Device for planning task execution route of unmanned aerial vehicle
By combining wind direction and speed dials with an indicator structure, the problems of flexibility and timeliness in flight path planning for low-speed UAV missions are solved, enabling rapid flight path planning in crosswind environments and improving the flexibility and response speed of UAV mission execution.
Patent Information
- Application Number
- CN202520040441.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-08
- Publication Date
- 2025-11-25
- Estimated Expiration
- 2035-01-08
AI Technical Summary
Existing technologies make it difficult to quickly and easily plan flight paths for low-speed UAV missions, resulting in low flexibility and timeliness, especially in crosswind environments where it is difficult to meet the sector angle requirements for mission execution.
A device is provided that includes a wind direction and speed dial and an indicator structure. The wind direction and speed dial is provided with wind direction and wind speed markings. The indicator structure consists of a central indicator rod and a limit rod. The distance between the limit rods is adjusted by an adjustment mechanism. Combined with the markings on the wind direction and speed dial, the direction or range of the UAV mission route is planned.
It improves the flexibility and timeliness of UAV mission execution under crosswind conditions, shortens route planning time, and makes it easier for trainees to understand and master mission route planning.
Smart Images
Figure CN223597696U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of route planning, more particularly, relate to a device for planning unmanned aerial vehicle task execution route. BACKGROUND
[0002] In the task route planning of unmanned aerial vehicle, due to the low flight speed of unmanned aerial vehicle, high altitude wind has great influence on the flight attitude of unmanned aerial vehicle. Therefore, when low-speed unmanned aerial vehicle performs a task, it is easily affected by the air crosswind to cause a large drift angle, which further affects the flight sector angle condition of meeting the task execution. The conventional method is to design the task execution route of unmanned aerial vehicle according to the wind direction or the wind direction and the direction of the task target, so that the drift angle of unmanned aerial vehicle flight execution is as small as possible. The disadvantage of this method is that the task route entrance designed may be far from the current position of the unmanned aerial vehicle, and the unmanned aerial vehicle needs to fly for a long time to enter the task route, and the flexibility and timeliness of the unmanned aerial vehicle in executing the task are low.
[0003] With the development of the task load of unmanned aerial vehicle, the range of sector angle allowed during task execution gradually becomes larger. This makes the low-speed unmanned aerial vehicle execute the task under the condition of a certain air crosswind environment and a large sector angle that meets the task execution requirement, and can perform task execution operation. At this time, if the unmanned aerial vehicle still performs work according to the task route of the wind direction or the wind direction, the flexibility and effectiveness will be reduced. In order to meet the sector angle condition of low-speed unmanned aerial vehicle during task execution and complete the task work as quickly and flexibly as possible, it is necessary to better plan the task execution route of low-speed unmanned aerial vehicle to meet the use in actual task. UTILITY MODEL CONTENTS
[0004] The utility model aims at the deficiency in prior art, and provides a device for planning unmanned aerial vehicle task execution route, which solves the technical problem that it is difficult to quickly, conveniently and better plan the task execution route of low-speed unmanned aerial vehicle in prior art.
[0005] In order to achieve the above-mentioned purpose, the utility model provides a device for planning unmanned aerial vehicle task execution route, which comprises:
[0006] The wind direction and speed disc is provided with wind direction marks and wind speed marks on the surface, the wind direction marks include wind direction lines evenly distributed along the circumference of the wind direction and speed disc, and the wind speed marks include a plurality of concentric circular isovelocity lines.
[0007] The indicating structure comprises a center indicating rod and limiting rods arranged in parallel on both sides of the center indicating rod, the limiting rods are connected to both sides of the center indicating rod through an adjusting mechanism, so that the distance between the limiting rods and the center indicating rod is adjustable, and the middle part of the center indicating rod is rotationally connected to the center part of the isovelocity line.
[0008] Optionally, the middle part of the center indicating rod is provided with a rotating shaft, and the rotating shaft is rotationally connected to the wind direction and speed disc.
[0009] Optionally, the adjusting mechanism comprises a telescopic component.
[0010] Optionally, the adjusting mechanism comprises a slide rod whose axis is perpendicular to the center indicating rod, the limiting rods are slidingly connected to the slide rod and can slide along the axial direction of the slide rod.
[0011] Optionally, the telescopic component is a manual telescopic rod with damping.
[0012] Optionally, the positioning pointer is detachably connected to the wind direction and speed disc and is used for being installed on the surface of the wind direction and speed disc to indicate the wind direction and speed of the set flight height.
[0013] Optionally, the positioning pointer is in the form of an arrow.
[0014] Optionally, one end of the center indicating rod is provided with an arrow part.
[0015] Optionally, the wind direction and speed disc is provided with a rotating hole, and the rotating shaft is detachably arranged in the rotating hole.
[0016] Optionally, the manual telescopic rod is a bidirectional telescopic rod, and the center indicating rod is vertically connected to the middle part of the shell of the manual telescopic rod.
[0017] The device for planning the unmanned aerial vehicle task execution route has the wind direction and speed disc and the indicating structure, the wind direction mark and the wind speed mark on the wind direction and speed disc can conveniently calibrate the wind direction and the wind speed of the flight height, the central indicating rod of the indicating structure can indicate the heading in cooperation with the wind direction mark on the wind direction and speed disc, the telescopic part is adjusted according to the maximum crosswind component during the task execution of the unmanned aerial vehicle, the two limiting rods can be positioned on the wind direction and speed disc through the wind speed mark on the wind direction and speed disc; in this way, when the task route direction or the task route direction range of the unmanned aerial vehicle is determined, the indicating structure can be rotated, so that the central indicating rod indicates the task route direction or the task route direction range of the unmanned aerial vehicle, and the wind direction and the wind speed of the flight height are calibrated on the wind direction and speed disc; by observing whether the calibration position is in the range between the two limiting rods, the air field requirement meeting the task execution sector angle condition during the task execution is planned; when the task execution needs to be performed under the condition of the whole air field, the indicating structure can also be rotated, so that the two limiting rods respectively abut against the calibration position from the left and right sides, and the task route direction range meeting the task execution sector angle condition is planned by the position of the central indicating rod in the two abutting states.
[0018] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0019] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the several views, and wherein exemplary embodiments of the present application are shown.
[0020] Figure 1 A calculation schematic diagram of the maximum crosswind component allowed during the task execution of the unmanned aerial vehicle is shown.
[0021] Figure 2 A structure schematic diagram of a device for planning the unmanned aerial vehicle task execution route according to one embodiment of the present application is shown.
[0022] Figure 3 A schematic diagram of a wind direction and speed disc of a device for planning the unmanned aerial vehicle task execution route according to one embodiment of the present application is shown.
[0023] Figure 4 A schematic diagram of an indicating structure of a device for planning the unmanned aerial vehicle task execution route according to one embodiment of the present application is shown.
[0024] Figure 5A schematic diagram of a task route direction range indicated by the device for planning a UAV task execution route according to an embodiment of the present application is shown.
[0025] Figure 6 A structural schematic diagram of a device for planning a UAV task execution route according to another embodiment of the present application is shown.
[0026] Explanation of reference signs:
[0027] 1, wind direction and speed disc; 2, wind direction mark; 3, wind speed mark; 4, indicating structure; 5, central indicating rod; 6, limiting rod; 7, telescopic part; 8, arrow part; 9, rotating hole; 10, positioning pointer; 11, sliding rod. DETAILED DESCRIPTION
[0028] The preferred embodiments of the present application will be described in more detail below. Although the preferred embodiments of the present application are described below, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present application is more thorough and complete, and the scope of the present application can be fully conveyed to those skilled in the art.
[0029] As shown in Figures 2 to 4 The present application provides a device for planning a UAV task execution route, comprising:
[0030] A wind direction and speed disc 1, the surface of the wind direction and speed disc 1 is provided with a wind direction mark 2 and a wind speed mark 3, the wind direction mark 2 comprises wind direction lines uniformly distributed along the circumference of the wind direction and speed disc 1, and the wind speed mark 3 comprises a plurality of concentric circular isovelocity lines;
[0031] An indicating structure 4, the indicating structure 4 comprises a central indicating rod 5 and limiting rods 6 arranged in parallel on both sides of the central indicating rod 5, the limiting rods 6 are connected to both sides of the central indicating rod 5 through an adjusting mechanism, so that the spacing between the limiting rods 6 and the central indicating rod 5 is adjustable, and the middle part of the central indicating rod 5 is rotationally connected to the center part of the isovelocity line.
[0032] Specifically, to solve the technical problem that it is difficult to quickly and conveniently plan a low-speed unmanned aerial vehicle task execution route in the prior art, the device for planning an unmanned aerial vehicle task execution route has a wind direction and speed disc 1 and an indicating structure 4, the wind direction identifier 2 and the wind speed identifier 3 on the wind direction and speed disc 1 can conveniently calibrate the wind direction and wind speed at a set flight height, the central indicating rod 5 of the indicating structure 4 can indicate a heading in cooperation with the wind direction identifier 2 on the wind direction and speed disc 1, and the maximum crosswind component during task execution of the unmanned aerial vehicle is adjusted by an adjusting mechanism, and the two limiting rods 6 can be positioned on the wind direction and speed disc 1 through the wind speed identifier 3 on the wind direction and speed disc 1. In this way, when the task route direction or the task route direction range of the unmanned aerial vehicle is determined, the indicating structure 4 can be rotated, so that the central indicating rod 5 indicates the task route direction or the task route direction range of the unmanned aerial vehicle, and the wind direction and wind speed at the set flight height are calibrated on the wind direction and speed disc 1. Whether the calibration position is within the range between the two limiting rods 6 is observed, and the air field requirement that meets the task execution sector angle condition during task execution is planned. When task execution is required under all air field conditions, the indicating structure 4 can also be rotated, so that the two limiting rods 6 respectively abut against the calibration position from left and right, and the position of the central indicating rod 5 in the two abutting states is used to plan the task route direction range that meets the task execution sector angle condition.
[0033] Further, as shown in Figure 1 The calculation method of the maximum crosswind component V WMBRx allowed during task execution of the unmanned aerial vehicle is as follows:
[0034] V WMBRx = V UAV × sin θ Max
[0035] Wherein, V UAV is the cruising speed of the unmanned aerial vehicle, and θ Max is the maximum allowable sector angle of the task load.
[0036] The utility model is based on the graphical representation method of the drop sector angle condition satisfaction of the low-speed unmanned aerial vehicle, that is, the flexibility and timeliness during task execution of the unmanned aerial vehicle are ensured, the time for the operator of the unmanned aerial vehicle to plan a task route under crosswind conditions is shortened, and the response speed of the task is improved. The utility model can also be used as a training aid. When a task operator plans a task route, it is inconvenient to understand the theoretical explanation alone. By using the device, the unmanned aerial vehicle task route planning can be explained more intuitively, and it is convenient for students to master and learn.
[0037] In the embodiment, the isan wind speed lines on the surface of the wind direction and wind speed disc 1 are concentric circular lines with different sizes with the center of the disc as the center, and the wind speed represented by any point on the same circular isan wind speed line is equal; the entire disc is divided into 5 segments according to the radius, and each 1 / 5 radius outward from the center is an isan wind speed line in the form of a circle representing the wind speed, and the wind speed represented from inside to outside is 10 m / s, 20 m / s, 30 m / s, 40 m / s, and 50 m / s; the distance between adjacent isan wind speed lines is further divided into 10 parts, and each interval represents 1 m / s, so as to more accurately mark the wind speed.
[0038] In the embodiment, the wind direction and wind speed disc 1 is divided into 360 angles according to the isan wind speed lines of the outermost ring, so as to represent different wind directions, in which 0 degrees represents north, 90 degrees represents east, 180 degrees represents south, and 270 degrees represents west.
[0039] Optionally, the middle part of the center indicating rod 5 is provided with a rotating shaft, and the rotating shaft is rotationally connected with the wind direction and wind speed disc 1.
[0040] Specifically, the indicating structure 4 is rotationally connected with the wind direction and wind speed disc 1 through the rotating shaft in the middle part of the center indicating rod 5, and can rotate on the upper side of the wind direction and wind speed disc 1.
[0041] In the embodiment, the adjusting mechanism includes a telescopic component 7.
[0042] In the embodiment, the telescopic component 7 is a manual telescopic rod with damping.
[0043] Specifically, the telescopic component 7 can be manually telescoped and adjusted, and the damping thereof can enable the limiting rod 6 to be kept at the adjusted position after telescopic adjustment; the manual telescopic rod with damping can adopt the telescopic rod structure of a selfie stick or the telescopic rod structure of a telescopic antenna.
[0044] In another embodiment, the adjusting mechanism includes a slide rod 11 with an axis perpendicular to the center indicating rod 5, and the limiting rod 6 is slidingly connected with the slide rod 11 and can slide along the axis of the slide rod 11.
[0045] Specifically, the limiting rod 6 can be provided with a sliding hole or a sliding groove, can be slidingly sleeved on the outside of the slide rod 11 through the sliding hole to realize the sliding connection therebetween, or can realize the sliding connection therebetween through the cooperation of the sliding groove and a guide groove on the slide rod 11; further, in order to facilitate the positioning of the limiting rod 6 on the slide rod 11, the slide rod 11 is provided with a wind speed scale mark, the wind speed scale mark is matched with the isan wind speed lines, and the limiting rod 6 is connected with a set screw to realize the positioning on the slide rod 11.
[0046] Optionally, the positioning pointer 10 is detachably connected with the wind direction and speed disc 1, and is arranged on the surface of the wind direction and speed disc 1 to indicate the wind direction and speed at the set flight height.
[0047] Specifically, when the positioning pointer 10 is arranged on the surface of the wind direction and speed disc 1, the position of the positioning pointer 10 is located at the wind speed indicated by the isovelocity line and the wind direction indicated by the wind direction line, so that the positioning pointer 10 indicates the wind direction and speed at the set flight height of the unmanned aerial vehicle under the cooperation of the wind direction identifier 2 and the wind speed identifier 3, and the set flight height can be the target flight height of the unmanned aerial vehicle.
[0048] Optionally, the positioning pointer 10 is in the shape of an arrow.
[0049] Specifically, the positioning pointer 10 can be in the shape of an arrow, and the tip of the arrow is the indicating position, and the tail of the arrow makes the indication of the wind direction more intuitive.
[0050] Further, the positioning pointer 10 can be magnetically attached to the wind direction and speed disc 1, and in this case, the wind direction and speed disc 1 is made of ferromagnetic material, and the positioning pointer 10 is provided with a magnet; or the positioning pointer 10 can be connected to the wind direction and speed disc 1 in a plug-in manner, and a plurality of plug holes can be arranged on the wind direction and speed disc 1, and in order to prevent the positioning pointer 10 from rotating, the plug holes can be non-circular or double plug holes, and the plug pin on the positioning pointer 10 is matched with the plug holes.
[0051] In this embodiment, the positioning pointer 10 can be accurately fixed on the isovelocity line of the wind direction and speed disc 1 to indicate the size and direction of the high-altitude wind.
[0052] Optionally, one end of the central indicating rod 5 is provided with an arrow head 8.
[0053] Specifically, the arrow head 8 is arranged to facilitate the indication of the wind direction, and is more convenient for operation and observation.
[0054] Optionally, the wind direction and speed disc 1 is provided with a rotating hole 9, and a rotating shaft is detachably arranged in the rotating hole 9.
[0055] Specifically, the indicating structure 4 can be detached from the wind direction and speed disc 1 through the detachable plug-in connection between the rotating shaft and the rotating hole 9, so that the telescopic part 7 can be coarsely adjusted, and after the rotating shaft is inserted into the rotating hole 9, the wind speed identifier 3 on the wind direction and speed disc 1 can be finally adjusted.
[0056] In this embodiment, the manual telescopic rod is a bidirectional telescopic rod, and the central indicating rod 5 is vertically connected to the middle part of the shell of the manual telescopic rod.
[0057] Specifically, the half length of the two-way telescopic rod represents the maximum crosswind component allowed during the execution of the UAV task, and adjusting the two-way telescopic rod makes the two limit rods 6 symmetrical on both sides of the central indicating rod 5, and the two limit rods 6 are tangent to the same isogonic line.
[0058] In summary, the device for planning the UAV task execution route provided by the present application is used, taking a low-speed UAV as an example: according to the characteristics of the low-speed UAV task execution, the flight speed of the low-speed UAV, the limitation of the task execution sector angle, and the requirements of the low-speed UAV flight and task execution on the air wind field, the related planning that meets the task route requirements is carried out, including:
[0059] 1) In the case of determining the task route direction, the air wind field requirements that meet the execution task sector angle condition during the task execution are planned; at this time, the telescopic component 7 is adjusted according to the maximum crosswind component of the UAV during the task execution obtained by calculation, and the two limit rods 6 are positioned on the wind direction and speed disc 1; then the indicating structure 4 is rotated, so that the central indicating rod 5 indicates the task route direction of the UAV; then the positioning pointer 10 is installed on the wind direction and speed disc 1 according to the wind direction and speed of the set flight height, and it is observed whether the calibrated position where the positioning pointer 10 is located is within the range between the two limit rods 6;
[0060] 2) In the case of determining the task route direction range, the air wind field requirements that meet the execution task sector angle condition during the task execution are planned; at this time, the telescopic component 7 is adjusted according to the maximum crosswind component of the UAV during the task execution obtained by calculation, and the two limit rods 6 are positioned on the wind direction and speed disc 1; then the indicating structure 4 is rotated, so that the central indicating rod 5 indicates the task route direction range of the UAV, that is, the central indicating rod 5 demarcates an area within the task route direction range of the UAV; then the positioning pointer 10 is installed on the wind direction and speed disc 1 according to the wind direction and speed of the set flight height, and it is observed whether the calibrated position where the positioning pointer 10 is located is within the range covered by the two limit rods 6 when the central indicating rod 5 moves within the above area;
[0061] 3) When the task execution needs to be carried out under all air wind field conditions, the task route direction range that meets the task execution sector angle condition is planned; at this time, as shown in Figure 5 , the telescopic component 7 is adjusted according to the maximum crosswind component of the UAV during the task execution obtained by calculation, and the two limit rods 6 are positioned on the wind direction and speed disc 1; then the positioning pointer 10 is installed on the wind direction and speed disc 1 according to the wind direction and speed of the set flight height; then the indicating structure 4 is rotated, so that the two limit rods 6 respectively adhere to the sharp end of the positioning pointer 10 from both sides, and the sector area formed by the two positions indicated by the central indicating rod 5 at the two adhesion positions is the task route area that can meet the sector angle condition of the task execution, which is the gray filled area in Figure 5 .
[0062] The above has described various embodiments of the present application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.
Claims
1. A device for planning the flight path of an unmanned aerial vehicle (UAV) mission, characterized in that, The wind direction and speed disc comprises a surface provided with wind direction marks and wind speed marks, the wind direction marks comprise wind direction lines evenly distributed along the circumference of the wind direction and speed disc, and the wind speed marks comprise a plurality of circular isanemograms arranged concentrically. The indicating structure comprises a central indicating rod and limiting rods arranged in parallel on both sides of the central indicating rod, the limiting rods are connected to both sides of the central indicating rod through an adjusting mechanism, so that the spacing between the limiting rods and the central indicating rod is adjustable, and the central part of the central indicating rod is rotationally connected to the center part of the isanemograms. The central part of the central indicating rod is provided with a rotating shaft, and the rotating shaft is rotationally connected to the wind direction and speed disc.
2. The apparatus for planning a UAV mission execution flight path of claim 1, wherein, The adjusting mechanism comprises a telescopic component.
3. The apparatus for planning a UAV mission execution flight path of claim 1, wherein, The adjusting mechanism comprises a slide rod with an axis perpendicular to the central indicating rod, the limiting rods are slidingly connected to the slide rod and can slide along the axis of the slide rod.
4. The apparatus for planning a UAV mission execution flight path of claim 1, wherein, The telescopic component is a manual telescopic rod with damping.
5. The apparatus for planning a UAV mission execution flight path of claim 3, wherein, The indicating structure further comprises a positioning pointer, which is detachably connected to the wind direction and speed disc and is used to be installed on the surface of the wind direction and speed disc to indicate the wind direction and wind speed at the set flight height.
6. The apparatus for planning a UAV mission execution flight path of claim 1, wherein, The positioning pointer is in the shape of an arrow.
7. The apparatus for planning a UAV mission execution flight path of claim 6, wherein, One end of the central indicating rod is provided with an arrow part.
8. The apparatus for planning a UAV mission execution flight path of claim 1, wherein, The wind direction and speed disc is provided with a rotating hole, and the rotating shaft is detachably arranged in the rotating hole.
9. The apparatus for planning a UAV mission execution flight path of claim 2, wherein, The manual telescopic rod is a bidirectional telescopic rod, and the central indicating rod is vertically connected to the middle part of the shell of the manual telescopic rod.
10. The apparatus for planning a UAV mission execution flight path of claim 5, wherein,