0042] The controller 10 is pre-set with preset values. The controller 10 is used to compare the vibration of the flying robot 1000 with the preset values. The controller 10 is used to generate a disengagement command when the vibration of the flying robot 1000 exceeds the preset values.

[0043] For example, the preset value is 15G, where G is the acceleration due to gravity, and 15G means 15 times the acceleration due to gravity. The controller 10 is used to generate a disengagement command when the vibration of the flying robot 1000 exceeds 15G, and send the disengagement command to the servo motor 30 to quickly identify the malfunction of the flying robot 1000, realize the separation of the unpowered aircraft 300 from the flying robot 1000, reduce the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improve the flight safety of the unpowered aircraft 300.

[0044] According to some embodiments of this application, the controller 10 of this embodiment obtains the attitude tilt angle of the flying robot 1000 from the inertial measurement unit 53, and generates a disengagement command when the attitude tilt angle is greater than a preset angle and the duration is greater than a first preset time.

[0045] The attitude tilt angle of the flying robot 1000 refers to the angle at which the flying robot 1000 tilts relative to a preset horizontal or vertical reference object in a preset three-dimensional space. The horizontal and vertical directions are perpendicular; for example, the vertical direction could be the direction of gravity. The horizontal or vertical reference object can be obtained using existing technology. The inertial measurement unit 53 can also obtain the attitude tilt angle of the flying robot 1000 using existing technology, which will not be elaborated further here.

[0046] In some embodiments, the controller 10 is pre-set with a first preset time and a preset angle, used to compare the attitude tilt angle with the preset angle; the controller 10 is used to start counting the duration when the attitude tilt angle is greater than the preset angle, and compare the duration with the first preset time; the controller 10 is used to generate a disengagement command when the duration is greater than the first preset time.

[0047] For example, the preset angle is 55 degrees, and the first preset time is 1 second. Controller 10 compares the attitude tilt angle with 55 degrees and starts calculating the duration when the attitude tilt angle is greater than 55 degrees. Controller 10 compares the duration with 1 second and generates a disengagement command when the duration is greater than 1 second. Controller 10 sends the disengagement command to servo motor 30, quickly identifying a malfunction in the flying robot 1000, enabling the unpowered aircraft 300 to detach from the flying robot 1000, reducing the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improving the flight safety of the unpowered aircraft 300.

[0048] According to some embodiments of this application, the controller 10 of this embodiment acquires the descent speed of the flying robot 1000 and generates a disengagement command when the descent speed exceeds a preset speed. The controller 10 can acquire the descent speed of the flying robot 1000 using existing technology, which will not be elaborated upon here.

[0049] The descent speed of the flying robot 1000 refers to the speed at which the flying robot 1000 moves downward in the vertical direction. For example, the vertical direction is the direction of gravity. The controller 10 obtains the speed at which the flying robot 1000 moves in the direction of gravity.

[0050] In some embodiments, the controller 10 is preset with a preset speed for comparing the descent speed of the flying robot 1000 with the preset speed; the controller 10 is used to generate a disengagement command when the descent speed of the flying robot 1000 is greater than the preset speed.

[0051] For example, with a preset speed of 9 m / s, the controller 10 compares the descent speed of the flying robot 1000 with 9 m / s. The controller 10 generates a disengagement command when the descent speed of the flying robot 1000 exceeds 9 m / s. The controller 10 sends the disengagement command to the servo motor 30, quickly identifying a malfunction in the flying robot 1000, enabling the unpowered aircraft 300 to detach from the flying robot 1000, reducing the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improving the flight safety of the unpowered aircraft 300.

[0052] According to some embodiments of this application, the controller 10 of this embodiment acquires the descent acceleration of the flying robot 1000 and generates a disengagement command when the descent acceleration is greater than a preset acceleration. The controller 10 can acquire the descent acceleration of the flying robot 1000 using existing technology, which will not be elaborated further here.

[0053] The descent acceleration of the flying robot 1000 refers to the motion acceleration of the flying robot 1000 in the vertical direction, such as the motion acceleration of the flying robot 1000 in the direction of gravity. The controller 10 is used to acquire the motion acceleration of the flying robot 1000 in the direction of gravity.

[0054] In some embodiments, the controller 10 presets a preset acceleration to compare the descent acceleration of the flying robot 1000 with the preset acceleration; the controller 10 generates a disengagement command when the descent acceleration of the flying robot 1000 is greater than the preset acceleration.

[0055] For example, the preset acceleration is 8 m / s². 2 The controller 10 sets the descent acceleration of the flying robot 1000 to 8 m / s². 2 Comparison; Controller 10 is used when the descent acceleration of the flying robot 1000 is greater than 8 m / s². 2 Generate a disengagement command. The controller 10 sends the disengagement command to the servo motor 30, which quickly identifies a malfunction in the flying robot 1000, enabling the unpowered aircraft 300 to detach from the flying robot 1000, reducing the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improving the flight safety of the unpowered aircraft 300.

[0056] According to some embodiments of this application, the controller 10 of this embodiment is used to generate a disengagement command when it detects that the flying robot 1000 has lost power, the battery of the flying robot 1000 is damaged, or the power of the flying robot 1000 is damaged.

[0057] A power outage for the Flying Robot 1000 refers to a loss of power or a malfunction in the battery. Power-related damage to the Flying Robot 1000 includes, but is not limited to, motor failure or propeller breakage.

[0058] In some embodiments, the controller 10 is used to generate a disengagement command when it detects that the flying robot 1000 has lost power, and send the disengagement command to the servo motor 30 to quickly identify that the flying robot 1000 has malfunctioned, so as to realize the separation of the unpowered aircraft 300 from the flying robot 1000, reduce the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improve the flight safety of the unpowered aircraft 300.

[0059] In some embodiments, the controller 10 is used to generate a disengagement command when the battery of the flying robot 1000 is detected to be damaged, and send the disengagement command to the servo motor 30 to quickly identify the malfunction of the flying robot 1000, realize the separation of the unpowered aircraft 300 from the flying robot 1000, reduce the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improve the flight safety of the unpowered aircraft 300.

[0060] In some embodiments, the controller 10 is used to generate a disengagement command when a power failure of the flying robot 1000 is detected, and send the disengagement command to the servo motor 30 to quickly identify the malfunction of the flying robot 1000, realize the separation of the unpowered aircraft 300 from the flying robot 1000, reduce the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improve the flight safety of the unpowered aircraft 300.

[0061] According to some embodiments of this application, the controller 10 of this embodiment is used to generate a disengagement command when it detects that the disconnection time between the receiver 20 and the remote controller 400 exceeds a second preset time.

[0062] Receiver 20 establishes a wireless connection with remote controller 400, and controller 10 is preset with a second preset time. Controller 10 is used to detect the disconnection time between receiver 20 and remote controller 400 and compare the disconnection time with the second preset time; controller 10 is used to generate a disconnection command when the disconnection time exceeds the second preset time.

[0063] For example, the second preset time can be 10 seconds. The controller 10 compares the disconnection time with 10 seconds and generates a disengagement command when the disconnection time exceeds 10 seconds. The controller 10 sends the disengagement command to the servo motor 30, which quickly identifies a malfunction in the flying robot 1000, enabling the unpowered aircraft 300 to detach from the flying robot 1000, reducing the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improving the flight safety of the unpowered aircraft 300.

[0064] According to some embodiments of this application, the angle sensor 51, barometer 52, inertial measurement unit 53, global navigation satellite system 54, controller 10, and receiver 20 are disposed on the same component (not shown). For example, the component can be a circuit board, and the angle sensor 51, barometer 52, inertial measurement unit 53, global navigation satellite system 54, controller 10, and receiver 20 are disposed on the circuit board.

[0065] The flying robot 1000 also includes a shock-absorbing assembly (not shown) and a frame 500. The assembly is fixed to the frame 500 via the shock-absorbing assembly. The shock-absorbing assembly includes, but is not limited to, shock-absorbing balls, shock-absorbing columns, or shock-absorbing cotton. The assembly is fixed to the frame 500 via the shock-absorbing assembly, which can reduce the mechanical vibration generated by the flying robot 1000 during flight and transmit it to the assembly, thereby improving the lifespan of the angle sensor 51, barometer 52, inertial measurement unit 53, global navigation satellite system 54, controller 10, and receiver 20.

[0066] According to some embodiments of this application, the unpowered aircraft 300 of this embodiment is provided with a disengagement assembly (not shown in the figure), one end of the traction member 200 is provided with the opening and closing mechanism 40, and the other end of the traction member 200 is provided with the disengagement assembly.

[0067] The controller 10 is used to generate voice signals and / or light signals when the flight robot 1000 reaches a preset altitude, for example, the preset altitude is 100m.

[0068] The pilot of the unpowered aircraft 300 controls the release assembly to detach the towing component 200 based on voice signals and / or light signals.

[0069] The controller 10 in this embodiment generates a voice signal and / or a light signal when the flying robot 1000 reaches a preset altitude. The pilot of the unpowered aircraft 300 controls the unhooking assembly to detach the traction member 200 according to the voice signal and / or light signal. This enables the unpowered aircraft 300 to actively detach from the flying robot 1000, improving the safety of the pilot of the unpowered aircraft 300.

[0070] This application also provides a flying robot; please refer to [link / reference]. Figure 5 As shown, Figure 5 This is a schematic diagram of another embodiment of the flying robot provided in this application. Figures 1 to 5 As shown, the flying robot 1000 of this embodiment includes the unhooking system 100, the lift device 600 and the traction device 700 disclosed in the above embodiments. The controller 10 of the unhooking system 100 is connected to the lift device 600 and the traction device 700 respectively, and is used to control the lift device 600 and the traction device 700.

[0071] In some embodiments, the flying robot 1000 provides traction to the traction member 200 via the traction device 700. The lift device 600 is disposed on the traction device 700, i.e., above the traction device 700 along the altitude direction of the flying robot 1000. For example, the lift device 600 may include four first propellers, the plane formed by the four first propellers being parallel to the horizontal plane, for providing flight power to the flying robot 1000; the traction device 700 may include two second propellers, the plane formed by the two second propellers forming an angle with the horizontal plane, for providing traction to the unpowered aircraft 300, or controlling the heading of the flying robot 1000. The servo motor 30 and the opening / closing mechanism 40 of the unhooking system 100 are fixed to the traction device 700 via a bracket 80.

[0072] In summary, the flying robot 1000 of this application is connected to the unpowered aircraft 300 via a traction member 200, and is used to pull the unpowered aircraft 300 upward via the traction member 200. The unhooking system 100 includes a controller 10, a receiver 20, a servo motor 30, a support 80, an opening and closing mechanism 40, and a navigation module 50. The controller 10 is connected to the receiver 20, the servo motor 30, and the navigation module 50 respectively. The servo motor 30 is connected to the opening and closing mechanism 40. The support 80 is fixed on the flying robot 1000. The servo motor 30 and the opening and closing mechanism 40 are mounted on the support 80. One end of the traction member 200 is wound around the support 80. The controller 10 receives a preset remote control command from the receiver 20 and receives real-time data from the navigation module 50. The controller 10 is used to generate a unhooking command based on the remote control command or real-time data. The servo motor 30 controls the opening and closing mechanism 40 to open based on the unhooking command, so that the traction member 200 is disengaged from the opening and closing mechanism 40. The controller 10 generates a disengagement command based on remote control instructions or real-time data. Specifically, the controller 10 generates a disengagement command when the flying robot 1000 malfunctions, determined by the remote control instructions or real-time data. The servo motor 30 controls the opening and closing mechanism 40 to open based on the disengagement command, thereby enabling the traction component 200 to quickly disengage from the opening and closing mechanism 40. This facilitates the separation of the unpowered aircraft 300 from the flying robot 1000, reduces the safety impact of the flying robot 1000 on the unpowered aircraft 300, and improves the flight safety of the unpowered aircraft 300.

[0073] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A detachment system for a flying robot, characterized in that, The flying robot is connected to a non-powered aircraft via a traction device, which is used to pull the non-powered aircraft upwards. The unhooking system includes a controller, a receiver, a servo motor, a support frame, an opening and closing mechanism, and a navigation module. The controller is connected to the receiver, the servo motor, and the navigation module. The servo motor is connected to the opening and closing mechanism. The support frame is fixed to the flying robot. The servo motor and the opening and closing mechanism are mounted on the support frame. One end of the traction device is wound around the support frame, and the servo motor controls the opening and closing mechanism to close, thereby squeezing the traction device and fixing it to the support frame. The controller receives a preset remote control command from the receiver and real-time data from the navigation module. The controller generates a unhooking command based on the remote control command or the real-time data. The servo motor controls the opening and closing mechanism to open based on the unhooking command, so that one end of the traction device detaches from the flying robot.

2. The unhooking system according to claim 1, characterized in that, The navigation module includes an angle sensor, a barometer, an inertial measurement unit (IMU), and a global navigation satellite system (GNSS). The controller is connected to the angle sensor, the barometer, the IMU, and the GNSS. The controller is used to obtain the tilt angle between the traction device and the flying robot from the angle sensor, the current air pressure and temperature data of the flying robot from the barometer, the acceleration of the flying robot from the IMU, and satellite signals from the GNSS. The controller generates the disengagement command based on at least one of the tilt angle, the current air pressure, the current temperature, the acceleration, and the satellite signals.

3. The unhooking system according to claim 2, characterized in that, The controller obtains the vibration of the flying robot based on the acceleration, and generates the unhooking command when the vibration of the flying robot exceeds a preset value.

4. The unhooking system according to claim 2, characterized in that, The controller obtains the attitude tilt angle of the flying robot from the inertial measurement unit, and generates the unhooking command when the attitude tilt angle is greater than a preset angle and the duration is greater than a first preset time.

5. The unhooking system according to claim 2, characterized in that, The controller acquires the descent speed of the flying robot and generates the unhooking command when the descent speed exceeds a preset speed.

6. The unhooking system according to claim 2, characterized in that, The controller acquires the descent acceleration of the flying robot and generates the unhooking command when the descent acceleration is greater than a preset acceleration. Alternatively, the controller may generate the unhooking command when it detects that the flying robot has lost power, the flying robot's battery is damaged, or the flying robot's power is damaged.

7. The unhooking system according to claim 2, characterized in that, The controller generates the unhooking command when it detects that the disconnection time between the receiver and the remote controller exceeds a second preset time.

8. The unhooking system according to claim 2, characterized in that, The angle sensor, the barometer, the inertial measurement unit, the global navigation satellite system, the controller, and the receiver are mounted on the same component. The flying robot includes a shock-absorbing component and a frame, and the component is fixed to the frame by the shock-absorbing component.

9. The uncoupling system according to any one of claims 1-8, characterized in that, The unpowered aircraft is equipped with a release assembly. One end of the traction member is disposed on the opening and closing mechanism, and the other end of the traction member is disposed on the release assembly. The controller is used to generate a voice signal and / or a light signal when the flight robot reaches a preset altitude. The pilot of the unpowered aircraft controls the release assembly to detach the traction member according to the voice signal and / or light signal.

10. A flying robot, characterized in that, Includes a disengagement system, a lifting device, and a traction device as described in any one of claims 1-9, wherein the controller of the disengagement system is connected to the lifting device and the traction device respectively, and is used to control the lifting device and the traction device, and the servo motor and opening / closing mechanism of the disengagement system are fixed to the traction device by a bracket.

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